Methods, devices and systems for handling control, positioning and handling interaction

Abstract

The present application relates to the field of intelligent loading and unloading technology, and in particular to a method, device, and system for handling control, positioning, and handling interaction. The method includes: obtaining a first indicated position indicated by a designated position based on the body of a porter located in a train boxcar or container; calculating a first target position of the handling robot based on the first indicated position, the first target position being the assumed loading / unloading position that the worker expects the handling robot to provide; controlling the handling robot to align the first actual position with the first target position, so that the worker can load / unload the handling robot for soft-packaged goods at the first target position, the first actual position being the actual loading / unloading position provided by the handling robot. This solution can realize automated and intelligent handling for the loading and unloading of soft-packaged goods in a small cargo stacking space, thereby saving labor and improving the safety factor.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of intelligent loading and unloading technology, and in particular to a method, device, and system for handling control, positioning, and handling interaction. Background Art

[0002] Railway freight and container freight have the advantages of low cost, low pollution, large capacity and no impact from climate change. They have been widely used. For example, they can be used to transport grain, resin, fertilizer, cement, cotton, sand, etc.

[0003] Railway freight typically uses covered cars. Covered cars, also known as covered wagons or tank cars, are enclosed train carriages typically used to transport goods. When loading and unloading these goods within confined spaces such as train covered cars or containers, fully automated loading and unloading of bulk materials in bags or packages is extremely difficult due to their flexible packaging, which is susceptible to deformation during handling, and the limited handling space. Currently, loading and unloading is largely done manually. For example, workers must operate a cart within the confined space to receive goods from a forklift outside the train, manually push the cart to the desired location inside the train, unload the goods, and stack them. Alternatively, they can perform the reverse process, manually moving goods from the train onto a cart, then manually pushing the cart to receive the goods from a forklift outside. This manual operation is labor-intensive and unsafe.

[0004] Therefore, how to provide an automated and intelligent method for handling items in a limited, enclosed space used for freight transportation has become a technical problem that needs to be solved urgently. Summary of the Invention

[0005] The purpose of the embodiments of the present invention is to provide a method, device, and system for handling control, positioning, and handling interaction, which can realize automated and intelligent handling for the loading and unloading of flexible packaged goods in a confined cargo space, thereby saving labor and improving safety. The confined cargo space herein includes enclosed, confined spaces, such as the aforementioned train boxcars or containers, and may also include other types of confined spaces, such as carriages with partially enclosed sides and / or tops, such as truck carriages (typically with an open top) or carriages with partially enclosed sides.

[0006] An embodiment of the present invention provides a method for handling control, which is applied to a handling robot located in a train boxcar or a container, and the method comprises:

[0007] Acquire a first indicated position indicated by a designated position of a worker's body located in a train boxcar or a container, wherein the first indicated position is used by the worker to indicate a loading / unloading position that the transport robot should provide when loading / unloading the transport robot;

[0008] Calculating a first target position of the transport robot based on the first indicated position, where the first target position is a presumed loading / unloading position that the worker expects the transport robot to provide;

[0009] The transport robot is controlled to align a first actual position with the first target position so that the worker can load / unload soft package cargo on the transport robot at the first target position. The first actual position is the actual loading / unloading position provided by the transport robot.

[0010] An embodiment of the present invention further provides a transport robot, the transport robot being located in a train boxcar or a container, and the transport robot being provided with a control device; the control device comprising:

[0011] an acquisition module, configured to acquire a first indicated position indicated by a designated position of a worker's body located within a train boxcar or a container, wherein the first indicated position is used by the worker to indicate a loading / unloading position that the transport robot should provide when loading / unloading the transport robot;

[0012] a calculation module, configured to calculate a first target position of the transport robot based on the first indicated position, wherein the first target position is a loading / unloading position that a worker presumably expects the transport robot to provide;

[0013] A control module is used to control the transport robot to align a first actual position with the first target position so that the worker can load / unload soft package goods on the transport robot at the first target position. The first actual position is the actual loading / unloading position provided by the transport robot.

[0014] An embodiment of the present invention further provides a positioning method, applied to a wearable device located at a specified location on a worker's body, the worker being located in a train boxcar or container, the positioning method comprising:

[0015] detecting an indicating action of indicating a first indicating position based on a designated position of a worker's body;

[0016] After detecting the indication action, a positioning sensor signal is sent to the train boxcar or container, so that the handling robot can obtain a first indication position indicated by a designated position of the worker's body in the train boxcar or container based on the positioning sensor signal, and execute the method for handling control as described above based on the first indication position.

[0017] An embodiment of the present invention further provides a positioning device, which is provided in a wearable device located at a designated position on a worker's body, the worker being located in a train boxcar or a container, and the positioning device comprises:

[0018] a detection module, configured to detect an indication action of indicating a first indication position based on a designated position of a worker's body;

[0019] A sending module is used to send a positioning sensor signal into a train boxcar or container after detecting the indication action, so that the handling robot can obtain a first indication position indicated by a designated position of the worker's body in the train boxcar or container based on the positioning sensor signal, and execute the method for handling control as described above based on the first indication position.

[0020] An embodiment of the present invention further provides a handling interaction method, which is applied to a handling robot located in a train boxcar or container, and a positioning device provided in a wearable device located at a specified position on the body of a worker, the worker being located in the train boxcar or container, the handling interaction method comprising:

[0021] The positioning device detects an indicating action of indicating a first indicating position based on a designated position of the worker's body, and upon detecting the indicating action, sends a positioning sensing signal into the train boxcar or container;

[0022] The transport robot obtains a first indicated position indicated by a designated position of a worker's body in a train boxcar or a container based on the positioning sensor signal, and executes the method for transport control described above based on the first indicated position.

[0023] An embodiment of the present invention further provides a handling interaction system, comprising: a handling robot located in a train boxcar or container, and a positioning device provided in a wearable device located at a designated position on a worker's body, the worker being located in the train boxcar or container;

[0024] The positioning device is used to detect an indicating action of indicating a first indicating position based on a designated position of the worker's body, and to send a positioning sensing signal into the train boxcar or container after detecting the indicating action;

[0025] The transport robot is used to obtain a first indicated position indicated by a designated position of a worker's body in a train boxcar or container based on the positioning sensor signal, and to execute the method for transport control as described above based on the first indicated position.

[0026] An embodiment of the present invention also provides an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the method for transport control in the above-mentioned embodiment, or the positioning method, or the transport interaction method.

[0027] An embodiment of the present invention further provides a computer program product, which includes a computer program or instructions, and when the computer program or instructions are executed by a processor, implements the method for transport control as described above, or the positioning method as described above, or the transport interaction method as described above.

[0028] An embodiment of the present invention further provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the method for transport control, the positioning method, or the transport interaction method in the above-mentioned embodiment.

