A method of sharing data of a handling scene, a system and a handling transport robot

Abstract

The application relates to the technical field of data processing, in particular to a carrying scene data sharing method and system and a carrying transport robot, which comprises the following steps: obtaining a carrying instruction of a to-be-carried area, and screening a target robot from a plurality of carrying robots according to the carrying instruction; controlling the target robot to travel to the to-be-carried area according to the carrying instruction, and obtaining carrying data corresponding to the to-be-carried area; obtaining a plurality of groups of following robots according to the carrying data, and updating shared data according to the carrying data; generating a following instruction according to the updated shared data, and controlling the following robots to carry to-be-carried baggage of the to-be-carried area according to the following instruction. The application updates the shared data in real time through the carrying robot, improves the carrying efficiency of the carrying robot, avoids the re-identification of the to-be-carried baggage by each robot to obtain corresponding carrying data, and reduces resource occupation.

Description

Technical Field

[0001] This application relates to the technical field of material handling data processing, and in particular to a method, system, and material handling robot for sharing data in material handling scenarios. Background Technology

[0002] Considering factors such as time, cost, and comfort, people tend to choose air travel when traveling or returning home. Baggage handling at airports involves multiple processes, from security checks and conveyor belt transport to loading onto aircraft, all of which require manual handling. The uneven shape, size, dimensions, and weight of suitcases make stacking difficult and pose a risk of tipping over during transport.

[0003] To reduce manual baggage handling, airport baggage handling service robots are used. The system uses the attribute information, starting position information, and destination position information of the target object to be moved. Based on the starting position information of the target object and the current status information of each robot, the target robot is determined to move the target object from the starting position to the destination position.

[0004] Before multiple target robots can move a target object, they need to confirm the transportation route based on the object's starting and destination locations, and then move the object according to the corresponding route. However, for the same batch of target objects, multiple target robots repeatedly obtain transportation routes, and the data processing resources of multiple target robots repeatedly execute the same operations, resulting in resource waste, delays in the target robot's control system, and reduced efficiency in moving the target object. Summary of the Invention

[0005] To improve the handling efficiency of target robots and reduce resource consumption, this application provides a data sharing method, system, and handling and transportation robot for handling scenarios.

[0006] Firstly, this application provides a data sharing method for a transportation scenario, employing the following technical solution: A method for sharing data in a data transfer scenario includes the following steps: Obtain the transport instructions for the area to be transported, and select the target robot from several transport robots based on the transport instructions; The target robot is controlled to move to the area to be transported according to the transport command, and the transport data corresponding to the area to be transported is obtained; Several groups of following robots are obtained based on the transport data, and the shared data is updated based on the transport data; Based on the updated shared data, a follow instruction is generated, and based on the follow instruction, the follow robot is controlled to move the luggage to be moved in the area to be moved.

[0007] By adopting the above technical solution, corresponding handling instructions are obtained based on the area to be handled. The handling instructions control the target robot to reach the area to be handled, and the handling data corresponding to the area to be handled is obtained based on the target robot. The shared data is updated based on the handling data, and a follow instruction is generated based on the updated shared data to control the follow robot to handle the luggage to be handled in the area to be handled according to the shared data. By updating the shared data in real time, the handling efficiency of the handling robot is improved, and the re-identification of each luggage to be handled by each robot to obtain the corresponding handling data is avoided, thus reducing resource consumption.

[0008] In some embodiments, the transport data includes a transport time limit, and the step of selecting several groups of follower robots from several transport robots based on the transport data includes the following steps: The target robot scans and identifies the luggage to be transported in the transport area to obtain the corresponding transport type; The handling time limit is obtained based on the handling type, and it is determined whether the handling time limit is less than a preset time limit; If the transport time limit is less than the preset time limit, then a transport robot is obtained with the area to be transported as the center; Select effective robots from the transport robots and use them as follower robots.

[0009] By adopting the above technical solution, the target robot scans and identifies the luggage to be transported in the transport area to obtain the transport type. The corresponding transport time limit is obtained based on the transport type. Based on the transport time limit, it is determined whether there is a time limit for the current transport type. If the transport time limit is less than the preset time limit, the transport robots in the preset surrounding area are obtained with the transport area as the center. Valid robots are selected from the transport robots and used as follow robots. In this way, the corresponding follow robots can be allocated to the transport area in a timely manner, thereby improving the luggage transport efficiency of the transport area.

[0010] In some embodiments, the shared data includes shared routes, and updating the shared data based on the transport data includes the following steps: The destination is obtained based on the transport data, and an estimated transport route is generated based on the area to be transported and the destination. The target transport route corresponding to the target robot during the transport process is acquired in real time, and it is determined in real time whether the target transport route is consistent with the estimated transport route; If the target transport route is inconsistent with the estimated transport route, the transport data is updated in real time based on the target transport route to update the shared data.

