Stacking system for carrying goods

Abstract

According to the stacking system for carrying the cargos, the size and pose information of the cargos can be recognized according to the collected image of the grabbing area; determining a grabbing path and a tail end pose according to the size and pose information of the goods; a moving instruction is sent to the robot body according to the grabbing path and the tail end pose, so that the robot body moves at a first moving speed according to the grabbing path and the tail end pose; and when revision is needed, the first moving speed is revised into a second moving speed according to the point cloud information and the image of the human body activity area, so that the robot body moves at the second moving speed according to the grabbing path and the tail end pose, the second moving speed is smaller than the first moving speed. Automatic carrying of goods can be achieved, and the problem that the labor cost is high in the goods carrying process is solved.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a palletizing system for transporting goods. Background Art

[0002] Currently, airport cargo handling systems, including weighing, security screening, sorting, and transportation, have matured and achieved automated intelligence. However, in actual airport operations, certain processes between the terminal and the aircraft cabin still rely heavily on manual labor. For example, before a flight takes off, after cargo sorting is complete, luggage needs to be stacked from a specific flight's cargo buffer onto a tug truck, a step typically performed manually. Furthermore, this process is subject to relatively harsh working conditions, high staff turnover, difficulty in finding workers, and high labor costs. Summary of the Invention

[0003] The purpose of the embodiments of the present application is to provide a palletizing system for transporting goods, so as to solve the problem of high labor costs during the cargo transportation process. The specific technical solution is as follows:

[0004] In a first aspect of an embodiment of the present application, a palletizing system for transporting goods is first provided, the system comprising: a robot traction subsystem, a three-dimensional vision subsystem, a safety monitoring sensor subsystem, and a main control unit;

[0005] The robot traction subsystem includes a robot base and a robot body located on the robot base; the safety monitoring sensing subsystem includes a laser radar located on the robot base and a safety camera located above the robot body;

[0006] The three-dimensional vision subsystem includes a first three-dimensional camera; the first three-dimensional camera is located in the grasping area; the first three-dimensional camera is used to capture images of the grasping area; and the captured images of the grasping area are sent to the main control unit;

[0007] The main control unit is configured to receive an image of the grasping area; identify size and position information of the goods based on the captured image of the grasping area; determine a grasping path and an end position based on the size and position information of the goods; and send a movement instruction to the robot body based on the grasping path and end position, so that the robot body moves according to the grasping path and end position at a first movement speed;

[0008] The safety monitoring sensing subsystem is configured to collect point cloud information and images of human activity areas during the movement of the robot body through the laser radar and the safety camera; and send the collected point cloud information and images of the human activity areas to the main control unit;

[0009] In which, the main control unit is also used to determine whether the moving speed of the robot body needs to be revised based on the point cloud information and the image of the human activity area, and if revision is required, revise the first moving speed to a second moving speed based on the point cloud information and the image of the human activity area, so that the robot body moves at the second moving speed according to the grasping path and end posture, wherein the second moving speed is less than the first moving speed.

[0010] In one possible implementation, the main control unit is specifically used to divide the human activity area into a high-risk area, a low-risk area, and a safe area based on the point cloud information and the image of the human activity area; when the robot body moves to the high-risk area or the low-risk area, the first moving speed is revised to a second moving speed.

[0011] In one possible implementation, the 3D vision subsystem further includes a second 3D camera; the second 3D camera is located in the stacking area;

[0012] The second three-dimensional camera is used to capture images of the stacking area; and send the captured images of the stacking area to the main control unit.

[0013] In one possible embodiment, the system further includes a vacuum lifter grabbing subsystem;

[0014] The vacuum lifter grabbing subsystem includes a vacuum pump, a vacuum air line, a telescopic spring tube, a sliding pressure relief valve and a vacuum suction cup;

[0015] The vacuum pump is arranged on the robot base;

[0016] One end of the vacuum air circuit is connected to the vacuum pump, and the other end is connected to one end of the telescopic spring tube; the other end of the telescopic spring tube is connected to one end of the sliding pressure relief valve; the other end of the sliding pressure relief valve is connected to the vacuum suction cup; the end of the robot body is connected to the vacuum suction cup;

[0017] The vacuum suction cup is used to lift the cargo;

[0018] The robot body is specifically used to pull the vacuum suction cup and move the lifted goods.

