Method and apparatus for handling control, positioning, handling interaction for cargo space

Abstract

The application relates to the technical field of intelligent loading and unloading, in particular to a method and system for loading and unloading control, positioning and carrying interaction of a freight space. The method comprises the following steps: acquiring a first indicated position indicated by a specified position of a carrier's body in a railway shed car or a container; calculating a first target position of the carrying robot based on the first indicated position, wherein the first target position is an inferred position where the worker expects the carrying robot to provide an upper / lower freight position; and controlling the carrying robot to align a first actual position provided by the carrying robot to the first target position, so that the worker performs upper / lower freight on the carrying robot at the first target position for soft package freight. The scheme can realize automatic and intelligent carrying for loading and unloading of soft package freight in a narrow and small freight stacking space, so as to save labor and improve the safety factor.

Description

[0001] This application is a divisional application of Chinese patent application filed on May 28, 2025, with application number 202510699551X and invention title "Method, apparatus and system for handling control, positioning and handling interaction". Technical Field

[0002] This invention relates to the field of intelligent loading and unloading technology, and in particular to a method and device for handling control, positioning, and handling interaction in freight space. Background Technology

[0003] Rail freight and container freight have advantages such as low cost, low pollution, large capacity and no impact from weather, and have been widely used. For example, they can be used to transport grain, resin, fertilizer, cement, cotton, sand and so on.

[0004] In railway freight, boxcars are commonly used. Boxcars, also known as covered wagons or enclosed freight cars, are a type of closed train carriage generally used to transport goods. When loading and unloading these goods in enclosed, confined spaces such as train boxcars or containers, it is extremely difficult to fully automate the loading and unloading process, especially for loosely packaged goods in bags or bundles, due to their flexible shape and tendency to deform during handling. Currently, the entire process is largely done manually. For example, workers need to operate a trolley in a confined space to receive goods from a forklift outside the carriage, then manually push the trolley to the designated stacking position inside the carriage, unload the goods from the trolley, and stack them neatly. Alternatively, the process can be reversed: manually moving goods from the carriage onto the trolley, then manually pushing the trolley for a forklift outside the carriage to receive the goods. This manual operation is not only labor-intensive but also has a low safety factor.

[0005] Therefore, how to provide automated and intelligent methods for handling goods in limited enclosed spaces used for freight transportation has become a pressing technical problem. Summary of the Invention

[0006] The purpose of this invention is to provide a method and device for handling control, positioning, and handling interaction in freight spaces. This device enables automated and intelligent handling of soft-packaged goods in confined stacking spaces, saving labor and improving safety. These confined stacking spaces include enclosed, limited spaces, such as the aforementioned train carports or containers, and may also include other types of limited spaces, such as carriages whose sides and / or top are not completely enclosed, such as truck carriages (usually unenclosed at the top) or carriages whose sides are not completely enclosed.

[0007] Embodiments of the present invention provide a method for handling control in freight spaces, applied to a handling robot located inside a train car or container, the method comprising:

[0008] Obtain a first indicated position based on a designated position of a worker's body within a train boxcar or container, wherein the first indicated position is made as needed by the worker during loading / unloading operations on the handling robot, and is used to indicate the loading / unloading position that the handling robot should provide when the worker performs loading / unloading operations on the handling robot;

[0009] The first target position of the handling robot is calculated based on the first indicated position, and the first target position is the estimated loading / unloading position that the worker expects the handling robot to provide.

[0010] The handling robot is controlled to align a first actual position with a first target position, so that the worker can perform loading / unloading of soft-packaged goods on the handling robot at the first target position. The first actual position is the actual loading / unloading position provided by the handling robot.