[0011] By adopting the above technical solution, the target transportation route of the target robot during the transportation process is obtained, and it is judged in real time whether the target transportation route is consistent with the estimated transportation route. If they are consistent, it means that the currently generated estimated transportation route conforms to the transportation trend of the current transportation type. If they are inconsistent, it means that the currently generated estimated transportation route has an error and needs to be updated according to the target transportation route. In turn, the shared data is updated, and the luggage transportation status of the following robot or the target robot in the area to be transported is adjusted through the shared data. This avoids each robot having to identify the luggage to be transported and the transportation route, reduces the overall repetitive operation steps, and improves transportation efficiency through real-time updates.

[0012] In some embodiments, the shared data includes a sharing type, and filtering valid robots among transport robots includes the following steps: Obtain the corresponding handling robot based on the sharing type, obtain the corresponding handling status based on the handling robot, and determine whether the handling status is an idle state; If the transport state is an idle state, then the transport robot is determined to be a valid robot; If the transport state is not an idle state, then a corresponding first transport plan is obtained based on the transport robot, an execution plan is generated based on the first transport plan and the area to be transported, and an effective robot is obtained based on the execution plan.

[0013] By adopting the above technical solution, the corresponding handling robot is obtained according to the sharing type, and it is determined whether it is in an idle state. When the handling robot is in an idle state, it is considered an effective robot. If the handling state is not in an idle state, an effective robot is obtained by executing the solution. In this way, the corresponding follower robot can be obtained according to the actual situation, and the overall handling efficiency of the follower robot for handling luggage can be improved by sharing data.

[0014] In some embodiments, obtaining an effective robot based on the execution scheme includes the following steps: A first handling level is obtained based on the first handling plan, and a second handling level is obtained based on the handling time limit, and it is determined whether the first handling level is less than the second handling level; If the first handling level is lower than the second handling level, then the handling robot is considered an effective robot; If the first handling level is not lower than the second handling level, then determine whether there is an alternative solution based on the first handling plan; If an alternative exists, the transport robot is considered the effective robot.

[0015] By adopting the above technical solution, based on the priority between the first handling level and the second handling level, when the first handling level is lower than the second handling level, the handling robot is regarded as an effective robot and prioritizes handling the luggage to be moved in the area to be moved. When the first handling level is not lower than the second handling level, the handling robot is regarded as an effective robot only when there is an alternative solution for the first handling solution. In this way, the handling robot can be comprehensively analyzed according to the actual situation, thereby improving the handling efficiency of the luggage to be moved in the area to be moved.

[0016] In some embodiments, generating a follow instruction based on the updated shared data includes the following steps: The real-time transport route corresponding to the following robot is obtained in real time, and the transport of the following robot is determined to be a cut-off transport based on the luggage to be transported in the area to be transported. If it is determined that the following robot is not in a stop transport position, then it is determined whether there is an entry or exit state in the real-time transport route; If the real-time transport route has an entry or exit status, the shared data is updated according to the entry or exit status, and a follow instruction is generated based on the updated shared data.

[0017] By adopting the above technical solution, the real-time transport route corresponding to the following robot is obtained in real time, and the real-time transport route is compared with the shared route corresponding to the follow command. If there is an entry or exit status in the real-time transport route, the shared data is updated according to the entry or exit status in order to generate a new follow command so as to guide the next following robot to transport the luggage to be transported.

[0018] In some embodiments, the following steps are included before updating the shared data based on the in / out status: Based on the entry and exit status, obtain the status factors and determine whether the status factors are fixed factors; If the factors are fixed, the transport route is regenerated based on the transport data, and the shared data is updated based on the regenerated transport route; If it is not a fixed factor, then an alert signal is generated based on the state factor, and the shared data is updated based on the alert signal.

[0019] By adopting the above technical solution, the system determines whether the factors are fixed or random based on their state and then uses different processing methods. For fixed factors, the transport route needs to be updated, while for random factors, only an alert signal is generated to facilitate the next following robot to adjust the corresponding transport mode.

[0020] In some embodiments, before controlling the following robot to move luggage in the area to be moved according to the following instructions, the following steps are included: Based on the following instructions, obtain the instruction updater and instruction executor, and based on the instruction updater, obtain the corresponding sharing type; Based on the shared type, the transport mode corresponding to the instruction executor is adjusted, and the follow instruction is responded to to reach the area to be transported.