[0029] In an embodiment of the present invention, a worker located in a train boxcar or container can indicate a first indicated position based on a designated position of their own body. The first indicated position is used by the worker to indicate the loading / unloading position that the handling robot should provide when loading / unloading cargo to the handling robot. After obtaining the first indicated position, the handling robot calculates a first target position based on the first indicated position as the loading / unloading position that the worker expects the handling robot to provide. The handling robot then controls itself to move to the vicinity of the first target position and aligns its first actual position with the first target position. The first actual position is the actual loading / unloading position provided by the handling robot, allowing the worker to load / unload the soft-package cargo to the handling robot at the first target position. In this solution, the first indicated position is indicated by a commander using the designated position of the worker's own body as an indicator. The handling robot controls its movement based on the first indicated position to provide a suitable loading / unloading position for the worker to complete the loading / unloading of the soft-package cargo to the handling robot. The entire process adopts a semi-manual and semi-mechanical handling mode, which can realize automated and intelligent handling of soft-package cargo in a narrow cargo storage space, saving labor and improving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] One or more embodiments are exemplarily described by the figures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments.

[0031] Figure 1 is a schematic diagram illustrating a robot handling scenario according to an embodiment of the present application;

[0032] Figure 2a is a flowchart illustrating a method for transport control according to an embodiment of the present application;

[0033] Figure 2b is a schematic diagram illustrating another robot handling scenario according to an embodiment of the present application;

[0034] Figure 3 is a flowchart illustrating a method for first target location according to an embodiment of the present application;

[0035] Figure 4 is a flow chart illustrating a method for transport control according to another embodiment of the present application;

[0036] Figure 5 is a schematic structural diagram illustrating a transport robot according to an embodiment of the present application;

[0037] Figure 6 is a flowchart illustrating a positioning method according to an embodiment of the present application;

[0038] Figure 7 is a schematic structural diagram illustrating a positioning device according to an embodiment of the present application;

[0039] Figure 8 FIG. 1 is a hardware block diagram illustrating an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0040] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, each embodiment of the present invention will be described in detail below with reference to the accompanying drawings. However, those skilled in the art will appreciate that in each embodiment of the present invention, many technical details are provided to help readers better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical solutions claimed in the present application can still be implemented.

[0041] Figure 1It is a schematic diagram of a robot handling scenario according to an embodiment of the present application. The scenario describes the loading and unloading of soft-packaged goods (such as grain, resin, fertilizer, cement, cotton, sand, etc.). Workers can stand on the cargo pile to perform loading / unloading operations on the handling robot, that is, workers unload goods from the handling robot to the stack (referred to as "unloading", or the handling robot unloads the goods by itself, also called "unloading"), or workers load goods from the cargo pile to the handling robot (referred to as "loading", or the handling robot loads the goods by itself, also called "loading"). In this embodiment, there is no limitation on the specific location where the loading and unloading process occurs. It can be in a spacious and open place such as a storehouse, warehouse, etc., or it can occur in a place such as Figure 1 The space shown in the figure is relatively small, such as a train boxcar or a container. The handling robot in this embodiment is small in size and flexible in movement, and can be easily moved in the carriage.

[0042] To enable flexible coordination between a handling robot and a worker to complete the loading and unloading of soft-packaged goods, this embodiment proposes a novel technical concept: Based on a designated position on the worker's body, the handling robot is instructed to provide the loading and unloading position when the worker loads or unloads the goods. The handling robot can then provide the worker's desired loading and unloading position based on the worker's "instruction," thereby facilitating the worker's loading and unloading operations using the robot's designated loading and unloading position. This significantly reduces labor consumption and eliminates the need for workers to make extensive back-and-forth movements between the handling robot and the cargo pile, particularly climbing the cargo pile. This reduces the risk of dangerous situations and improves safety.

[0043] The inventive concept of the present invention is not only applicable to closed confined spaces, such as the above-mentioned train boxcars or containers, but also includes other types of confined spaces, such as carriages whose sides and / or tops are not completely closed, such as truck carriages (usually with an open top) or carriages whose sides are not completely closed.

[0044] The following will use multiple embodiments to further illustrate the technical solutions of the above technical concepts of the present application from the perspectives of the handling robot, the positioning device, and the combined cooperation of the two.

[0045] Example 1

[0046] One embodiment of the present invention relates to a method for transport control, and the execution subject of the method can be a transport robot. The operation and movement principle, appearance structure and other features of the transport robot are not limited in this embodiment, and any robot that can complete the transport control specified in this embodiment can be used. Figure 2a As shown, the method includes the following steps.

[0047] Step 210: Obtain a first indicated position indicated by a designated position of a worker's body within a train boxcar or container, wherein the first indicated position is used by the worker to indicate a loading / unloading position that the handling robot should provide when loading / unloading the handling robot.

[0048] The loading position provided by the transport robot is a position for carrying the goods to be loaded when the workers load the goods onto the transport robot. For example, it can be the highest point position on the transport robot for carrying the goods to be loaded (see Figure 1 The loading position is the loading position shown in the figure), so that the worker can align the position of the goods to be loaded (such as the lowest position) with the loading position as much as possible, which is convenient for placing the goods to be loaded on the handling robot; the unloading position is the position of the goods to be unloaded on the handling robot when the worker unloads the goods from the handling robot, for example, it can be the lowest point of the goods to be unloaded on the handling robot (refer to Figure 1 In this way, workers can align the position where the goods are to be unloaded (the stacking position) with the unloading position, making it easier to unload the goods from the handling robot to the position where the goods are to be unloaded.

[0049] Specifically, in order to control the handling robot to more accurately move the loading / unloading position provided by itself to the position desired by the worker, in this embodiment, the worker can "instruct" the handling robot based on the designated position of his or her body, that is, the worker can first indicate a first indication position in the train boxcar or container based on the designated position of his or her body. The first indication position can be the same position in space as the designated position of the worker's body, or it can also be a different position. The role of the first indication position is to "indicate" the loading / unloading position that the handling robot should provide when the handling robot performs loading / unloading. That is, for the handling robot, the first indication position can be regarded as a reference position for the loading / unloading position it should provide. Based on the first indication position, the handling robot can "know" the loading / unloading position it should provide.

[0050] It should be noted that this embodiment needs to consider two issues when enabling the handling robot to obtain the first indication position: first, based on the first indication position indicated by the designated position of the worker's body, how is the "signal" of this indication behavior sent; second, how does the handling robot obtain the first indication position.

[0051] For the first question, the first step is to establish an indication association between the designated position of the worker's body (such as the position of the arm) and the first indication position. In practice, the designated position of the worker's body and the first indication position can be directly set to the same position (the designated position of the worker's body is both the initiator of the "indication" action and the first indication position itself), for example, the position of the human arm is the first indication position; the designated position of the worker's body and the first indication position can also be set to different positions (the designated position of the worker's body is only the initiator of the "indication" action, not the first indication position itself), for example, other positions of the worker's body indicated by the human arm, such as the human torso, palm, etc., can be used as the first indication position, or other positions that are spatially separated from the human arm by a certain spatial range, such as a position within a preset spatial range in front of the arm, can be used as the first indication position.