[0019] In one possible implementation, the system further includes a cargo transport subsystem;

[0020] The cargo conveying subsystem includes a barcode reader, a photoelectric trigger and a conveyor;

[0021] The cargo conveying subsystem is configured to, upon receiving a start signal from a photoelectric trigger, move the cargo to a barcode collection area via the cargo conveyor; collect barcode information of the cargo via the barcode reader; and transmit the collected barcode information to the main control unit;

[0022] The main control unit is further configured to determine a luggage trailer corresponding to the cargo based on the barcode information, wherein the trailer is located in a stacking area.

[0023] In one possible implementation manner, the robot body further includes a torque overload detection sensor;

[0024] The robot body is further configured to trigger the robot body to stop moving when a torque overload is detected by the torque overload detection sensor.

[0025] A second aspect of the embodiments of the present application provides a palletizing method for transporting goods, the method being applied to a main control unit;

[0026] The method comprises:

[0027] Get an image of the grasped area;

[0028] Identifying the size and position information of the cargo based on the collected image of the grasping area;

[0029] Determine the grasping path and end position according to the size and position information of the cargo;

[0030] Sending a movement instruction to the robot body according to the grasping path and the end position, so that the robot body moves according to the grasping path and the end position at a first movement speed;

[0031] Determining whether the movement speed of the robot body needs to be revised based on the collected point cloud information and the image of the human activity area;

[0032] If revision is required, the first moving speed is revised to a second moving speed based on the point cloud information and the image of the human activity area, so that the robot body moves at the second moving speed according to the grasping path and the end posture, wherein the second moving speed is less than the first moving speed.

[0033] In one possible implementation, revising the first movement speed to a second movement speed based on the point cloud information and the image of the human activity area includes:

[0034] Dividing the human activity area into a high-risk area, a low-risk area, and a safe area according to the point cloud information and the image of the human activity area;

[0035] When the robot body moves to the high-risk area or the low-risk area, the first moving speed is revised to a second moving speed.

[0036] In one possible implementation, the method further includes:

[0037] A luggage trailer corresponding to the cargo is determined according to the barcode information, wherein the trailer is located in a stacking area.

[0038] Another aspect of the present application provides an electronic device, including:

[0039] Memory for storing computer programs;

[0040] The processor is configured to implement any of the above-mentioned methods for palletizing the transported goods when executing the program stored in the memory.

[0041] In another aspect of an embodiment of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, any of the above-mentioned methods for palletizing transported goods is implemented.

[0042] In another aspect provided by the present application, a computer program product comprising instructions is also provided, which, when executed on a computer, enables the computer to execute any of the above-described methods for palletizing goods.

[0043] Beneficial effects of the embodiments of the present application:

[0044] An embodiment of the present application provides a palletizing system for handling goods, the system comprising: a robot traction subsystem, a three-dimensional vision subsystem, a safety monitoring sensing subsystem and a main control unit; the robot traction subsystem comprises a robot base and a robot body located on the robot base; the safety monitoring sensing subsystem comprises a laser radar located on the robot base and a safety camera located above the robot body; the three-dimensional vision subsystem comprises a first three-dimensional camera; the first three-dimensional camera is located in a grasping area; the first three-dimensional camera is used to capture an image of the grasping area; the captured image of the grasping area is sent to the main control unit; the main control unit is used to receive the image of the grasping area; identify the size and posture information of the goods according to the captured image of the grasping area; determine the grasping path and end posture according to the size and posture information of the goods; and send the grasping path and end posture to the robot according to the grasping path and end posture. The main body sends a movement instruction so that the robot body moves at a first movement speed according to the grasping path and the end position; the safety monitoring sensing subsystem is used to collect point cloud information and images of the human activity area during the movement of the robot body through the laser radar and the security camera; and send the collected point cloud information and images of the human activity area to the main control unit; wherein the main control unit is further used to determine whether the movement speed of the robot body needs to be revised based on the point cloud information and the images of the human activity area, and if revision is required, revise the first movement speed to a second movement speed based on the point cloud information and the images of the human activity area, so that the robot body moves at the second movement speed according to the grasping path and the end position, wherein the second movement speed is less than the first movement speed. It can be seen that through the system of the embodiment of the present application, the size and posture information of the goods can be identified based on the collected images of the grasping area, and the grasping path and the end position can be determined so that the robot body moves at the first movement speed, and the first movement speed can be revised to the second movement speed based on the point cloud information and the images of the human activity area. This not only enables automatic handling of goods and solves the problem of high labor costs during cargo handling, but also allows the robot's movement speed to be revised according to the human activity area, thereby ensuring the safety of personnel and achieving human-machine collaboration.