[0021] Secondly, this application provides a data sharing system for material handling scenarios, which adopts the following technical solution: A data sharing system for a transportation scenario, comprising executing a data sharing method for a transportation scenario as described in the first aspect, including: The instruction generation module is used to obtain the handling instructions for the area to be handled, and to select the target robot from several handling robots based on the handling instructions. A data generation module is used to control the target robot to travel to the area to be transported according to the transport instruction, and to obtain the transport data corresponding to the area to be transported. A data sharing module is used to acquire several groups of following robots based on the handling data, and to update the shared data based on the handling data. The instruction control module is used to generate follow instructions based on the updated shared data, and to control the follower robot to move luggage in the area to be moved according to the follow instructions.

[0022] Thirdly, this application provides a handling and transportation robot, which adopts the following technical solution: A handling and transportation robot includes the handling scenario data sharing system described in the second aspect, and further includes a differential motion module and an end effector. The differential motion module is used to move luggage to be handled to a transport vehicle. The end effector is mounted on the transport robot and has multiple joints, enabling gripping in different directions.

[0023] In summary, this application includes at least one of the following beneficial technical effects: Based on the area to be transported, the corresponding transport instructions are obtained. The target robot is controlled to reach the area to be transported through the transport instructions. The transport data corresponding to the area to be transported is obtained based on the target robot. The shared data is updated based on the transport data. Follow instructions are generated based on the updated shared data to control the follow robot to transport the luggage to be transported in the area to be transported according to the shared data. The transport robot updates the shared data in real time, which improves the transport efficiency of the transport robot and avoids the need for each robot to re-identify the luggage to be transported to obtain the corresponding transport data, thus reducing resource consumption. Through deep machine vision training, robots can accurately identify work objects, perceive obstacles, and autonomously optimize path planning and object grasping strategies to ensure efficient and accurate operation. Moreover, through modular design, customers can configure different specifications of robotic arms, running vehicles and other modules as needed to meet the needs of multiple scenarios. The server supports multiple operating systems, can be installed with one click, can be accessed from multiple terminals, and can be programmed and controlled through a visual module, making it easy for users to quickly get started. It provides a standard open interface based on HTTP, which can be seamlessly connected to and extended to various services and management systems, facilitating data statistics and analysis. Attached Figure Description

[0024] Figure 1 This is a block diagram of a data sharing method for a material handling scenario provided in an embodiment of this application; Figure 2 This is a flowchart illustrating the steps for obtaining a follower robot according to an embodiment of this application; Figure 3 This is a block diagram of a method for updating shared data provided in an embodiment of this application; Figure 4 This is a schematic diagram of the data sharing system structure for a material handling scenario provided in this embodiment; Figure 5 This is a schematic diagram of the handling and transportation robot provided in this embodiment.

[0025] Explanation of reference numerals in the attached figures: 10, instruction generation module; 20, data generation module; 30, data sharing module; 40, instruction control module; 51, server; 52, differential movement module; 53, end effector. Detailed Implementation

[0026] To better understand the purpose, technical solutions, and advantages of this application, it has been described and illustrated below with reference to the accompanying drawings and embodiments. However, those skilled in the art should understand that this application can be implemented without these details. In some cases, to avoid obscuring various aspects of this application due to unnecessary description, well-known methods, processes, systems, components, and / or circuits already described at a higher level will not be elaborated upon. It will be apparent to those skilled in the art that various modifications can be made to the embodiments disclosed in this application, and the general principles defined in this application can be applied to other embodiments and application scenarios without departing from the principles and scope of this application. Therefore, this application is not limited to the illustrated embodiments, but conforms to the broadest scope consistent with the scope of protection claimed in this application.

[0027] Reference Figure 1 and Figure 4 This application discloses a data sharing method for handling scenarios, which is executed based on a data sharing system for handling scenarios. The data sharing system is applied to airport handling robots. The data sharing system includes a server 51. Through information interaction between the server 51 and the handling robot, the received information data is analyzed to generate control signals. The operating system of the handling robot's two arms is adjusted according to the control signals. The server 51 processes the data to obtain accurate positioning. Based on the obtained positioning data and sensitive visual guidance, the mobility of the handling robot is improved, enabling it to autonomously complete complex baggage identification, handling, and palletizing tasks.

[0028] like Figure 1 As shown, the data sharing method for data transfer scenarios includes the following steps: S100: Obtain the transport instructions for the area to be transported, and select the target robot from several transport robots based on the transport instructions.

[0029] The "baggage handling area" refers to the area within the airport where baggage needs to be handled. This area can represent the various stages that baggage needs to go through. For example, airport baggage needs to be tagged at the check-in counter, weighed, and then enter the sorting system. Next, it undergoes preliminary security checks to screen for dangerous or prohibited items. Finally, baggage handling robots move the baggage to an underground conveyor belt or trailer and transport it to the loading area for the corresponding flight.