[0052] Secondly, regarding how the "signal" indicating an action is sent, if the designated location on the worker's body and the first indicated location are the same, a positioning device can be placed directly at the designated location. The positioning device can then emit a positioning sensor signal, such as an NFC (near-field communication) signal, a Bluetooth signal, or a WiFi signal. The worker's action of controlling the positioning device to emit the positioning sensor signal can serve as the action indicating the "signal." If the designated location on the worker's body and the first indicated location are different, the worker can perform specific movements (such as extending their arm vertically) at the designated location. When these specific movements are performed by the worker, the worker has sent the "signal" indicating the action.

[0053] The second question is how the handling robot can obtain the first indicated position after the worker makes an action to indicate the first indicated position. If the worker makes an indicating action through a positioning device at a designated position on the body, the handling robot can locate the first indicated position by directly collecting positioning sensor signals. If the worker makes an indicating action by making a specific action at a designated position on the body, the handling robot can locate the designated position of the human body through technologies such as image recognition, and then perform spatial position recognition of the first indicated position that has a positional relationship with the designated position, thereby locating the first indicated position.

[0054] Of course, if no contradiction occurs, the positioning device can also be used to "indicate" a first indicated position different from the designated position, and / or a specific action at the designated position can be used to "indicate" a first indicated position that is the same as the designated position. The relevant principles are described above and will not be elaborated here.

[0055] In order to simplify the operation, the designated position of the worker's body can be directly determined as the first indication position.

[0056] For example, in some embodiments, the designated position of the worker's body can be spatially positioned based on a positioning sensor signal emitted by a positioning device provided at the designated position of the worker's body, and the spatial position obtained by the spatial positioning can be determined as the first indication position.

[0057] Specifically, the handling robot can be integrated with a program algorithm for receiving and solving positioning sensor signals, and based on the positioning and solving of the positioning device, the spatial positioning of the designated position is completed, and the spatial position obtained by positioning is determined as the first indicated position.

[0058] For example, in other embodiments, based on the depth map information collected inside the train boxcar or container, the movement of a specified position of the worker's body inside the train boxcar or container can be detected, the specified position in the preset action can be spatially located, and the spatial position obtained by the spatial positioning can be determined as the first indication position.

[0059] Specifically, a depth camera can be installed on the transport robot to collect depth map information within the train boxcar or container, identify the depth map information, obtain a depth image of the worker contained within, and detect the movement state of a designated position of the worker's body in real time. When the designated position of the worker's body is detected to be in a preset movement state (such as vertically extending an arm), the designated position is spatially located, and the spatial position obtained by the location is determined as the first indicated position.

[0060] Step 220: Calculate a first target position of the transport robot based on the first indicated position. The first target position is a speculated loading / unloading position that the worker expects the transport robot to provide.

[0061] The first target position and the first indicated position may have a preset positional association relationship, where this positional association relationship is sufficient to ensure that the first target position can serve as the loading / unloading location that the worker expects the handling robot to provide. For example, the first target position and the first indicated position may be set to the same location, or the first target position may be set to a location within a confidence space centered on the first indicated position. If the confidence condition is met, this embodiment does not impose any restrictions on the positional association relationship between the first target position and the first indicated position.

[0062] Specifically, after learning the first indicated position, the transport robot can calculate a first target position having the aforementioned position correlation relationship with the first target position according to a built-in algorithm. The first target position can be regarded as the target position to which the transport robot is about to move.

[0063] In some embodiments, when calculating the first target position of the transport robot based on the first indicated position, the first indicated position can be directly determined as the first target position; alternatively, a target spatial region containing the first indicated position can be determined, and any position within the target spatial region can be selected as the first target position. It should be noted that the determined target spatial region should be sufficiently reliable that the first target position can serve as the loading / unloading position that the transport robot estimates the worker expects the transport robot to provide.

[0064] Step 230: Control the transport robot to align the first actual position to the first target position, so that the worker can load / unload the soft package cargo on the transport robot at the first target position. The first actual position is the actual loading / unloading position provided by the transport robot.

[0065] Among them, the actual loading / unloading position provided by the transport robot, the actual loading position may be the highest point position on the transport robot for carrying the goods to be loaded, that is, the lowest position when the goods to be loaded are loaded onto the transport robot; the actual unloading position is the lowest point position of the goods to be unloaded on the transport robot, that is, the lowest position of the goods to be unloaded before being unloaded from the transport robot.

[0066] Specifically, after the transport robot determines the first target position, in order to facilitate loading and unloading of goods, the transport robot can be controlled to align its first actual position with the first target position. The purpose of the alignment is to enable workers to load / unload soft-package goods on the transport robot at the first target position faster and with less effort.

[0067] In actual application scenarios, controlling the transport robot to align the first actual position with the first target position may include: when a worker loads goods on the transport robot, controlling the transport robot to move the first actual position to a third height range that is lower than the first target position along the height direction in the train boxcar or container, or further moving it to a third width range that deviates from the first target position along the width direction in the train boxcar or container.

[0068] Specifically, when a worker loads cargo onto a handling robot, the handling robot can be controlled to move from its first actual position to a third height range slightly below the first target position along the height direction (z) within the train boxcar or container, in order to better leverage the cargo's downward inertia from the stack to the handling robot. This reduces the worker's effort when loading cargo. Of course, a certain misalignment range can exist in the width direction (y), meaning the handling robot can be controlled to move from its first actual position to a third width range deviating from the first target position along the width direction of the train boxcar or container, thereby increasing the handling robot's mobility.

[0069] In actual application scenarios, controlling the transport robot to align the first actual position with the first target position may include: when a worker unloads goods from the transport robot, controlling the transport robot to move the first actual position to a third height range that is higher than the first target position along the height direction within the train boxcar or container, or further moving it to a third width range that deviates from the first target position along the width direction within the train boxcar or container.

[0070] Specifically, when a worker unloads cargo from a handling robot, the handling robot can be controlled to move from its first actual position to a third height range slightly above the first target position along the height direction (z) within the train boxcar or container, in order to better leverage the cargo's descent inertia from the handling robot to the cargo stack. This reduces the worker's effort when unloading cargo. Of course, a certain misalignment range can exist in the width direction (y), meaning the handling robot can be controlled to move from its first actual position to a third width range deviating from the first target position along the width direction of the train boxcar or container, thereby increasing the handling robot's mobility.