[0045] Of course, it is not necessary to achieve all the advantages described above at the same time when implementing any product or method of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0047] Figure 1 A schematic diagram of a palletizing system for transporting goods provided in an embodiment of the present application;

[0048] Figure 2 Another schematic diagram of a palletizing system for transporting goods provided in an embodiment of the present application;

[0049] Figure 3 A schematic flow chart of a method for palletizing goods provided in an embodiment of the present application;

[0050] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0051] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field based on this application are within the scope of protection of this application.

[0052] In a first aspect of the embodiment of the present application, a palletizing system for transporting goods is first provided. Figure 1 , the system includes: a robot traction subsystem 101, a three-dimensional vision subsystem 102, a safety monitoring sensing subsystem 103 and a main control unit 104;

[0053] The robot traction subsystem 101 includes a robot base and a robot body located on the robot base; the safety monitoring sensor subsystem 103 includes a laser radar located on the robot base and a safety camera located above the robot body; the 3D vision subsystem includes a first 3D camera; the first 3D camera is located in the grasping area;

[0054] The first three-dimensional camera is used to capture images of the grasping area; and send the captured images of the grasping area to the main control unit;

[0055] The main control unit 104 is configured to receive an image of the grasping area; identify size and position information of the goods based on the captured image of the grasping area; determine a grasping path and an end position based on the size and position information of the goods; and send a movement instruction to the robot body based on the grasping path and end position, so that the robot body moves according to the grasping path and end position at a first movement speed;

[0056] The safety monitoring sensing subsystem 103 is configured to collect point cloud information and images of human activity areas during the movement of the robot body through the laser radar and the safety camera; and send the collected point cloud information and images of the human activity areas to the main control unit;

[0057] In which, the main control unit 104 is also used to determine whether the moving speed of the robot body needs to be revised based on the point cloud information and the image of the human activity area, and if revision is required, revise the first moving speed to a second moving speed based on the point cloud information and the image of the human activity area, so that the robot body moves at the second moving speed according to the grasping path and the end posture, wherein the second moving speed is less than the first moving speed.

[0058] The robot traction subsystem in the embodiment of the present application includes a robot base and a robot body located on the robot base. In actual use, the robot traction subsystem may also include a ground rail system, etc. Specifically, the ground rail system can be fixed to the ground of the site, the robot base is mounted on the rail slider, and the collaborative robot is mounted on the robot base; the robot base can be a box structure for accommodating the vacuum pump of the vacuum hoist and the ground rail drive motor; the robot base can be specially designed to have functions such as sound absorption, vibration isolation, and heat dissipation.

[0059] In one embodiment of the present application, the 3D vision subsystem includes a first 3D camera located in a gripping area, configured to capture images of the gripping area and transmit the captured images to the main control unit. The main control unit then identifies the size and position of the goods based on the captured images of the gripping area. In one example, the camera may be a 3D camera. In one possible implementation, the 3D vision subsystem also includes a second 3D camera located in a stacking area, configured to capture images of the stacking area and transmit the captured images to the main control unit. Specifically, the two 3D cameras may be located above the center of the gripping and stacking areas, respectively. The cameras may be mounted on a camera support, including but not limited to gantry-type and ceiling-mounted structures, for securing the cameras at a specific height. When the main control unit identifies the size and position of the goods based on the captured images of the gripping area, it may identify the coordinate position of the goods in a pixel coordinate system based on the images captured by the first 3D camera, thereby quickly identifying the size and position of the goods based on these coordinate positions. In this application, the robot can adopt disordered grasping. After the camera recognizes the contour posture of the luggage, it sends the point cloud information to the main control unit. The main control unit is configured with the robot control algorithm, and then generates the terminal movement path and grasping posture. Specifically, the mapping relationship between the image coordinate system and the world coordinate system can be determined through image preprocessing, distortion correction and calibration, and then the position and size of the goods in the image coordinate system can be identified based on target detection and segmentation. Finally, the size and posture information of the goods in the world coordinate system can be determined through coordinate system conversion. It should be noted that the 3D camera above the stacking area can capture the image of the area and send it to the main control unit. The main control unit compares the actual stack shape with the theoretical stack shape, and updates it to the new stack shape and collision environment, so as to realize real-time data update during the stacking process.