[0030] It should be noted that baggage tags can also be affixed using a handling robot, simply by adjusting the robot's end gripper 53 to an automatic affixing gripper. Compared to a handling robot, the affixing gripper is more precise and can grasp smaller tags. Both the affixing and handling grippers utilize existing technology, which will not be elaborated upon here. In this embodiment, different control signals can be generated based on the current needs of the baggage to achieve baggage marking and handling operations.

[0031] It should be noted that the airport handling and transportation robot adopts a modular design, which can be configured with different specifications of robotic arms, operating vehicles and other modules according to actual needs, thereby realizing different transportation functions.

[0032] Handling instructions are generated by the handling scenario data sharing system. They are primarily used to assign target robots to areas to be handled. Handling instructions can be generated manually or automatically based on the current flight number and flight time. Specifically, after labels are manually affixed at the check-in counter according to flight information, unified processing is required. This can be achieved by staff activating the handling company's data sharing system, thereby controlling the handling robots. When using handling robots to affix labels to luggage, a label completion signal is generated after the robot completes label affixing. The handling scenario data sharing system then generates handling instructions based on this signal.

[0033] It's important to note that the handling instructions can be generated either after all luggage in the handling area has been tagged, or as soon as the luggage is tagged. These instructions then select several target robots from among the existing handling robots. These target robots are designed to scan and identify all luggage in the handling area. Therefore, to ensure efficient luggage handling, the selected target robots are equipped with a visual recognition module. This video recognition module can identify the luggage in the area and determine the handling data, allowing for real-time adjustments to the handling status of other robots based on this data.

[0034] The handling instructions include filtering passenger flow data. Based on the current passenger flow, a high-precision handling robot is selected as the target robot if the passenger flow is large. If the passenger flow is small, a handling robot capable of recognizing the current luggage is selected as the target robot. Specific situations require specific analysis; as long as the robot can recognize the luggage in the current area to be handled, it is acceptable.

[0035] S200 controls the target robot to travel to the area to be transported according to the transport instructions, and obtains the transport data corresponding to the area to be transported.

[0036] The handling data refers to the data acquired by the target robot scanning the area to be handled. This data includes the type of handling, the time limit for handling, and the quantity of handling. Specifically, the handling data is obtained by the target robot scanning and identifying the area to be handled and the corresponding luggage. Regarding the type of handling, the current handling stage can be determined by identifying the area to be handled; for example, the handling type could be labeling, loading onto a vehicle, or other similar tasks. The handling time limit is specifically obtained based on the current flight data and the type of handling. The quantity of handling is obtained by the target robot scanning and identifying the area to be handled.

[0037] It's important to note that after the handling scene data sharing system generates handling instructions and selects the target robot based on the current flight passenger flow, it needs to control the target robot to reach the handling area. This allows the robot to scan the luggage awaiting handling to obtain the corresponding handling data. Therefore, after selecting the target robot based on the handling instructions, the instructions need to be sent to the target robot's signal receiver to control its operation. The selected target robot must be in an idle state and meet the identification requirements of the handling area. The target robot's signal receiver is the robot controller, which receives the instructions and controls the handling robot to perform the corresponding operations.

[0038] The S300 acquires several groups of following robots based on the handling data and updates the shared data based on the handling data.

[0039] Among them, the shared data is generated based on the needs of the transport data and shared among all transport robots corresponding to the area to be transported. By adjusting the transport robots in the area to be transported through the shared data, the data processing resources of all transport robots to be transported are reduced, which affects the efficiency of the transport robots in judging obstacles.

[0040] It's important to note that after the material handling scenario data sharing system receives a transport command from the target robot, it generates shared data from the transport data acquired by the target robot and shares this shared data with its corresponding follower robot. This allows the follower robot to control the transport of luggage in the designated transport area. Specifically, the target robot generates shared data including the transport route and transport type. The shared data then controls the follower robot to adjust its transport method according to the transport route and the corresponding transport type based on this shared data.

[0041] The S400 generates follow instructions based on the updated shared data, and controls the follower robot to move the luggage to be moved in the area to be moved according to the follow instructions.

[0042] The follow command represents the control commands generated by the data sharing system for the handling scenario. It is mainly used to control the follow robot to handle luggage in the area to be handled. The follow command is a control command generated based on shared data. It sends the shared route and sharing type to the follow robot, thereby controlling the follow robot to transport the luggage to be handled according to the set shared route.

[0043] Combination Figure 2 In one embodiment, for tagged luggage awaiting transport, it is necessary to determine whether the current transport timeframe is urgent. If it is urgent, the transport operation needs to be completed quickly. Therefore, based on the transport data, several sets of following robots are acquired, including the following steps: S310, the target robot scans and identifies the luggage to be transported in the transport area to obtain the corresponding transport type.