[0071] In a method for handling control provided by this embodiment, a worker located in a train boxcar or container can indicate a first indicated position based on a designated position of their own body. The first indicated position is used by the worker to indicate the loading / unloading position that the handling robot should provide when loading / unloading cargo to the handling robot. After obtaining the first indicated position, the handling robot calculates a first target position based on the first indicated position as the loading / unloading position that the worker expects the handling robot to provide. The handling robot then controls itself to move to the vicinity of the first target position and aligns its first actual position with the first target position. The first actual position is the actual loading / unloading position provided by the handling robot, allowing the worker to load / unload the soft-package cargo at the first target position. In this solution, the first indicated position is indicated by a commander using the designated position of the worker's own body as an indicator. The handling robot controls its movement based on the first indicated position to provide a suitable loading / unloading position for the worker to complete loading / unloading of the soft-package cargo to the handling robot. The entire process adopts a semi-manual and semi-mechanical handling mode, which can realize automated and intelligent handling of soft-package cargo in a narrow cargo storage space, saving labor and improving safety.

[0072] Example 2

[0073] Another embodiment of the present invention relates to a method for transport control, wherein Figure 2a The method described above adds operating modes for the transport robot and defines the operations of the transport robot in different operating modes. Specifically, before obtaining a first indicated position based on a worker's designated position within a train boxcar or container, the method also includes the following steps.

[0074] Step 1: In response to a trigger operation for a working mode, control the transport robot to enter a corresponding working mode, wherein the working mode includes at least a human-machine collaborative mode. The trigger operation for the working mode can be a worker directly triggering the transport robot. For example, a corresponding "working mode" setting switch / button or other control can be provided on the transport robot, and the worker can manually set the working mode of the transport robot; or the working mode of the transport robot can be set by remote control. The method for setting the working mode of the transport robot is not limited in this embodiment.

[0075] Step 2: When the handling robot enters the human-machine collaboration mode, the content of step 210 is triggered to execute, that is, the step of obtaining the first indicated position indicated by the designated position of the worker's body located in the train boxcar or container is executed.

[0076] Furthermore, the above-mentioned working mode may also include at least a separate working mode. Accordingly, when the transport robot enters the separate working mode, the transport robot may further perform the following step 3.

[0077] Step 3: Control the handling robot to autonomously unload and stack the soft-packaged goods in the train boxcar or container; wherein, the stacking height of the soft-packaged goods in the train boxcar or container after unloading is not greater than a preset height.

[0078] Figure 2b illustrates a scenario in which a transport robot autonomously unloads and stacks goods in standalone operation mode. Specifically, the transport robot can be equipped with a conveyor belt, rollers, or other devices capable of autonomously moving goods. This allows the transport robot to autonomously unload soft-packaged goods without the assistance of a human operator. During unloading, the transport robot can neatly unload goods from the innermost corner of a train boxcar or container, stacking them neatly. However, given the operating space occupied by the transport robot, once the goods are stacked to a certain height, the operating space above the goods becomes narrow, making unloading inconvenient for the transport robot. At this point, the transport robot cannot continue stacking higher and must instead retreat to a position further outward from the innermost corner of the train boxcar or container to unload and stack goods again from the ground. To automatically adjust the unloading position, this embodiment limits the height of the robot's unloading position in standalone operation mode. Specifically, the stacking height of the soft-packaged goods within the train boxcar or container after unloading does not exceed a preset height. Once the preset height is reached, the handling robot can move to a position further outward from the innermost corner and select a new unloading location for unloading. Figure 2bIt can also be seen that the handling robot unloads the goods neatly from the inside to the outside along the innermost corner of the train boxcar or container, and the stacking height of the unloaded goods is no higher than the preset height, for example, no higher than 1 / 2 to 3 / 4 of the vertical height of the train boxcar or container. The unloading and stacking of goods in the remaining height space can be completed by human-machine collaboration mode.

[0079] Of course, workers can also flexibly control the working mode of the handling robot. When it is found that the stacking height of the soft-package cargo after unloading at the current unloading position of the handling robot in the train boxcar or container reaches a preset height, the handling robot can be flexibly switched to the human-machine collaboration mode, and the first indication position indicated by the designated position of the worker's body can be further used to instruct the handling robot to continue unloading the cargo to a position higher than the preset height at the cargo stacking position.

[0080] Of course, the handling robot can also be in a human-machine collaborative working mode to load / unload goods throughout the process.

[0081] This embodiment sets the working mode of the transport robot. When the height of the unloaded goods is not higher than the preset height, the transport robot is instructed to complete the unloading and stacking of goods independently in the independent operation mode. When the height of the unloaded goods is higher than the preset height, the transport robot is instructed to complete the unloading and stacking of goods in cooperation with workers in the human-machine collaboration mode, thereby maximizing the space utilization rate of cargo loading, reducing the workload of workers, and further improving safety.

[0082] Example 3

[0083] Another embodiment of the present invention relates to a method for transport control, wherein Figure 2a Based on the method shown in FIG, in step 220, by determining the target space region including the first indicated position and selecting any position from the target space region to determine as the first target position, a method for determining the first target position is given, such as Figure 3 As shown, the method for determining the first target position includes:

[0084] Step 310: Based on the length, width and height of the train boxcar or container, detect the first cargo surface closest to the handling robot in the vertical length direction of the cargo stack in the train boxcar or container, and determine the first distance from the first indicated position to the first cargo surface.

[0085] Specifically, such as Figure 1 As shown in , the length, width, and height of a train boxcar or container can be used as coordinate axes X, Y, and Z to construct a spatial coordinate system. Usually, goods are stacked along the length (x) direction of the car, from one end to the other, as shown in Figure 1The cargo is stacked sequentially from right to left along the x-direction, with the handling robot positioned at the far left of the cargo pile. Therefore, among all longitudinal y-z planes within the train boxcar or container, the y-z plane closest to the handling robot in the vertical length direction of the cargo pile can be designated as the first cargo pile surface. Typically, the handling robot will not advance beyond the first cargo pile surface due to obstruction by the cargo pile. Therefore, the first cargo pile surface should also be considered when determining the first target position. Based on this, the handling robot can first determine the location of the first cargo pile surface and then determine the first distance from the first indicated position to the first cargo pile surface.

[0086] Step 320: If the first distance is less than the first threshold, then in the first cargo surface, an area enclosed by the projection position of the first indicated position as the midpoint, the first width as the width direction boundary, and the first height as the height direction boundary is used as the first target space area, and a position is selected from the first target space area as the first target position.

[0087] Specifically, if the first distance from the first indicated position to the first cargo surface is determined to be less than a first threshold, then the first indicated position is very close to the first cargo surface. To minimize obstruction of the transport robot by the cargo, a position on the first cargo surface can be selected as the first target position. More conveniently, a certain range on the first cargo surface, centered around the projection of the first indicated position on the first cargo surface, can be used as the first target spatial region. For example, the region enclosed by the first width (y1) as the width (y) boundary and the first height (z1) as the height (z) boundary can then be selected as the first target spatial region. The first width (y1) and first height (z1) can be determined based on the worker's work habits; for example, the width and height ranges can encompass the reach of the arm.

[0088] Of course, in actual applications, provided the transport robot is reachable, other yz planes parallel to the first pile of cargo and with a distance less than a specified threshold are selected. A target spatial region is then determined within these yz planes using the same method as above, and any position within this target spatial region can be selected as the first target position.