[0011] An embodiment of the present invention also provides a handling robot, which is located inside a train car or container, and is equipped with a control device; the control device includes:

[0012] The acquisition module is used to acquire a first indicated position based on a specified position of a worker's body located inside a train caravan or container, wherein the first indicated position is made as needed by the worker during the loading / unloading process of the handling robot, and is used to indicate the loading / unloading position that the handling robot should provide when the worker performs loading / unloading on the handling robot;

[0013] The calculation module is used to calculate the first target position of the handling robot based on the first indicated position, wherein the first target position is a presumed loading / unloading position that the worker expects the handling robot to provide;

[0014] The control module is used to control the handling robot to align a first actual position with a first target position, so that the worker can perform loading / unloading of soft-packaged goods on the handling robot at the first target position, wherein the first actual position is the actual loading / unloading position provided by the handling robot.

[0015] Embodiments of the present invention also provide a positioning method applied to a wearable device located at a designated position on a worker's body, the worker being located inside a train car or container, the positioning method comprising:

[0016] The system detects a gesture indicating a first indicated position based on a designated position on the worker's body; wherein the first indicated position is made as needed by the worker during the loading / unloading process of the handling robot, and is used to indicate the loading / unloading position that the handling robot should provide when the worker is loading / unloading the robot.

[0017] Upon detecting the indicated action, a positioning sensor signal is sent into the train wagon or container so that the handling robot can obtain a first indicated position based on the designated position of the worker's body inside the train wagon or container, and execute the handling control method for freight space as described above based on the first indicated position.

[0018] Embodiments of the present invention also provide a positioning device, which is disposed in a wearable device located at a designated position on a worker's body, the worker being located inside a train caravan or container, the positioning device comprising:

[0019] The detection module is used to detect the indication action based on the specified position of the worker's body indicating the first indication position; wherein, the first indication position is made as needed by the worker during the loading / unloading process of the handling robot, and is used to indicate the loading / unloading position that the handling robot should provide when the worker performs loading / unloading on the handling robot;

[0020] The sending module is configured to send a positioning sensing signal to the train wagon or container after detecting the indicated action, so that the handling robot can obtain a first indicated position based on the position of the worker's body within the train wagon or container based on the positioning sensing signal, and execute the handling control method for freight space as described above based on the first indicated position.

[0021] Embodiments of the present invention also provide a handling interaction method applied to a handling robot located inside a train wagon or container, and a positioning device disposed in a wearable device located at a designated position on a worker's body, the worker being located inside the train wagon or container, the handling interaction method comprising:

[0022] The positioning device detects a pointing action based on a designated position of the worker's body indicating a first pointing position, and after detecting the pointing action, sends a positioning sensing signal into the train car or container; wherein, the first pointing position is made as needed by the worker during the loading / unloading process of the handling robot, and is used to indicate the loading / unloading position that the handling robot should provide when the worker loads / unloads goods to the handling robot.

[0023] The handling robot acquires a first indicated position based on a designated position of the worker's body inside a train wagon or container based on the positioning sensor signal, and performs the handling control method for freight space as described above based on the first indicated position.

[0024] Embodiments of the present invention also provide a handling interaction system, comprising: a handling robot located inside a train car or container, and a positioning device disposed in a wearable device located at a designated position on a worker's body, the worker being located inside the train car or container;

[0025] The positioning device is used to detect a pointing action based on a designated position of the worker's body indicating a first pointing position, and after detecting the pointing action, to send a positioning sensing signal into the train car or container; wherein, the first pointing position is made as needed by the worker during the loading / unloading process of the handling robot, and is used to indicate the loading / unloading position that the handling robot should provide when the worker loads / unloads goods to the handling robot.

[0026] The transport robot is configured to acquire a first indicated position based on a designated position of the worker's body within a train wagon or container, based on the positioning sensor signal, and to execute the transport control method for freight space as described above based on the first indicated position.

[0027] Embodiments of the present invention also provide an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the method for handling control of freight space, or the positioning method, or the handling interaction method described in the above embodiments.

[0028] Embodiments of the present invention also provide a computer program product, the computer program product including a computer program or instructions, which, when executed by a processor, implement the method for handling control of freight space as described above, or the positioning method as described above, or the handling interaction method as described above.

[0029] Embodiments of the present invention also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the method for handling control of freight space, the positioning method, or the handling interaction method described in the above embodiments.