[0060] Among them, when determining the grasping path and the end posture according to the size and posture information of the goods, it can be determined by referring to the prior art and determining it according to the robot control algorithm in the prior art. Specifically, the mapping relationship between the robot coordinate system and the world coordinate system can be determined first by the conversion of the coordinate system, and then the grasping path of the robot can be planned by using the information such as the size of the goods as a constraint. In one example, the end posture can be converted into a robot joint angle sequence by inverse kinematics settlement, and a collision-free motion trajectory can be generated by combining algorithms such as fast expansion random numbers. In one example, the end posture can also be optimized by grasping point calculation or clamping parameter adaptation. Thereby, a movement instruction is sent to the robot body according to the grasping path and the end posture, so that the robot body moves according to the first movement speed according to the grasping path and the end posture. Among them, the first speed in the embodiment of the present application can be the default speed of the robot, and the default speed can be the movement speed when the robot's movement range is safe.

[0061] The safety monitoring sensor subsystem uses the laser radar and the safety camera to collect point cloud information and images of human activity areas during the robot's movement. Since the safety monitoring sensor subsystem includes a laser radar located on the robot base and a safety camera located above the robot, the collected point cloud information can be a point cloud collected by the laser radar, and this point cloud can reflect the robot's surroundings, such as whether there are people or objects, and the distance to the people or objects. Similarly, the safety camera located above the robot can also monitor the robot's surroundings, thereby determining the risk of collision with nearby people. When a risk exists, the first movement speed can be revised to a second movement speed, causing the robot to move at the second movement speed based on the grasping path and end-point posture. The second movement speed is lower than the first movement speed. Specifically, different risk levels can be classified, and different movement speeds can be determined based on the risk levels. In one example, a high risk level may trigger the robot to stop moving.

[0062] As can be seen, the system of the embodiment of the present application can identify the size and position information of the goods based on the collected image of the grasping area, determine the grasping path and end position, so that the robot body moves at a first movement speed, and can revise the first movement speed to a second movement speed based on the point cloud information and the image of the human activity area. This not only enables the automatic handling of goods and solves the problem of high labor costs during the cargo handling process, but also allows the robot's movement speed to be revised based on the human activity area, thereby ensuring the safety of personnel and realizing human-machine collaboration.

[0063] In one possible implementation, the main control unit is specifically used to divide the human activity area into a high-risk area, a low-risk area, and a safe area based on the point cloud information and the image of the human activity area; when the robot body moves to the high-risk area or the low-risk area, the first moving speed is revised to a second moving speed.

[0064] In one possible implementation, the robot body further includes a torque overload detection sensor; the robot body is further configured to trigger the robot body to stop moving when a torque overload is detected by the torque overload detection sensor.

[0065] In embodiments of the present application, the human activity zone can be a pre-defined removal zone where workers cooperate with the system of the present application to achieve human-robot collaboration. Alternatively, the human activity zone can be an area where human activity is detected. The human activity zone in the embodiments of the present application may overlap with the robot's range of motion. In one embodiment, the high-risk zone, low-risk zone, and safe zone can be pre-defined. For example, the safe zone is an area that does not overlap with the robot's range of motion, the low-risk zone overlaps but is farther away, and the high-risk zone is an area that overlaps but is closer. In another embodiment, the high-risk zone, low-risk zone, and safe zone can be defined by detecting the human's motion tendency. The low-risk zone is an area within the robot's range of motion where the human's motion tendency overlaps but is less prone to motion, while the high-risk zone is an area within the robot's range of motion where the human's motion tendency overlaps and is more prone to motion. In one example, the torque overload detection sensor detects a robot collision and triggers the robot to stop. This is the highest level of safety detection. When a torque overload is detected, the robot stops, thereby protecting personnel and equipment. The laser radar is used to detect the human activity area as an early warning signal, and then reduce the movement speed of the robot; the safety camera is used to detect the real-time relative position of the human and the robot, and then control the robot to run at an appropriate speed. The laser radar and safety camera divide the human activity area into three areas: high risk, low risk and safe area. The robot is set with reasonable movement and motion speeds through the configuration of algorithmic parameters. Specifically, the algorithm may refer to the correspondence between different areas and multiple preset speeds. Different preset speeds can be set in advance for different areas. Through the method of the embodiment of the present application, different risk areas can be divided, and corresponding movement speeds can be set for different risk areas, which not only protects the safety of personnel and equipment, but also realizes human-machine collaboration. At the same time, the torque overload sensor can be used to achieve shutdown in an emergency to prevent the occurrence or expansion of accidents.