[0089] Step 330: If the first distance is not less than the first threshold, select any position in the first target space area as the first target position; or, in the second cargo surface passing through the first indication position in the vertical length direction, select an area enclosed by the second width as the width direction boundary and the second height as the height direction boundary as the second target space area, and select a position in the second target space area as the first target position; wherein, the position selected from the second target space area satisfies: the handling robot is not obstructed by the cargo pile during the process of aligning the first actual position to the first target position.

[0090] Specifically, if it is determined that the first distance from the first indicated position to the first cargo surface is not less than the first threshold, it means that the first indicated position is far from the first cargo surface. In this case, there are two strategies for determining the first target position:

[0091] A relatively simple operation involves selecting a location on the first cargo surface as the first target location, as described in step 320, to minimize obstruction of the transport robot by the cargo pile. Of course, in practical applications, other yz planes parallel to the first cargo surface and with a distance less than a specified threshold can also be selected, provided the transport robot is reachable. A target spatial region is then determined within these yz planes using the same method described above, and any location within this target spatial region can be selected as the first target location.

[0092] Another slightly more complex but more reasonable operation is to add a second stacking surface in the vertical length direction (x) and passing through the first indicated position (such as Figure 1 As shown in the figure, the area bounded by the second width (y2) and the second height (z2) is selected as the second target spatial area. A location is then selected within the second target spatial area as the first target location. The second width (y2) and second height (z2) can be determined based on the worker's work habits. For example, the width and height can be within the reach of the worker's arm. This method of determining the first target location has the advantage of being closer to the first indicated location and closer to the worker's desired loading / unloading location provided by the handling robot. However, this method may result in the handling robot being blocked by cargo during its movement to the loading / unloading location provided by the first target location. Therefore, when selecting a location within the second target spatial area as the first target location, it is necessary to ensure that the handling robot is not obstructed by cargo during its alignment from the first actual location to the first target location.

[0093] Of course, in actual applications, other yz planes parallel to the second pile and with a distance less than a specified threshold can also be selected, provided they are reachable by the handling robot. A target spatial region is then determined within these yz planes using the same method described above, and any position within this target spatial region can be selected as the first target position. The advantage of selecting a target spatial region within another yz plane as the first target position is that if a suitable first target position cannot be determined within the second pile, another first target position that is closer to the worker's desired position can be determined as much as possible.

[0094] This embodiment lists multiple solutions for determining the first target position, so that the determination of the first target position is more reasonable.

[0095] Example 4

[0096] Another embodiment of the present invention relates to a method for handling control, which is a supplementary solution to the above-mentioned embodiment. In step 210, the first indicated position, indicated by the designated position of the worker's body, is made by the worker as needed during the loading / unloading process of the handling robot, and the number of times made is at least two. For example, as the worker's loading / unloading process progresses, the actual loading / unloading position provided by the handling robot will change accordingly. If the worker believes that the actual loading / unloading position provided by the current handling robot is not the loading / unloading position they expected, they can make an indication again by using the designated position of their body to change the first indicated position. The number of changes can be increased at any time based on actual handling needs.

[0097] Accordingly, after step 210, as Figure 4 As shown, calculating the first target position of the transport robot based on the first indicated position may include:

[0098] Step 410: Determine whether the first indicated position obtained this time is the same as the first indicated position obtained last time. If different, calculate the updated first target position of the transport robot based on the first indicated position obtained this time; if the same, directly determine the first target position determined last time as the updated first target position of the transport robot.

[0099] Specifically, the overall processing logic of this step can refer to step 220. The only difference is that in this step, after obtaining the first indication position of the current time, it will be compared with the first indication position obtained last time, and the determination method of the first target position will be determined based on the comparison result, and then the updated first target position will be determined.

[0100] Accordingly, controlling the transport robot to align the first actual position with the first target position includes:

[0101] Step 420: Control the transport robot to align the current first actual position with the updated first target position, so that the worker can load / unload the soft package cargo on the transport robot at the updated first target position.

[0102] Specifically, the overall processing logic of this step can refer to step 230. The only difference is that in this step, the current first actual position of the current transport robot needs to be re-identified and detected, and the current latest first actual position after detection is aligned with the updated first target position.

[0103] The method for handling control in this embodiment can dynamically update the first target position of the handling robot after the worker dynamically issues an instruction indicating the first indicated position, and align the latest detected current first actual position with the updated first target position, so that the worker can perform loading / unloading of soft-package goods on the handling robot at the updated first target position, thereby realizing dynamic control of the handling robot as the handling process progresses.

[0104] Example 5

[0105] One embodiment of the present invention relates to a transport robot that can be used to perform the method steps in Examples 1 to 4, such as Figure 5 As shown, the transport robot is located in a train boxcar or container, and a control device is provided on the transport robot; the control device includes:

[0106] An acquisition module 510 is configured to acquire a first indicated position indicated by a designated position of a worker's body within a train boxcar or a container, wherein the first indicated position is used by the worker to indicate a loading / unloading position that the transport robot should provide when loading / unloading the transport robot.

[0107] A calculation module 520 is configured to calculate a first target position of the transport robot based on the first indicated position, where the first target position is a loading / unloading position that the worker presumably expects the transport robot to provide.

[0108] The control module 530 is used to control the transport robot to align the first actual position with the first target position so that the worker can load / unload the soft package cargo on the transport robot at the first target position. The first actual position is the actual loading / unloading position provided by the transport robot.

[0109] In some embodiments, the control device further comprises:

[0110] Response module: used to respond to the trigger operation for the working mode, control the handling robot to enter the corresponding working mode, and the working mode at least includes the human-machine collaborative mode; when the handling robot enters the human-machine collaborative mode, trigger the acquisition module to execute the step of acquiring the first indicated position indicated by the designated position based on the worker's body located in the train boxcar or container.

[0111] In some embodiments, the working mode further includes at least a single working mode;

[0112] The response module is also used to control the transport robot to autonomously unload and stack soft-package goods in the train boxcar or container when the transport robot enters the independent operation mode; wherein the stacking height of the soft-package goods in the train boxcar or container after unloading is not greater than a preset height.

[0113] In some embodiments, the acquisition module 510 is used to spatially locate the designated position of the worker's body based on a positioning sensor signal emitted by a positioning device set at the designated position of the worker's body, and determine the spatial position obtained by spatial positioning as the first indication position.

[0114] In some embodiments, the acquisition module 510 is used to detect the movement of a specified position of a worker's body in a train boxcar or container based on the depth map information collected in the train boxcar or container, spatially locate the specified position in the preset action, and determine the spatial position obtained by spatial positioning as the first indication position.

[0115] In some embodiments, the calculation module 520 includes:

[0116] a first calculating unit, configured to directly determine the first indicated position as the first target position; or

[0117] The second calculation unit is configured to determine a target space region including the first indication position, and select any position within the target space region as the first target position.