[0030] In this embodiment of the invention, a worker located inside a train car or container can indicate a first indicated position based on a designated position on their own body. This first indicated position is made on demand by the worker during the loading / unloading process of the handling robot, indicating the loading / unloading position that the handling robot should provide when the worker loads / unloads goods. After obtaining the first indicated position, the handling robot calculates a first target position based on the first indicated position as a presumed loading / unloading position that the worker expects the handling robot to provide. Subsequently, the handling robot controls itself to move to the vicinity of the first target position and aligns its first actual position with the first target position. This first actual position is the actual loading / unloading position provided by the handling robot, allowing the worker to load / unload soft-packaged goods at the first target position. In this solution, the worker's own body position is used as the instructor to indicate the first indicated position. The handling robot controls its own movement according to the first indicated position to provide a suitable loading / unloading position for the worker to complete the loading / unloading of goods to the handling robot. The whole process adopts a semi-manual and semi-mechanical handling mode, which can realize automated and intelligent handling of soft packaging goods in a small stacking space, thereby saving labor and improving the safety factor. Attached Figure Description

[0031] One or more embodiments are illustrated by way of example with reference to the accompanying drawings, and these illustrative descriptions do not constitute a limitation on the embodiments.

[0032] Figure 1 The illustration is a schematic diagram of a robot handling scenario according to an embodiment of this application;

[0033] Figure 2a This is a flowchart illustrating a method for handling control in a freight space according to an embodiment of this application;

[0034] Figure 2b This is a schematic diagram of another robot handling scenario according to an embodiment of this application;

[0035] Figure 3 This is a flowchart illustrating a method for determining a first target location according to an embodiment of this application;

[0036] Figure 4 This is a flowchart illustrating a method for handling control of a freight space according to another embodiment of this application;

[0037] Figure 5 This is a schematic diagram of the structure of a handling robot according to an embodiment of this application;

[0038] Figure 6 This is a flowchart illustrating a positioning method according to an embodiment of this application;

[0039] Figure 7 The diagram illustrates the structure of a positioning device according to an embodiment of this application.

[0040] Figure 8 This is a hardware block diagram illustrating an electronic device according to an embodiment of this application. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the various embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, those skilled in the art will understand that many technical details have been presented in the various embodiments of the present invention to enable the reader to better understand this application. However, the technical solutions claimed in this application can be implemented even without these technical details and various changes and modifications based on the following embodiments.

[0042] Figure 1 This illustration is a schematic diagram of a robot handling scenario according to an embodiment of this application. The scenario describes the loading and unloading of soft-packaged goods (e.g., grain, resin, fertilizer, cement, cotton, sand, etc.). Workers can stand on the stack of goods to perform loading / unloading operations on the handling robot; that is, workers unload goods from the handling robot onto the stack (referred to as "unloading," or the handling robot unloading goods itself, also called "unloading"), or workers load goods from the stack onto the handling robot (referred to as "loading," or the handling robot loading goods itself, also called "loading"). In this embodiment, the specific location of the loading and unloading process is not limited; it can occur in a spacious, open place such as a warehouse or storage facility, or in other locations such as... Figure 1 The space shown is a relatively small space, such as inside a train carriage or container. The handling robot in this embodiment is small in size and moves flexibly, making it easy to move inside the carriage.

[0043] To achieve flexible cooperation between handling robots and workers in loading / unloading soft-packaged goods, this embodiment proposes a novel technical concept: the handling robot is "instructed" by the worker's designated body position to provide the loading / unloading location when the worker performs loading / unloading operations. The handling robot can then provide the worker's desired loading / unloading location based on the worker's "instructions," facilitating the worker's loading / unloading operations. This reduces the significant expenditure of manual labor and eliminates the need for workers to perform extensive back-and-forth movements, especially climbing, between the handling robot and the goods stack, thus reducing the risk of dangerous situations and improving safety.

[0044] The inventive concept of this invention is not only applicable to enclosed, limited spaces, such as the aforementioned train boxcars or containers, but may also include other types of limited spaces, such as carriages whose sides and / or top are not completely enclosed, such as truck carriages (usually unenclosed at the top) or carriages whose sides are not completely enclosed.