[0044] S320: Obtain the handling time limit based on the handling type, and determine whether the handling time limit is less than the preset time limit.

[0045] S330: If the handling time limit is less than the preset time limit, then the handling robot is obtained with the area to be handled as the center.

[0046] S340 selects effective robots from the transport robots and uses them as follower robots.

[0047] The preset time limit represents the minimum standard time limit for a state of tension. When the handling time limit is less than the preset time limit, it is determined that the luggage to be handled in the area needs to be handled quickly. Therefore, it is necessary to acquire the surrounding handling robots with the area to be handled as the center and a preset length as the radius, select the effective robots from the surrounding handling robots, and use the effective robots as follower robots to quickly acquire the follower robots closest to the area to be handled. When the handling time limit is not less than the preset time limit, idle handling robots can be acquired, and corresponding follower robots can be acquired based on the idle handling robots. However, in actual operation, after acquiring the follower robots, the working efficiency and handling quantity of the follower robots are analyzed to determine whether the acquired follower robots have completed the corresponding handling operations within the handling time limit. If they can, no corresponding operation is required, and it is only necessary to acquire the obstacle recognition data of each follower robot in real time. If not, it is necessary to follow the steps S330-S340 to add the corresponding follower robots to complete the handling of the luggage to be handled.

[0048] Since the working area of ​​the transport robot is not always in a wide area, when there are turning areas, in order to follow the robot to quickly reach the area to be transported, when acquiring effective robots, it is necessary to consider the time it takes for each transport robot to reach the area to be transported, as well as the number of transport robots acquired.

[0049] Therefore, to more accurately acquire transport robots, the transport scenario data sharing system obtains the corresponding area layout based on the type of transport, and then determines the preset length and search direction based on the area layout. This allows for accurate acquisition of transport robots, reducing the number of transport robots required and improving the efficiency of acquiring effective robots. For areas with many turning points, a corresponding search direction can be set, where the area to be transported moves along the direction of areas with fewer turning points or more transport robots. When the number of transport robots in the surrounding area is relatively similar, the search direction can be set based on the straight-line distance between the transport robot and the area to be transported, taking into account the time it takes for the transport robot to reach the area. The search direction can then move along the area to be transported towards the direction of the fastest-reaching transport robot.

[0050] It should be noted that the preset length can be set based on the preferred placement and / or operation areas of the handling robot in the area layout. The preferred placement and / or operation areas of the handling robot are filtered out in the area layout. The estimated quantity of these preferred placement and / or operation areas is compared with the quantity to be handled in the area to be handled to obtain the preset length. The preferred placement and / or operation areas are then used as the search direction to the area to be handled; specifically, the direction can be from the area to be handled towards the preferred placement and / or operation areas. The preset length can be selected as the straight-line distance between the location where the estimated data for the preferred placement and / or operation areas exceeds the handling quantity and the area to be handled.

[0051] In addition, the habitual operation area is the area where the handling robot frequently operates, while the habitual placement area is the charging area or idle area for the handling robot.

[0052] In one embodiment, all selected transport robots can reach the transport area within a set time limit, given a preset length. Therefore, the time taken for selected transport robots to reach the transport area in cases with turning points is not considered. Different preset lengths are generated based on different specific situations. Therefore, selecting effective robots from the transport robots includes the following steps: S341, obtain the corresponding handling robot according to the sharing type, obtain the corresponding handling status according to the handling robot, and determine whether the handling status is an idle state.

[0053] S342, if the handling state is idle, then the handling robot is determined to be a valid robot.

[0054] S343, if the transport state is not an idle state, then obtain the corresponding first transport plan based on the transport robot, generate an execution plan based on the first transport plan and the area to be transported, and obtain an effective robot based on the execution plan.

[0055] The shared data includes the sharing type. The transport robots obtained within the preset length are all identified as being able to quickly reach the area to be transported. Therefore, by judging the current transport status of the transport robots, effective robots can be obtained according to different schemes.

[0056] If the transport status is idle, the transport robot can be directly used as an active robot. If the transport status is not idle, it is necessary to obtain the current first transport plan for the transport robot, which includes the current transport level and the current transport route. The execution plan is a new plan generated based on the first transport plan and the area to be transported. This execution plan includes options such as the transport robot continuing to execute the first transport plan or the transport robot stopping the first transport plan and heading to the area to be transported to complete the transport of the corresponding luggage.

[0057] It should be noted that step S343 is executed only after step S342 has checked the idle status of all handling robots and determined that there are insufficient available robots to handle the luggage to be moved. Once the handling robots have performed step S342 and the available robots are sufficient to handle the luggage, step S343 is not required. Furthermore, the priority robots are selected based on their arrival time at the desired area; robots with shorter arrival times are selected according to the required number of robots needed at the area, and the remaining available robots are discarded.