[0066] In one possible embodiment, the system further includes a vacuum lifter grabbing subsystem;

[0067] The vacuum lifter grabbing subsystem includes a vacuum pump, a vacuum air line, a telescopic spring tube, a sliding pressure relief valve and a vacuum suction cup;

[0068] The vacuum pump is arranged on the robot base;

[0069] One end of the vacuum air circuit is connected to the vacuum pump, and the other end is connected to one end of the telescopic spring tube; the other end of the telescopic spring tube is connected to one end of the sliding pressure relief valve; the other end of the sliding pressure relief valve is connected to the vacuum suction cup; the end of the robot body is connected to the vacuum suction cup;

[0070] The vacuum suction cup is used to lift the cargo;

[0071] The robot body is specifically used to pull the vacuum suction cup and move the lifted goods.

[0072] The vacuum lifter gripping subsystem in the embodiments of the present application includes a vacuum pump, a vacuum air circuit, a telescopic spring tube, a sliding pressure relief valve, and a vacuum suction cup. The vacuum pump is the source of vacuum and is housed within the robot base. Referring to the aforementioned embodiments, the robot base can be box-shaped to facilitate placement of the vacuum pump. The folding cantilever comprises a column and a two-section folding cantilever. The column is mounted on the robot base, and the cantilever is mounted above the column and can rotate 360 ​​degrees. The end of the folding cantilever has a spring tube guide wheel for retaining the spring tube, allowing the end of the folding cantilever to move freely within a fixed horizontal plane. The vacuum air circuit primarily includes an air pipe and a vacuum on-off valve, connecting the vacuum pump and the telescopic spring tube. The telescopic spring tube is folded 90 degrees, with the end pointing vertically downward. When the air within the tube is removed, the tube shortens, thereby lifting the cargo. The sliding pressure relief valve connects the robot end to the suction cup and the telescopic spring tube. The robot's mobile pulling of this pressure relief valve causes the lifter to rise or fall with the robot end. It should be noted that the robot can move freely in the horizontal direction by pulling the suction cup and the sling system, but in the vertical direction, a sliding pressure relief valve is required to allow the sling to move with the end of the robot. The suction cup in the embodiment of the present application may include but is not limited to the suction cup with a sponge lip.

[0073] In one possible implementation, the system further includes a cargo transport subsystem;

[0074] The cargo conveying subsystem includes a barcode reader, a photoelectric trigger and a conveyor;

[0075] The cargo conveying subsystem is configured to, upon receiving a start signal from a photoelectric trigger, move the cargo to a barcode collection area via the cargo conveyor; collect barcode information of the cargo via the barcode reader; and transmit the collected barcode information to the main control unit;

[0076] The main control unit is further configured to determine a luggage trailer corresponding to the cargo based on the barcode information, wherein the trailer is located in a stacking area.

[0077] The baggage conveying subsystem in the embodiments of the present application may include three conveyor sections: a powered segmented conveyor docked with each chute, a central lift-transfer machine, a belt conveyor after converging, and a roller conveyor at the grabbing position. In one example, when the cargo is luggage, the conveyor docked with the chute is a powered segmented conveyor, comprising a conveying section and a photoelectric sensing section. When the luggage arrives on the conveyor, it triggers a photoelectric sensor at the corresponding position, which in turn activates the corresponding roller section, conveying the luggage to the barcode collection area. Once the luggage arrives at the barcode collection area, the photoelectric trigger triggers the lift-transfer machine below the roller, raising it and conveying the luggage to the belt conveyor. The belt conveyor now comprises a bottom belt and side belts, with the two side belts tilted toward the center, forming a funnel shape, pushing the luggage toward the center. This process passes through an RFID (Radio Frequency Identification) reader, which reads the luggage's tag and sends it to the main control unit. After the luggage continues from the barcode collection area to the roller conveyor at the end, it stops at the grabbing area and waits for grabbing. The main control unit then determines the luggage trailer corresponding to the goods based on the barcode information, thereby grabbing and stacking the goods.