[0045] The technical solutions of the above-mentioned technical concept of this application will be described in detail below through multiple embodiments, from the perspectives of handling robots, positioning devices, and the combined operation of the two.

[0046] Example 1

[0047] One embodiment of the present invention relates to a method for handling control in freight space, wherein the method can be executed by a handling robot. The operation and movement principles, external structure, and other features of the handling robot are not limited in this embodiment; any robot capable of performing the predetermined handling control described in this embodiment may be used. Figure 2a As shown, the method includes the following steps.

[0048] Step 210: Obtain a first indicated position based on the worker's body location within the train wagon or container, wherein the first indicated position is made as needed by the worker during loading / unloading operations on the handling robot, and is used to indicate the loading / unloading position that the handling robot should provide when the worker performs loading / unloading operations on the handling robot.

[0049] The loading position provided by the handling robot is the location provided by the robot to support the goods when workers load them onto it. For example, it could be the highest point on the robot designed to support the goods (see reference). Figure 1 The loading position is shown in the diagram, allowing workers to align the position of the goods to be loaded (e.g., the lowest position) with this loading position as much as possible, facilitating the placement of the goods onto the transport robot. The unloading position is the position on the transport robot where the goods are being unloaded, which is convenient for workers to unload them. For example, it could be the lowest point of the goods being unloaded on the transport robot (see reference). Figure 1 The unloading position shown in the figure allows workers to align the location where the receiving unit receives and unloads goods (the stacking position) with the unloading position, making it easier to unload the goods from the handling robot to the receiving unit's unloading position.

[0050] Specifically, to ensure the handling robot accurately moves its assigned loading / unloading position to the worker's desired location, this embodiment allows the worker to "instruct" the robot based on a designated position on their own body. Specifically, the worker can indicate a first indicated position within the train wagon or container, which may be spatially the same as or different from the worker's designated position. This first indicated position serves as a reference point for the handling robot when it performs loading / unloading operations. Based on this first indicated position, the handling robot can "know" the loading / unloading position it should provide.

[0051] It should be noted that this embodiment needs to consider two issues when realizing the first indicated position of the handling robot: first, how to send out the "signal" of the indication behavior based on the first indicated position indicated by the specified position of the worker's body; second, how to obtain the first indicated position of the handling robot.

[0052] Regarding the first question, the first step is to establish the instruction association between the designated position of the worker's body (such as the arm position) and the first instruction position. In practice, the designated position of the worker's body and the first instruction position can be set to the same position (the designated position of the worker's body is both the initiator of the "instruction" action and the first instruction position itself), for example, the position of the person's arm is the first instruction position; alternatively, the designated position of the worker's body and the first instruction position can be set to different positions (the designated position of the worker's body is only the initiator of the "instruction" action, not the first instruction position itself), for example, other positions of the worker's body indicated by the person's arm, such as the torso or palm, can be used as the first instruction position, or other positions spatially separated from the person's arm, such as a position within a preset spatial range in front of the arm, can be used as the first instruction position.

[0053] Secondly, regarding how the "signal" for the instruction behavior is issued, if the designated position on the worker's body and the first indicated position are the same, a positioning device can be placed directly at the designated position. The positioning device will then emit a positioning sensing signal, such as any one of NFC (Near Field Communication), Bluetooth, or WiFi signals. The worker's action of controlling the positioning device to emit the positioning sensing signal serves as the action of issuing the "signal" for the instruction behavior. If the designated position on the worker's body and the first indicated position are different, the worker can perform a specific action through the designated position on their body (such as extending their arm vertically). When these specific actions are performed by the worker, it indicates that the worker has issued the "signal" for the instruction behavior.

[0054] The second question concerns how the handling robot acquires the first indicated position after the worker issues an instruction. If the worker issues the instruction through a positioning device at a designated location on their body, the handling robot can directly acquire the positioning sensor signal to locate the first indicated position. If the worker issues the instruction by performing a specific action at a designated location on their body, the handling robot can use technologies such as image recognition to locate the designated location on the human body, and then perform spatial location identification on the first indicated position that has a positional relationship with the designated location, thereby achieving the location of the first indicated position.