[0118] In some embodiments, the second computing unit is configured to:

[0119] Based on the length, width, and height of the train boxcar or container, detecting a first cargo surface of the cargo stack in the train boxcar or container that is closest to the handling robot in the vertical length direction, and determining a first distance from the first indicated position to the first cargo surface;

[0120] If the first distance is less than a first threshold, then in the first cargo surface, an area enclosed by the projection of the first indicated position as the midpoint, the first width as the width boundary, and the first height as the height boundary is defined as a first target spatial area, and a position is selected from the first target spatial area as the first target position;

[0121] If the first distance is not less than the first threshold, then any position in the first target space area is selected as the first target position; or, in the second cargo surface passing through the first indication position in the vertical length direction, the area enclosed by the second width as the width boundary and the second height as the height boundary is selected as the second target space area, and a position is selected from the second target space area as the first target position; wherein, the position selected from the second target space area satisfies: the transport robot is not obstructed by the cargo pile during the process of aligning the first actual position to the first target position.

[0122] In some embodiments, the control module 530 is used to control the transport robot to move the first actual position to a third height range lower than the first target position along the height direction in the train boxcar or container, or further move to a third width range deviating from the first target position along the width direction in the train boxcar or container when a worker loads goods on the transport robot.

[0123] In some embodiments, the control module 530 is used to control the transport robot to move the first actual position to a third height range higher than the first target position along the height direction in the train boxcar or container, or further move to a third width range deviating from the first target position along the width direction in the train boxcar or container when a worker unloads the transport robot.

[0124] In some embodiments, the actual loading / unloading position provided by the transport robot is located at: the highest point position on the transport robot for carrying goods to be loaded / the highest point position on the transport robot for carrying goods to be unloaded.

[0125] In some embodiments, the first indicated position indicated by the designated position of the worker's body is triggered on demand by the worker during the loading / unloading process of the transport robot, and the triggering frequency is at least 2 times;

[0126] The calculation module 520 is configured to determine whether the first indicated position currently obtained by the acquisition module is the same as the first indicated position obtained last time; if they are different, calculate an updated first target position of the transport robot based on the first indicated position currently obtained; if they are the same, directly determine the first target position determined last time as the updated first target position of the transport robot;

[0127] The control module 530 is used to control the transport robot to align the current first actual position with the updated first target position, so that the worker can load / unload the soft package cargo on the transport robot at the updated first target position.

[0128] In some embodiments, the first indicated position is indicated based on an arm position of the worker's body.

[0129] In some embodiments, the positioning sensing signal includes any one of an NFC signal, a Bluetooth signal, and a WiFi signal.

[0130] Example 6

[0131] One embodiment of the present invention relates to a positioning method, which is applied to a wearable device located at a specific location on the body of a worker, the worker being located in a train boxcar or container, such as Figure 6 As shown, the method includes the following steps.

[0132] Step 610: Detecting an indication action of indicating a first indication position based on a designated position of a worker's body.

[0133] Specifically, the wearable device in this embodiment may be provided with a positioning device that has all the functions of the positioning device of the same name in the aforementioned method embodiment. The positioning device can be controlled by the worker and emit a positioning sensor signal. To accurately receive the worker's instructions, the positioning device will detect in real time the indicating action of indicating a first indicated position based on a designated position of the worker's body. The indicating action can be the worker pressing a button on the positioning device. Of course, the worker can also trigger the positioning device to emit a positioning sensor signal through other means, such as voice control.

[0134] Step 620: After detecting the indicating action, a positioning sensor signal is sent to the train boxcar or container, so that the handling robot can obtain a first indicating position indicated by the designated position of the worker's body in the train boxcar or container based on the positioning sensor signal, and execute the method for handling control as described in Examples 1 to 4 based on the first indicating position.

[0135] Specifically, after detecting the worker's indicating action, the positioning device will send a positioning sensor signal to the train boxcar or container. After these positioning sensor signals are obtained by the handling robot, the handling robot can obtain the first indicated position indicated by the designated position of the worker's body in the train boxcar or container based on the positioning sensor signal, and execute the method for handling control as described in Examples 1 to 4 based on the first indicated position.

[0136] The positioning method in this embodiment can be combined with the aforementioned method embodiment to provide it with a positioning sensor signal, so that the handling robot can obtain a first indicated position indicated by a designated position based on the worker's body in a train boxcar or container based on the positioning sensor signal, and execute a method for handling control based on the first indicated position.

[0137] Example 7

[0138] One embodiment of the present invention relates to a positioning device, such as Figure 7 As shown, the positioning device is provided in a wearable device located at a designated position on the worker's body, and the worker is located in a train boxcar or container. The positioning device includes:

[0139] A detection module 710 is configured to detect an indication action of indicating a first indication position based on a designated position of a worker's body;

[0140] The sending module 720 is used to send a positioning sensor signal to the train boxcar or container after detecting the indication action, so that the handling robot can obtain a first indication position indicated by the designated position of the worker's body in the train boxcar or container based on the positioning sensor signal, and execute the method for handling control as described in Examples 1 to 4 based on the first indication position.

[0141] Example 8

[0142] One embodiment of the present invention relates to a handling interaction method, which is applied to a handling robot located in a train boxcar or container, and a positioning device provided in a wearable device located at a specified position on the body of a worker, the worker being located in the train boxcar or container, the handling interaction method comprising:

[0143] The positioning device detects an indicating action based on a designated position indication of a first indicating position of the worker's body, and upon detecting the indicating action, sends a positioning sensing signal into the train boxcar or container;

[0144] The handling robot obtains a first indicated position indicated by a designated position of a worker's body in a train boxcar or a container based on the positioning sensor signal, and executes the method for handling control described in embodiments 1 to 4 based on the first indicated position.

[0145] For each step in this embodiment, reference may be made to the corresponding steps in the aforementioned method embodiment, and no further details will be given here.

[0146] Embodiment 9

[0147] One embodiment of the present invention relates to a handling interaction system, comprising: a handling robot located in a train boxcar or container, and a positioning device provided in a wearable device located at a designated position on a worker's body, the worker being located in the train boxcar or container;

[0148] The positioning device is used to detect an indicating action of indicating a first indicating position based on a designated position of the worker's body, and to send a positioning sensing signal into the train boxcar or container after detecting the indicating action;

[0149] The handling robot is used to obtain a first indicated position indicated by a designated position of a worker's body located in a train boxcar or container based on the positioning sensor signal, and to execute the method for handling control as described in Examples 1 to 4 based on the first indicated position.

[0150] The functions of the modules in this embodiment can be found in the corresponding functional modules in the aforementioned embodiments, and will not be described in detail here.