[0058] In another embodiment, obtaining effective robots based on the execution plan specifically includes the following steps: S343-1, obtain the corresponding first handling level according to the first handling plan, and obtain the second handling level according to the handling time limit, and determine whether the first handling level is less than the second handling level.

[0059] S343-2, If the first handling level is lower than the second handling level, then the handling robot is considered an effective robot.

[0060] S343-3 If the first handling level is not lower than the second handling level, then determine whether there is an alternative solution based on the first handling solution.

[0061] S343-4 If an alternative exists, the handling robot shall be considered the effective robot.

[0062] The first handling level represents the handling priority corresponding to the first handling plan, while the second handling level represents the handling priority of the luggage to be handled. When the first handling level is lower than the second handling level, it means that the luggage to be handled needs to be handled first. In this case, the handling robot can be used directly as the effective robot. After the handling operation in the area to be handled is completed, the first handling plan can be continued.

[0063] If the first handling level is not lower than the second handling level, it means that the priority of the first handling plan is higher than that of the second handling plan. At this time, the above steps S310-S340 can be performed according to the first handling plan to determine whether the first handling plan can obtain a replacement plan. If the first handling plan has a replacement plan, the handling robot is used as a valid robot. If the first handling plan does not have a replacement plan, the handling robot continues to execute the first handling plan.

[0064] Reference Figure 3 In one embodiment, updating shared data based on transport data includes the following steps: S350 obtains the destination based on the transport data and generates an estimated transport route based on the area to be transported and the destination.

[0065] S360 acquires the target transport route corresponding to the target robot during the transport process in real time, and determines in real time whether the target transport route is consistent with the estimated transport route.

[0066] S370: If the target handling route is inconsistent with the estimated handling route, the handling data is updated in real time according to the target handling route to update the shared data.

[0067] The shared data includes shared routes. The estimated transport route is generated by the transport scenario data sharing system based on the area to be transported and the destination. The transport mode of the target robot is controlled according to the estimated transport route. The target transport route is the actual route obtained through real-time monitoring of the target robot. This target transport route includes obstacle data. A section of the route is acquired and compared with the estimated transport route. If the target transport route does not match the estimated transport route, the transport data is updated in real time to update the shared data. If the target transport route matches the estimated transport route, the estimated transport route is used directly as the transport data.

[0068] In one embodiment, generating a follow instruction based on updated shared data includes the following steps: S410 acquires the real-time transport route corresponding to the following robot and determines whether the transport by the following robot is a cut-off transport based on the luggage to be transported in the area to be transported.

[0069] S420: If it is determined that the following robot is not in the stop transport position, then it is determined whether there is an inbound or outbound state in the real-time transport route.

[0070] S430: If there is an entry or exit status in the real-time transport route, the shared data is updated according to the entry or exit status, and a follow instruction is generated based on the updated shared data.

[0071] Real-time sharing of the transport routes of subsequent follower robots allows for timely adjustments to their transport modes, reducing the steps involved in data collection and identification for these robots. The system determines whether the follower robot's transport is at a cutoff point based on the luggage to be transported in the designated area. If it's not at a cutoff point, the system checks for entry / exit statuses on the real-time transport route. If entry / exit statuses are present, the shared data is updated, and a follow command is generated based on the updated data. For cutoff points, this indicates that the follower robot is the last one to transport the items; in this case, real-time monitoring and comparison of the follower robot's transport route are unnecessary.

[0072] In one embodiment, the following steps are included before updating the shared data based on the entry / exit status: S421: Obtain the state factors based on the entry and exit status, and determine whether the state factors are fixed factors.

[0073] S422, if it is a fixed factor, then the transport route is regenerated based on the transport data, and the shared data is updated based on the regenerated transport route.

[0074] S423, if it is not a fixed factor, then generate an alert signal based on the status factor, and update the shared data based on the alert signal.

[0075] Among them, state factors characterize the obstacle state of the handling robot. These state factors include fixed factors and random factors. Fixed factors are not always in this state. Fixed factors include roadblocks, fences, etc., which are in an obstacle state for a period of time. Random factors include human error, garbage error, etc.

[0076] Since the overall layout of the area to be transported has been obtained in the area layout, the generated estimated transport route is the actual walkable route. However, for convenience, staff often adjust the route by passing through roadblocks and fences. Therefore, the transport route needs to be readjusted. For random factors, it is necessary to generate reminder signals so that the following robot can pay attention and make timely adjustments.

[0077] In one embodiment, before controlling the following robot to move luggage in the area to be moved according to the follow instructions, the following steps are included: S440 obtains the instruction updater and instruction executor based on the follow instruction, and obtains the corresponding sharing type based on the instruction updater.