[0055] Of course, without causing contradictions, a positioning device can also be used to "indicate" a first indicated position that is different from the designated position, and / or a specific action of the designated position can be used to "indicate" a first indicated position that is the same as the designated position. The relevant principles are described above and will not be repeated here.

[0056] To simplify the operation, the designated position on the worker's body can be directly set as the first indicated position.

[0057] For example, in some embodiments, the designated location of the worker's body can be spatially located based on the positioning sensing signal emitted by the positioning device set at a designated location on the worker's body, and the spatial location obtained by spatial positioning can be determined as the first indicated location.

[0058] Specifically, the handling robot can integrate a program algorithm for receiving and processing positioning sensor signals. Based on the positioning calculation of the positioning device, it can complete spatial positioning of the specified location and then determine the spatial position obtained by positioning as the first indicated position.

[0059] For example, in other embodiments, based on depth map information collected inside a train wagon or container, the movement of a worker's body at a designated position inside the train wagon or container can be detected, the designated position in the preset movement can be spatially located, and the spatially located position can be determined as the first indicated position.

[0060] Specifically, a depth camera can be installed on the handling robot to collect depth map information inside the train wagon or container, identify the depth image of the worker contained in the depth map information, and detect the movement state of the worker's body at a designated position in real time. When the movement of the worker's body at the designated position is detected to be in a preset movement state (such as vertically extending an arm), the designated position is spatially located, and the spatial position obtained is determined as the first indication position.

[0061] Step 220: Calculate the first target position of the handling robot based on the first indicated position. The first target position is the estimated loading / unloading position that the worker expects the handling robot to provide.

[0062] The first target location and the first indicated location may have a preset positional association, which is sufficient to convince that the first target location can serve as the loading / unloading location that the handling robot anticipates the worker should expect the handling robot to provide. For example, the first target location and the first indicated location may be the same location, or the first target location may be a location within a confidence space centered on the first indicated location. Under the condition of being believed, this embodiment does not limit the positional association between the first target location and the first indicated location.

[0063] Specifically, after receiving the first indicated location, the transport robot can calculate a first target location that has the aforementioned positional relationship with the first target location based on a built-in algorithm. This first target location can be considered as the target location that the transport robot is about to move to.

[0064] In some embodiments, when calculating the first target position of the handling robot based on the first indicated position, the first indicated position can be directly determined as the first target position; or, a target spatial region containing the first indicated position can be determined, and any position within the target spatial region can be selected as the first target position. It should be noted that the determined target spatial region should be sufficiently reliable to be believed that the first target position can serve as the loading / unloading position that the handling robot anticipates the worker should expect the handling robot to provide.

[0065] Step 230: Control the handling robot to align the first actual position with the first target position so that the worker can perform loading / unloading of soft-packaged goods on the handling robot at the first target position. The first actual position is the actual loading / unloading position provided by the handling robot.

[0066] Among them, the actual loading / unloading position provided by the handling robot can be the highest point on the handling robot used to carry the goods to be loaded, that is, the lowest position of the goods to be loaded when they are loaded onto the handling robot; the actual unloading position is the lowest point on the handling robot carrying the goods to be unloaded, that is, the lowest position of the goods to be unloaded before they are unloaded from the handling robot.

[0067] Specifically, after the handling robot determines the first target position, in order to facilitate loading and unloading of goods, the handling robot can be controlled to align its first actual position with the first target position. The purpose of alignment is to enable workers to load / unload soft-packaged goods onto the handling robot at the first target position more quickly and with less effort.

[0068] In practical applications, controlling the handling robot to align the first actual position with the first target position may include: when a worker is loading goods onto the handling robot, controlling the handling robot to move the first actual position to a third height range that is lower than the first target position along the height direction inside the train wagon or container, or further moving it to a third width range that deviates from the first target position along the width direction inside the train wagon or container.