[0151] Example 10

[0152] Another embodiment of the present invention relates to an electronic device, such as Figure 8 As shown, it includes at least one processor 802; and a memory 801 that is communicatively connected to the at least one processor 802; wherein the memory 801 stores instructions that can be executed by the at least one processor 802, and the instructions are executed by the at least one processor 802 to enable the at least one processor 802 to execute any of the above method embodiments.

[0153] The memory 801 and processor 802 are connected using a bus. The bus may include any number of interconnected buses and bridges, connecting one or more processors 802 and various circuits of the memory 801. The bus may also connect various other circuits such as peripheral devices, voltage regulators, and power management circuits. These are all well known in the art and are therefore not described further herein. The bus interface provides an interface between the bus and the transceiver. The transceiver may be a single component or multiple components, such as multiple receivers and transmitters, providing a unit for communicating with various other devices over a transmission medium. Data processed by the processor 802 is transmitted over a wireless medium via an antenna. Furthermore, the antenna receives data and transmits it to the processor 802.

[0154] The processor 802 is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. The memory 801 can be used to store data used by the processor 802 when performing operations.

[0155] Another embodiment of the present invention relates to a computer-readable storage medium storing a computer program, which implements any of the above method embodiments when executed by a processor.

[0156] Another embodiment of the present invention relates to a computer program product. When the computer program product is run on a terminal device, the electronic device executes any one of the method embodiments described above.

[0157] That is, those skilled in the art will understand that all or part of the steps in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a program. The program is stored in a storage medium and includes a number of instructions for causing a device (which may be a single-chip microcomputer, chip, etc.) or a processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes: a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, etc., various media that can store program code.

[0158] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections thereof.

[0159] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0160] Those skilled in the art will appreciate that the above-mentioned embodiments are specific examples for implementing the present invention, and that in actual applications, various changes may be made thereto in form and detail without departing from the spirit and scope of the present invention.

Claims

1. A method for transport control, characterized in that Applied to a handling robot located in a train boxcar or container, the method comprises: Obtaining a first indicated position indicated by a designated position of a worker's body within a train boxcar or container, wherein the first indicated position is used to indicate a loading / unloading position that the transport robot should provide when the worker loads / unloads cargo on the transport robot; calculating a first target position of the transport robot based on the first indicated position, wherein the first target position is a presumed loading / unloading position that the worker expects the transport robot to provide; controlling the transport robot to align a first actual position with the first target position, so that the worker can load or unload soft package cargo on the transport robot at the first target position, where the first actual position is the actual loading or unloading position provided by the transport robot; The calculating the first target position of the transport robot based on the first indicated position includes: Determine a target spatial region including the first indicated position, and select any position within the target spatial region as the first target position; Determining a target spatial region including the first indicated position, and selecting any position within the target spatial region to be determined as the first target position includes: Based on the length, width, and height of the train boxcar or container, detecting a first cargo surface of the cargo stack in the train boxcar or container that is closest to the handling robot in the vertical length direction, and determining a first distance from the first indicated position to the first cargo surface; If the first distance is less than a first threshold, then in the first cargo surface, an area enclosed by the projection of the first indicated position as the midpoint, the first width as the width boundary, and the first height as the height boundary is defined as a first target spatial area, and a position is selected from the first target spatial area as the first target position; If the first distance is not less than the first threshold, then any position in the first target space area is selected as the first target position; or, in the second cargo surface passing through the first indication position in the vertical length direction, the area enclosed by the second width as the width direction boundary and the second height as the height direction boundary is selected as the second target space area, and a position is selected from the second target space area as the first target position; wherein, the position selected from the second target space area satisfies: the transport robot is not obstructed by the cargo pile during the process of aligning the first actual position to the first target position.

2. The method according to claim 1, characterized in that Before obtaining the first indicated position indicated by the designated position of the worker's body in the train boxcar or container, the method further includes: In response to a trigger operation for a working mode, controlling the transport robot to enter a corresponding working mode, wherein the working mode at least includes a human-machine collaborative mode; When the transport robot enters the human-machine collaborative mode, the step of obtaining a first indicated position indicated by a designated position of a worker's body in a train boxcar or a container is triggered.

3. The method according to claim 1, characterized in that The obtaining of a first indicated position indicated by a designated position of a worker's body located in a train boxcar or a container includes: Based on the positioning sensor signal emitted by the positioning device provided at the designated position of the worker's body, the designated position of the worker's body is spatially positioned, and the spatial position obtained by the spatial positioning is determined as the first indicated position.

4. The method according to claim 1, wherein The obtaining of a first indicated position indicated by a designated position of a worker's body located in a train boxcar or a container includes: Based on the depth map information collected inside the train boxcar or container, the movement of a designated position of the worker's body in the train boxcar or container is detected, the designated position in the preset movement is spatially positioned, and the spatial position obtained by the spatial positioning is determined as the first indication position.

5. The method according to claim 1, characterized in that The controlling the transport robot to align the first actual position with the first target position includes: When the worker loads the transport robot, the transport robot is controlled to move the first actual position to a third height range lower than the first target position along the height direction in the train boxcar or container, or further move to a third width range deviating from the first target position along the width direction in the train boxcar or container.

6. The method according to claim 1, characterized in that The controlling the transport robot to align the first actual position with the first target position includes: When the worker unloads the transport robot, the transport robot is controlled to move the first actual position to a third height range that is higher than the first target position along the height direction in the train boxcar or container, or further move to a third width range that deviates from the first target position along the width direction in the train boxcar or container.

7. The method according to claim 1, characterized in that The actual loading / unloading position provided by the transport robot is located at: the highest point position of the transport robot for carrying the goods to be loaded / the lowest point position of the transport robot for carrying the goods to be unloaded.

8. The method according to claim 1, characterized in that The first indicated position indicated based on the designated position of the worker's body is made by the worker as needed during the loading / unloading process of the transport robot, and the number of times the worker makes the first indicated position is at least 2 times; The calculating the first target position of the transport robot based on the first indicated position includes: determining whether the first indicated position obtained this time is the same as the first indicated position obtained last time; if they are different, calculating an updated first target position of the transport robot based on the first indicated position obtained this time; and if they are the same, directly determining the first target position determined last time as the updated first target position of the transport robot; The controlling the transport robot to align the first actual position with the first target position includes: The transport robot is controlled to align the current first actual position with the updated first target position, so that the worker can load / unload soft package cargo on the transport robot at the updated first target position.

9. The method according to claim 1, characterized in that The first indicated position is indicated based on the position of the arm of the worker.

10. The method according to claim 3, characterized in that The positioning sensing signal includes any one of an NFC signal, a Bluetooth signal, and a WiFi signal.