[0078] In order to illustrate the solution of the embodiment of the present application, a specific embodiment is described below. Figure 2 The system includes: 3D vision subsystem, robot traction subsystem, vacuum spreader grabbing subsystem, cargo conveying subsystem, and safety monitoring sensing subsystem.

[0079] The 3D vision subsystem includes two 3D cameras, one located above the center of the pick and stack placement area. The cameras are mounted on camera supports, which may include but are not limited to gantry-type and ceiling-mounted structures, to secure the cameras at a specific height.

[0080] The robot traction subsystem includes a ground rail system, a robot base, and a collaborative robot; the ground rail system is fixed to the ground of the site, the robot base is installed on the track slider, that is, the robot's moving guide rail, and the collaborative robot is installed on the robot base. The collaborative robot includes a collaborative robotic arm; the robot base is a box structure used to place the vacuum pump of the vacuum lifter and the ground rail drive motor; the robot base adopts a special design with functions such as noise reduction, vibration isolation, and heat dissipation.

[0081] The vacuum lifter's gripping subsystem includes a folding cantilever, a vacuum pump, a vacuum air circuit, a telescopic spring tube, a sliding pressure relief valve, and a vacuum suction cup. The vacuum pump, the source of vacuum, is located within the robot's base. The folding cantilever consists of a column mounted on the robot's base and a two-section folding cantilever. The column is mounted on the robot's base, and the cantilever is mounted above the column and can rotate 360 ​​degrees. The end of the folding cantilever has a spring tube guide wheel that holds the spring tube, allowing the end of the folding cantilever to move freely on a fixed horizontal plane. The vacuum air circuit primarily includes an air pipe and a vacuum on-off valve, connecting the vacuum pump and the telescopic spring tube. The telescopic spring tube is folded 90 degrees, with the end pointing vertically downward. When the air in the tube is removed, the tube shortens, allowing the cargo to be lifted. The sliding pressure relief valve connects the robot's end to the suction cup and the telescopic spring tube. The robot's mobile traction of this pressure relief valve causes the lifter to rise or fall with the robot's end.

[0082] When the system in this application is used for luggage transportation at an airport, and the cargo is the luggage that needs to be transported. The cargo conveying subsystem includes three sections of conveyors, a powered segmented luggage conveyor docked with each luggage chute, a central lifting and transferring machine, a belt conveyor after the confluence, and a roller conveyor at the grabbing position. The luggage conveyor docked with the chute is a powered segmented luggage conveyor, including a conveying part and a photoelectric sensing part. When the luggage arrives at the conveyor, it will trigger the photoelectric sensor at the corresponding position, and then pneumatically drive the rollers of the corresponding segment to transport the luggage to the middle. When the luggage arrives at the middle, the photoelectric sensor will be triggered, and the lifting and transferring machine under the roller will rise to transport the luggage to the belt conveyor. At this time, the belt conveyor includes a bottom belt and side belts, of which the two side belts are inclined toward the middle and are funnel-shaped, pushing the luggage to the middle. This process passes through the RFID identifier, which reads the luggage tag and sends it to the main control. After the luggage is transported to the roller conveyor at the end, it stops and waits for grabbing.

[0083] The safety monitoring sensing system includes a torque overload detection sensor on the robot body, a lidar located at the robot base, and a safety camera located above the robot base. The torque overload detection sensor detects collisions and triggers the robot to stop, representing the highest level of safety detection. The lidar detects areas of human activity as a warning signal, thereby reducing the robot's movement speed. The safety camera detects the real-time relative position of humans and robots, controlling the robot's operation at an appropriate speed. The lidar and safety camera divide the human activity area into three zones: high-risk, low-risk, and safe. The robot's movement and speed are set appropriately through algorithmic parameter configuration.