[0069] Specifically, when workers load goods onto the handling robot, to better utilize the descending inertia of the goods from the stack to the robot, the robot can be controlled to move its first actual position to a third height range slightly lower than the first target position along the height direction (z) inside the train wagon or container. This makes loading easier for workers. Of course, there can be a certain degree of misalignment in the width direction (y), meaning the robot can be controlled to move its first actual position to a third width range deviating from the first target position along the width direction inside the train wagon or container. This increases the robot's flexibility.

[0070] In practical applications, controlling the handling robot to align the first actual position with the first target position may include: when the worker is unloading goods from the handling robot, controlling the handling robot to move the first actual position to a third height range higher than the first target position along the height direction inside the train wagon or container, or further moving it to a third width range deviating from the first target position along the width direction inside the train wagon or container.

[0071] Specifically, when workers unload goods from the handling robot, to better utilize the descending inertia of the goods from the robot to the stack, the robot can be controlled to move its first actual position to a third height range slightly higher than the first target position along the height direction (z) inside the train wagon or container. This makes unloading easier for the worker. Of course, there can be a certain degree of misalignment in the width direction (y), meaning the robot can be controlled to move its first actual position to a third width range deviating from the first target position along the width direction inside the train wagon or container. This increases the robot's flexibility.

[0072] The method for handling control in freight spaces provided in this embodiment allows workers located inside train caravans or containers to indicate a first indicated position based on their own body's designated location. This first indicated position is made on demand by the worker during the loading / unloading process of the handling robot, indicating the loading / unloading position the robot should provide when the worker loads / unloads goods. After acquiring the first indicated position, the handling robot calculates a first target position based on it as a presumed loading / unloading position the worker expects the robot to provide. Subsequently, the handling robot controls itself to move to the vicinity of the first target position and aligns its first actual position with it. This first actual position is the actual loading / unloading position provided by the handling robot, allowing the worker to load / unload soft-packaged goods at the first target position. In this solution, the worker's own body position is used as the instructor to indicate the first indicated position. The handling robot controls its own movement according to the first indicated position to provide a suitable loading / unloading position for the worker to complete the loading / unloading of goods to the handling robot. The whole process adopts a semi-manual and semi-mechanical handling mode, which can realize automated and intelligent handling of soft packaging goods in a small stacking space, thereby saving labor and improving the safety factor.

[0073] Example 2

[0074] Another embodiment of the present invention relates to a method for handling control in freight space, the method being... Figure 2a Based on the method shown, additional information regarding the working modes of the handling robot is added, and the operational content of the handling robot in different working modes is defined. Specifically, before obtaining the first indicated position based on the worker's body position within the train wagon or container, the following steps are also included.

[0075] Step 1: Respond to the trigger operation for the working mode and control the handling robot to enter the corresponding working mode, which includes at least a human-machine collaborative mode. The trigger operation for the working mode can be directly triggered by the worker on the handling robot. For example, a corresponding "working mode" setting switch / button or other control can be set on the handling robot, allowing the worker to manually set the working mode; alternatively, the working mode of the handling robot can be set remotely. This embodiment does not limit the method of setting the working mode of the handling robot.

[0076] Step 2: When the handling robot enters the human-machine collaboration mode, it triggers the execution of step 210, that is, the step of obtaining the first indicated position based on the specified position of the worker's body inside the train wagon or container.

[0077] Furthermore, the above-mentioned working mode may also include at least a stand-alone operation mode. Accordingly, when the handling robot enters the stand-alone operation mode, the handling robot may also perform the following step 3.

[0078] Step 3: Control the handling robot to autonomously unload and stack soft-packaged goods inside the train wagon or container; wherein, the stacking height of the unloaded soft-packaged goods inside the train wagon or container shall not exceed the preset height.