11. A transport robot, characterized in that: The transport robot is located in a train boxcar or a container, and is provided with a control device; the control device includes: an acquisition module, configured to acquire a first indicated position indicated by a designated position of a worker's body located within a train boxcar or a container, wherein the first indicated position is used to indicate a loading / unloading position that the transport robot should provide when the worker loads / unloads cargo on the transport robot; a calculation module, configured to calculate a first target position of the transport robot based on the first indicated position, wherein the first target position is a loading / unloading position that a worker presumably expects the transport robot to provide; a control module, configured to control the transport robot to align a first actual position with the first target position, so that the worker can load or unload soft package cargo on the transport robot at the first target position, wherein the first actual position is the actual loading or unloading position provided by the transport robot; The calculation module includes: a second calculation unit, configured to determine a target spatial region including the first indication position, and select any position within the target spatial region as the first target position; The second computing unit is configured to: Based on the length, width, and height of the train boxcar or container, detecting a first cargo surface of the cargo stack in the train boxcar or container that is closest to the handling robot in the vertical length direction, and determining a first distance from the first indicated position to the first cargo surface; If the first distance is less than a first threshold, then in the first cargo surface, an area enclosed by the projection of the first indicated position as the midpoint, the first width as the width boundary, and the first height as the height boundary is defined as a first target spatial area, and a position is selected from the first target spatial area as the first target position; If the first distance is not less than the first threshold, then any position in the first target space area is selected as the first target position; or, in the second cargo surface passing through the first indication position in the vertical length direction, the area enclosed by the second width as the width direction boundary and the second height as the height direction boundary is selected as the second target space area, and a position is selected from the second target space area as the first target position; wherein, the position selected from the second target space area satisfies: the transport robot is not obstructed by the cargo pile during the process of aligning the first actual position to the first target position.

12. The transport robot according to claim 11, characterized in that: The control device further comprises: Response module: used to respond to the trigger operation for the working mode, control the handling robot to enter the corresponding working mode, and the working mode at least includes the human-machine collaborative mode; when the handling robot enters the human-machine collaborative mode, trigger the acquisition module to execute the step of acquiring the first indicated position indicated by the designated position based on the worker's body located in the train boxcar or container.

13. The transport robot according to claim 11, characterized in that: The acquisition module is used to spatially locate the designated position of the worker's body based on a positioning sensor signal emitted by a positioning device set at the designated position of the worker's body, and determine the spatial position obtained by spatial positioning as the first indication position.

14. The transport robot according to claim 11, characterized in that: The acquisition module is used to detect the movement of a specified position of a worker's body in a train boxcar or container based on the depth map information collected in the train boxcar or container, spatially locate the specified position in the preset movement, and determine the spatial position obtained by spatial positioning as the first indication position.

15. The transport robot according to claim 11, characterized in that: The control module is used to control the transport robot to move the first actual position to a third height range lower than the first target position along the height direction in the train boxcar or container, or further move to a third width range deviating from the first target position along the width direction in the train boxcar or container when a worker loads goods on the transport robot.

16. The transport robot according to claim 11, characterized in that: The control module is used to control the transport robot to move the first actual position to a third height range higher than the first target position along the height direction in the train boxcar or container, or further move to a third width range deviating from the first target position along the width direction in the train boxcar or container when a worker unloads the transport robot.

17. The transport robot according to claim 11, characterized in that: The actual loading / unloading position provided by the transport robot is located at: the highest point position of the transport robot for carrying the goods to be loaded / the lowest point position of the transport robot for carrying the goods to be unloaded.

18. The transport robot according to claim 11, characterized in that: The first indicated position indicated by the designated position of the worker's body is triggered as needed by the worker during the loading / unloading process of the transport robot, and the triggering frequency is at least 2 times; the calculating module is configured to determine whether the first indicated position currently obtained by the obtaining module is the same as the first indicated position obtained last time, and if different, calculate an updated first target position of the transport robot based on the first indicated position currently obtained; If they are the same, the first target position determined last time is directly determined as the updated first target position of the transport robot; The control module is used to control the transport robot to align the current first actual position with the updated first target position, so that the worker can load / unload soft package goods on the transport robot at the updated first target position.

19. The transport robot according to claim 11, characterized in that: The first indicated position is indicated based on the position of the arm of the worker.

20. The transport robot according to claim 13, wherein: The positioning sensing signal includes any one of an NFC signal, a Bluetooth signal, and a WiFi signal.

21. A positioning method, characterized in that: A wearable device is applied to a specific location on a worker's body, the worker being located in a train boxcar or container, and the positioning method includes: detecting an indicating action of indicating a first indicating position based on a designated position of a worker's body; After detecting the indicating action, a positioning sensor signal is sent into the train boxcar or container, so that the handling robot can obtain a first indicating position indicated by the designated position of the worker's body in the train boxcar or container based on the positioning sensor signal, and execute the method for handling control as described in any one of claims 1 to 3, 5 to 10 based on the first indicating position.

22. A positioning device, characterized in that: The positioning device is provided in a wearable device located at a designated position on the body of a worker, the worker being located in a train boxcar or a container, and the positioning device comprises: a detection module, configured to detect an indication action of indicating a first indication position based on a designated position of a worker's body; A sending module is used to send a positioning sensor signal into a train boxcar or container after detecting the indicating action, so that the handling robot can obtain a first indicated position indicated by a designated position of the worker's body in the train boxcar or container based on the positioning sensor signal, and execute the method for handling control as described in any one of claims 1 to 3, 5 to 10 based on the first indicated position.

23. A transport interaction method, characterized in that: A handling robot is applied to a transport robot located in a train boxcar or container, and a positioning device is provided in a wearable device located at a specified position on a worker's body, wherein the worker is located in the train boxcar or container. The handling interaction method includes: The positioning device detects an indicating action of indicating a first indicating position based on a designated position of the worker's body, and upon detecting the indicating action, sends a positioning sensing signal into the train boxcar or container; The handling robot obtains a first indicated position indicated by a designated position of a worker's body in a train boxcar or a container based on the positioning sensor signal, and executes a method for handling control as described in any one of claims 1 to 3, 5 to 10 based on the first indicated position.

24. A transport interaction system, characterized in that: include: A handling robot located in a train boxcar or container, and a positioning device provided in a wearable device located at a designated location on a worker's body, the worker being located in the train boxcar or container; The positioning device is used to detect an indicating action of indicating a first indicating position based on a designated position of the worker's body, and to send a positioning sensing signal into the train boxcar or container after detecting the indicating action; The handling robot is used to obtain a first indicated position indicated by a designated position of a worker's body located in a train boxcar or a container based on the positioning sensor signal, and to execute the method for handling control as described in any one of claims 1 to 3, 5 to 10 based on the first indicated position.

25. An electronic device, characterized in that: include: at least one processor; as well as, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method for transport control as described in any one of claims 1 to 10, or the positioning method as described in claim 21, or the transport interaction method as described in claim 23.

26. A computer program product comprising a computer program or instructions, characterized in that: When the computer program or instruction is executed by a processor, the method for transport control according to any one of claims 1 to 10, the positioning method according to claim 21, or the transport interaction method according to claim 23 is implemented.

27. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, it implements the method for transport control described in any one of claims 1 to 10, or the positioning method described in claim 21, or the transport interaction method described in claim 23.

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