[0084] A second aspect of the embodiments of the present application provides a palletizing method for transporting goods, the method being applied to a main control unit;

[0085] See also Figure 3 , the method comprising:

[0086] Step S31, acquiring an image of the capture area;

[0087] Step S32, identifying the size and position information of the goods based on the collected image of the grasping area;

[0088] Step S33, determining the grasping path and end position according to the size and position information of the goods;

[0089] Step S34, sending a movement instruction to the robot body according to the grasping path and the end position, so that the robot body moves according to the grasping path and the end position at a first movement speed;

[0090] Step S35, judging whether the moving speed of the robot body needs to be revised based on the collected point cloud information and the image of the human activity area;

[0091] Step S36, if revision is required, revise the first moving speed to a second moving speed based on the point cloud information and the image of the human activity area, so that the robot body moves at the second moving speed according to the grasping path and the end posture, wherein the second moving speed is less than the first moving speed.

[0092] In one possible implementation, revising the first movement speed to a second movement speed based on the point cloud information and the image of the human activity area includes:

[0093] Dividing the human activity area into a high-risk area, a low-risk area, and a safe area according to the point cloud information and the image of the human activity area;

[0094] When the robot body moves to the high-risk area or the low-risk area, the first moving speed is revised to a second moving speed.

[0095] In one possible implementation, the method further includes:

[0096] A luggage trailer corresponding to the cargo is determined according to the barcode information, wherein the trailer is located in a stacking area.

[0097] As can be seen, the system of the embodiment of the present application can identify the size and position information of the goods based on the collected image of the grasping area, determine the grasping path and end position, so that the robot body moves at a first movement speed, and can revise the first movement speed to a second movement speed based on the point cloud information and the image of the human activity area. This not only enables the automatic handling of goods and solves the problem of high labor costs during the cargo handling process, but also allows the robot's movement speed to be revised based on the human activity area, thereby ensuring the safety of personnel and realizing human-machine collaboration.

[0098] The present application also provides an electronic device, such as Figure 4 Shown, including:

[0099] Memory 401, used for storing computer programs;

[0100] The processor 402 is configured to execute the program stored in the memory 401 by performing the following steps:

[0101] Get an image of the grasped area;

[0102] Identifying the size and position information of the cargo based on the collected image of the grasping area;

[0103] Determine the grasping path and end position according to the size and position information of the cargo;

[0104] Sending a movement instruction to the robot body according to the grasping path and the end position, so that the robot body moves according to the grasping path and the end position at a first movement speed;

[0105] Determining whether the movement speed of the robot body needs to be revised based on the collected point cloud information and the image of the human activity area;

[0106] If revision is required, the first moving speed is revised to a second moving speed based on the point cloud information and the image of the human activity area, so that the robot body moves at the second moving speed according to the grasping path and the end posture, wherein the second moving speed is less than the first moving speed.

[0107] The communication bus mentioned in the electronic device mentioned above may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is used in the figure, but this does not mean that there is only one bus or only one type of bus.

[0108] The communication interface is used for communication between the above electronic device and other devices.

[0109] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage. Alternatively, the memory may be at least one storage device located away from the processor.

[0110] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components.

[0111] In another embodiment provided in the present application, a computer-readable storage medium is provided, in which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above-mentioned palletizing methods for transporting goods are implemented.

[0112] In another embodiment provided by the present application, a computer program product including instructions is further provided, which, when executed on a computer, enables the computer to execute any of the palletizing methods for transporting goods in the above embodiments.

[0113] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrations. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a solid-state drive (SSD).

[0114] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0115] Each embodiment in this specification is described in a related manner. Similar portions between embodiments can be referenced to each other. Each embodiment focuses on the differences between the other embodiments. In particular, the method, electronic device, storage medium, and computer program product embodiments are generally similar to the system embodiments, so their descriptions are relatively simplified. For related portions, reference can be made to the descriptions of the method embodiments.

[0116] The above description is only a preferred embodiment of the present application and is not intended to limit the scope of protection of the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application are included in the scope of protection of the present application.