[0079] As shown in Figure 2b, this is a schematic diagram illustrating a scenario where a handling robot autonomously completes unloading and stacking of goods in standalone operation mode. Specifically, the handling robot can be equipped with conveyor belts, rollers, or other devices capable of autonomously moving goods. This allows the robot to autonomously unload soft-packaged goods without the assistance of a human handler. During unloading, the robot can neatly unload goods from the inside out along the innermost corner of the train wagon or container, achieving orderly stacking. Considering the operating space occupied by the robot itself, after the goods are stacked to a certain height, the operating space above the goods becomes narrow, making unloading inconvenient. At this point, it cannot continue stacking goods to a higher position; instead, it needs to retreat to a position further out from the innermost corner within the train wagon or container and start unloading and stacking from the ground position again. To automatically achieve the transfer of the unloading position, this embodiment limits the height of the robot's unloading position in standalone operation mode; that is, the stacking height of the unloaded soft-packaged goods within the train wagon or container does not exceed a preset height. Once the preset height is reached, the handling robot can move to a position further out from the innermost corner and select a new unloading location. From Figure 2b It can also be seen that the handling robot unloads goods neatly from the inside out along the innermost corner of the train wagon or container, and the stacking height of the unloaded goods does not exceed the preset height, for example, not exceeding 1 / 2 to 3 / 4 of the longitudinal height inside the train wagon or container. The unloading and stacking of goods in the remaining height space can be completed using a human-robot collaborative mode.

[0080] Of course, workers can also flexibly control the working mode of the handling robot. When it is found that the stacking height of the soft packaged goods at the current unloading position of the handling robot in the train car or container has reached the preset height, the handling robot can be flexibly switched to human-machine collaboration mode. The worker can then further instruct the handling robot to continue unloading goods at a position higher than the preset height by indicating the first instruction position of the designated position on the worker's body.

[0081] Of course, the handling robot can also work in a human-machine collaborative mode to load / unload goods throughout the process.

[0082] This embodiment sets the working modes of the handling robot. Within a space where the height of the unloaded goods is no higher than a preset height, the handling robot is instructed to autonomously complete the unloading and stacking of goods in a standalone operation mode. Within a space where the height of the unloaded goods is higher than the preset height, the handling robot is instructed to cooperate with workers in a human-machine collaborative mode to complete the unloading and stacking of goods. This maximizes the space utilization rate of goods loading, reduces the workload of workers, and further improves safety.

[0083] Example 3

[0084] Another embodiment of the present invention relates to a method for handling control in freight space, the method being... Figure 2a Based on the method shown, step 220, which involves determining a target spatial region containing the first indicated location and selecting any location within that region as the first target location, is further refined. This provides a method for determining the first target location, such as... Figure 3 As shown, the method for determining the location of the first target includes:

[0085] Step 310: Based on the length, width, and height of the train wagon or container, detect the first pile of goods in the train wagon or container that is closest to the handling robot in the vertical length direction, and determine the first distance from the first indicated position to the first pile of goods.

[0086] Specifically, such as Figure 1 As shown, the length, width, and height of the train wagon or container can be used as the X, Y, and Z axes respectively to construct a spatial coordinate system. Typically, goods are stacked along the length (x) of the wagon, from one end to the other, as shown below. Figure 1 The goods are stacked sequentially from right to left along the x-axis, with the handling robot positioned at the far left of the stack. Therefore, within all longitudinal yz planes of a train wagon or container, the yz plane closest to the handling robot in the vertical direction of the stack can be designated as the first stack surface. Typically, the handling robot will not travel beyond the first stack surface due to obstruction from the stack; therefore, the first stack surface should be referenced when determining the first target position. Based on this, the handling robot can first determine the position of the first stack surface and then determine the first distance from the first indicated position to the first stack surface.

[0087] Step 320: If the first distance is less than the first threshold, then in the first stack of goods, the area enclosed by the projection position of the first indicated position as the midpoint, the first width as the width direction boundary, and the first height as the height direction boundary is taken as the first target space area, and a position is selected from the first target space area as the first target position.