[0078] S450 adjusts the transport mode corresponding to the instruction executor based on the shared type and responds to the follow instruction to reach the area to be transported.

[0079] In this system, the instruction updater represents the follower robot that performs the update, while the instruction executor represents the follower robot that follows the follower robot. The instruction updater obtains the corresponding sharing type, which indicates the type of luggage to be moved next. Based on the sharing type, the instruction executor adjusts its moving mode in advance, allowing it to begin moving luggage as soon as it arrives at the moving area, reducing adjustment time. Specific adjustments include changing the width and height of the gripper.

[0080] This application also discloses a data sharing system for transport scenarios and a method for sharing data in transport scenarios.

[0081] like Figure 4 As shown, the material handling scenario data sharing system includes an instruction generation module 10, a data generation module 20, a data sharing module 30, and an instruction control module 40. The instruction generation module 10 acquires material handling instructions for the area to be handled and selects a target robot from among several material handling robots based on these instructions. The data generation module 20 controls the target robot to travel to the area to be handled based on the material handling instructions and acquires the corresponding material handling data for the area based on the target robot. The data sharing module 30 acquires several sets of following robots based on the material handling data and updates the shared data accordingly. The instruction control module 40 generates following instructions based on the updated shared data and controls the following robots to handle the material handling in the area to be handled based on these instructions.

[0082] The data generation module 20 controls the target robot to move to the area to be transported through the transport command, and obtains the transport data corresponding to the area to be transported based on the target robot. The target robot sends the transport data to the data generation module 20 in real time so that the data generation module 20 can obtain the corresponding transport data.

[0083] The instruction control module 40 generates follow instructions based on the updated shared data and controls the follow robot according to the follow instructions. During actual handling, the follow robot sends the real-time handling route and obstacles to the data sharing module 30 so that the data sharing module 30 can update the corresponding shared data.

[0084] The other functions performed in the instruction generation module 10, data generation module 20, data sharing module 30, and instruction control module 40, as well as the technical details of each function, are the same as or similar to the corresponding features in the data sharing method for the transportation scenario described above, so they will not be repeated here.

[0085] Reference Figure 5 This application also discloses a handling and transportation robot, including a handling scene data sharing system. The handling and transportation robot also includes a differential motion module 52 and an end effector 53. The differential motion module 52 is used to move the luggage to be handled to a transport vehicle. The end effector 53 is mounted on the transport robot and has multiple joints, enabling it to grasp in different directions.

[0086] It should be noted that the differential movement module 52 adopts a four-wheel differential AGV, which possesses excellent mobility and load-bearing capacity, adapting to various terrains and complex environments. The handling and transportation robot includes a robot controller, attitude sensors, indoor LiDAR, obstacle avoidance sensors, cameras, and a communication module. It perceives the environment and identifies obstacles through multiple sensors, and interacts with the server 51 through the communication module to achieve data sharing, reducing the data processing required within each handling robot.

[0087] In addition, the handling and transportation robot also includes a chassis controller, an electromechanical controller, servo motors, and motor drivers. The chassis controller, as the robot's "motion center," is responsible for handling navigation algorithms (such as SLAM), path planning, obstacle avoidance logic, and coordinating the actions of various chassis actuators. It can support multi-sensor fusion, such as LiDAR, IMU, and vision cameras, to achieve high-precision positioning and dynamic environment adaptation. The electromechanical controller is mainly used to control the mechanical structures related to the handling task, such as lifting mechanisms, gripping fixtures, and conveyor belts. The electromechanical controller needs to communicate with the chassis controller via CAN bus / EtherCAT to achieve timing synchronization of actions such as gripping, placing, and lifting of the luggage to be handled. Servo motors provide high-precision, high-response power output and are used to drive the wheel system, such as omnidirectional wheels and Mecanum wheels, requiring encoders to achieve closed-loop control. Servo motors are also used to control the robotic arm joints.

[0088] The motor driver receives commands from the controller and adjusts the current / voltage of the servo motor to achieve speed, position, and torque control.

[0089] For baggage handling robots, a task-oriented positioning and navigation model is adopted. The robot can autonomously plan and decide its route, enabling various task modes such as loading and climbing. The robot controller uses motion control and decision-making algorithms, allowing the robot to react and adjust its path in real time based on perceived information. It is equipped with multi-modal positioning methods including GPS, machine vision recognition, and single-line radar, and utilizes SLAM map navigation technology and AI visual recognition technology to achieve precise positioning and operation both indoors and outdoors. The customizable end effector 53 is multi-jointed and more flexible. Combined with machine vision applications, it can perform high-precision operations simultaneously or independently and can grasp goods from different directions. Employing artificial intelligence and deep learning algorithms, it can continuously learn and optimize during task execution, adapting to different working scenarios and task requirements. The handling robot is based on the standard open interface of HTTP, allowing seamless integration with various service and management systems for easy data statistics and analysis.