Claims

1. A palletizing system for transporting goods, characterized in that: The system includes: a robot traction subsystem, a three-dimensional vision subsystem, a safety monitoring sensor subsystem and a main control unit; The robot traction subsystem includes a robot base and a robot body located on the robot base; the safety monitoring sensing subsystem includes a laser radar located on the robot base and a safety camera located above the robot body; The three-dimensional vision subsystem includes a first three-dimensional camera; the first three-dimensional camera is located in the grasping area; the first three-dimensional camera is used to capture images of the grasping area; and the captured images of the grasping area are sent to the main control unit; The main control unit is configured to receive an image of the grasping area; identify size and position information of the goods based on the captured image of the grasping area; determine a grasping path and an end position based on the size and position information of the goods; and send a movement instruction to the robot body based on the grasping path and end position, so that the robot body moves according to the grasping path and end position at a first movement speed; The safety monitoring sensing subsystem is configured to collect point cloud information and images of human activity areas during the movement of the robot body through the laser radar and the safety camera; and send the collected point cloud information and images of the human activity areas to the main control unit; In which, the main control unit is also used to determine whether the moving speed of the robot body needs to be revised based on the point cloud information and the image of the human activity area, and if revision is required, revise the first moving speed to a second moving speed based on the point cloud information and the image of the human activity area, so that the robot body moves at the second moving speed according to the grasping path and end posture, wherein the second moving speed is less than the first moving speed.

2. The palletizing system for transporting goods according to claim 1, characterized in that: The main control unit is specifically used to divide the human activity area into a high-risk area, a low-risk area and a safe area based on the point cloud information and the image of the human activity area; when the robot body moves to the high-risk area or the low-risk area, the first moving speed is revised to the second moving speed.

3. The palletizing system for transporting goods according to claim 1, characterized in that: The three-dimensional vision subsystem further includes a second three-dimensional camera; the second three-dimensional camera is located in the stacking area; The second three-dimensional camera is used to capture images of the stacking area; and send the captured images of the stacking area to the main control unit.

4. The palletizing system for transporting goods according to claim 1, characterized in that: The system also includes a vacuum spreader grabbing subsystem; The vacuum lifter grabbing subsystem includes a vacuum pump, a vacuum air line, a telescopic spring tube, a sliding pressure relief valve and a vacuum suction cup; The vacuum pump is arranged on the robot base; One end of the vacuum air circuit is connected to the vacuum pump, and the other end is connected to one end of the telescopic spring tube; the other end of the telescopic spring tube is connected to one end of the sliding pressure relief valve; the other end of the sliding pressure relief valve is connected to the vacuum suction cup; the end of the robot body is connected to the vacuum suction cup; The vacuum suction cup is used to lift the cargo; The robot body is specifically used to pull the vacuum suction cup and move the lifted goods.

5. The palletizing system for transporting goods according to claim 1, characterized in that: The system also includes a cargo transport subsystem; The cargo conveying subsystem includes a barcode reader, a photoelectric trigger and a conveyor; The cargo conveying subsystem is configured to, upon receiving a start signal from a photoelectric trigger, move the cargo to a barcode collection area via the cargo conveyor; collect barcode information of the cargo via the barcode reader; and transmit the collected barcode information to the main control unit; The main control unit is further configured to determine a luggage trailer corresponding to the cargo based on the barcode information, wherein the trailer is located in a stacking area.

6. The palletizing system for transporting goods according to claim 1, characterized in that: The robot body also includes a torque overload detection sensor; The robot body is further configured to trigger the robot body to stop moving when a torque overload is detected by the torque overload detection sensor.

7. A palletizing method for transporting goods, characterized in that: The method is applied to the main control unit; The method comprises: Get an image of the grasped area; Identifying the size and position information of the cargo based on the collected image of the grasping area; Determine the grasping path and end position according to the size and position information of the cargo; Sending a movement instruction to the robot body according to the grasping path and the end position, so that the robot body moves according to the grasping path and the end position at a first movement speed; Determining whether the movement speed of the robot body needs to be revised based on the collected point cloud information and the image of the human activity area; If revision is required, the first moving speed is revised to a second moving speed based on the point cloud information and the image of the human activity area, so that the robot body moves at the second moving speed according to the grasping path and the end posture, wherein the second moving speed is less than the first moving speed.

8. The palletizing method for transporting goods according to claim 7, characterized in that: The revising the first moving speed to a second moving speed according to the point cloud information and the image of the human activity area includes: Dividing the human activity area into a high-risk area, a low-risk area, and a safe area according to the point cloud information and the image of the human activity area; When the robot body moves to the high-risk area or the low-risk area, the first moving speed is revised to a second moving speed.

9. An electronic device, characterized in that: include: Memory for storing computer programs; A processor, configured to implement the method described in any one of claims 6 to 8 when executing a program stored in a memory.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 6 to 8 is implemented.

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