[0090] The implementation principle is as follows: The instruction generation module 10 acquires the handling instructions for the area to be handled and selects the target robot from several handling robots based on these instructions. The data generation module 20 controls the target robot to move to the area to be handled via the handling instructions and acquires the corresponding handling data for that area. The target robot sends the data during transport to the data generation module 20 in real time so that the data generation module 20 can acquire the corresponding handling data. The data sharing module 30 acquires several groups of following robots based on the handling data and updates the shared data accordingly. The instruction control module 40 generates following instructions based on the updated shared data and controls the following robots to handle the luggage in the area to be handled based on these instructions.

[0091] The instruction control module 40 generates follow instructions based on the updated shared data and controls the follow robot according to the follow instructions. During actual handling, the follow robot sends the real-time handling route and obstacles to the data sharing module 30 so that the data sharing module 30 can update the corresponding shared data.

[0092] It should be understood that although the steps in the flowcharts in the accompanying drawings are shown sequentially as indicated by the arrows, these steps are not necessarily performed in the order indicated by the arrows. Unless otherwise expressly stated herein, there is no strict order in which these steps are performed, and they may be performed in other orders.

[0093] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A method for sharing data in a transportation scenario, characterized in that, Includes the following steps: Obtain the transport instructions for the area to be transported, and select the target robot from several transport robots based on the transport instructions; According to the transport command, the target robot is controlled to travel to the transport area, and the target robot scans and identifies the luggage to be transported in the transport area to obtain the corresponding transport data, which includes the type of transport, the transport time limit, and the quantity of transport. Several groups of following robots are acquired based on the transport data, and the shared data is updated based on the transport data, wherein the shared data includes shared routes and shared types; Based on the updated shared data, a follow instruction is generated, and based on the follow instruction, the follow robot is controlled to move the luggage to be moved in the area to be moved; The steps of obtaining several sets of following robots based on the transport data include: If the transport time limit is less than the preset time limit, then select a valid robot from the transport robots and use the valid robot as the follower robot; The steps for selecting effective robots include: determining whether the handling robot is in an idle state; if so, it is determined to be an effective robot; if not, determining whether the first handling level corresponding to the first handling scheme currently being executed is lower than the second handling level of the task to be handled; if so, it is determined to be an effective robot; if not, further determining whether there is an alternative scheme for the first handling scheme; if so, it is determined to be an effective robot. The system acquires the real-time transport route corresponding to any of the following robots in real time. When the real-time transport route has an entry or exit state, the system acquires the state factors based on the entry or exit state and determines whether the state factors are fixed factors. If it is a fixed factor, then the transport route is regenerated based on the transport data, and the shared data is updated based on the regenerated transport route; If it is not a fixed factor, then a reminder signal is generated based on the state factor, and the shared data is updated based on the reminder signal; Before controlling the subsequent follower robot to carry out the transport according to the follow command, the method further includes: adjusting the transport mode of the subsequent follower robot based on the shared data, specifically adjusting the width and height of its gripper.

2. The data sharing method for handling scenarios according to claim 1, characterized in that, The shared data includes shared routes. Updating the shared data based on the transport data includes the following steps: The destination is obtained based on the transport data, and an estimated transport route is generated based on the area to be transported and the destination. The target transport route corresponding to the target robot during the transport process is acquired in real time, and it is determined in real time whether the target transport route is consistent with the estimated transport route; If the target transport route is inconsistent with the estimated transport route, the transport data is updated in real time based on the target transport route to update the shared data.

3. A data sharing system for a transportation scenario, characterized in that, The method for sharing data in a transportation scenario as described in any one of claims 1-2 includes: The instruction generation module (10) is used to obtain the transport instructions for the area to be transported, and select the target robot from several transport robots according to the transport instructions. The data generation module (20) is used to control the target robot to travel to the area to be transported according to the transport instruction, and to obtain the transport data corresponding to the area to be transported. The data sharing module (30) is used to acquire several groups of following robots based on the transport data and update the shared data based on the transport data. The instruction control module (40) is used to generate follow instructions based on the updated shared data, and to control the follower robot to move luggage in the area to be moved based on the follow instructions.

4. A handling and transporting robot, characterized in that, The data sharing system for handling scenarios as described in claim 3 also includes a differential motion module (52) and an end effector (53). The differential motion module (52) is used to move the luggage to be handled to the transport vehicle. The end effector (53) is mounted on the transport robot and has multiple joints, which can achieve gripping in different directions.

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