[0088] Specifically, if it is determined that the first distance from the first indicated position to the first pile of goods is less than a first threshold, it means that the first indicated position is very close to the first pile of goods. In this case, in order to avoid the handling robot being blocked by the pile of goods as much as possible, a position on the first pile of goods can be selected as the first target position. More conveniently, a certain range on the first pile of goods can be defined as the first target space area, with the projection of the first indicated position on the first pile of goods as the midpoint. For example, the area enclosed by the first width (y1) as the width direction (y) boundary and the first height (z1) as the height direction (z) boundary can be used as the first target space area. Then, any position within the first target space area can be selected as the first target position. The first width (y1) and first height (z1) can be determined based on the worker's working habits; for example, the range of width and height can be around the range that the arm can reach.

[0089] Of course, in practical applications, provided the handling robot can reach the goods, other yz planes parallel to the first pile of goods and with a distance value less than a specified threshold should be selected. Then, a target spatial region should be determined in these yz planes using the same method described above, and any location within this target spatial region can be selected as the first target location.

[0090] Step 330: If the first distance is not less than the first threshold, then select any position from the first target space region as the first target position; or, in the second pile of goods passing through the first indicated position in the vertical length direction, select the area enclosed by the second width as the width direction boundary and the second height as the height direction boundary as the second target space region, and select a position from the second target space region as the first target position; wherein, the position selected from the second target space region satisfies: the handling robot is not obstructed by the pile of goods during the process of aligning the first actual position to the first target position.

[0091] Specifically, if it is determined that the first distance from the first indicated position to the first pile of goods is not less than the first threshold, it means that the first indicated position is far from the first pile of goods. In this case, there are two strategies for determining the first target position:

[0092] One simpler approach is to avoid the handling robot being obstructed by the stack of goods as much as possible. As described in step 320, a position on the surface of the first stack of goods can still be selected as the first target position. Of course, in practical applications, provided the handling robot can reach the target, other yz planes parallel to the first stack of goods and with a distance value less than a specified threshold can also be selected. Then, a target spatial region can be determined within these yz planes using the same method described above, and any position within this target spatial region can be selected as the first target position.

[0093] Another slightly more complex but more reasonable approach is to place the cargo in the second pile of cargo along the vertical length direction (x) and passing through the first indicated location (e.g. Figure 1 As shown in the diagram, a second target space is selected, bounded by a second width (y2) as the width boundary and a second height (z2) as the height boundary. Then, a location within this second target space is selected as the first target location. The second width (y2) and second height (z2) can be determined based on worker habits; for example, the width and height ranges can be within the reach of the arm. The advantage of determining the first target location in this way is that it is closer to the first indicated location and closer to the target location the worker expects the handling robot to provide for loading / unloading. However, this method may result in the handling robot being unable to reach the location due to obstructions from the stack of goods during its movement to the first target location. Therefore, when selecting a location from the second target space as the first target location, the following must be satisfied: the handling robot is not obstructed by the stack of goods during the alignment process from the first actual location to the first target location.

[0094] Of course, in practical applications, provided the handling robot can reach the location, other yz planes parallel to the second pile of goods and with a distance value less than a specified threshold can also be selected. Then, a target spatial region can be determined within these yz planes using the same method described above, and any location within that target spatial region can be chosen as the first target location. The advantage of choosing a location within a target spatial region in another yz plane as the first target location is that if a suitable first target location cannot be determined within the second pile of goods, other locations that are closer to the worker's desired first target location can be determined as much as possible.

[0095] This embodiment lists several schemes for determining the location of the first target, making the determined location of the first target more reasonable.

[0096] Example 4

[0097] Another embodiment of the present invention relates to a method for handling control in freight spaces, which is a supplement to the above embodiments. In step 210, the first indicated position, based on a designated position of the worker's body, is made by the worker as needed during the loading / unloading process of the handling robot, and is made at least twice. For example, as the loading / unloading process progresses, the actual loading / unloading position provided by the handling robot will change accordingly, and when the worker believes that the current actual loading / unloading position provided by the handling robot is not the loading / unloading position they expect, they can again make an indication through the designated position of their body to change the first indicated position. The number of changes can be increased at any time according to actual handling needs.

[0098] Accordingly, after step 210, as Figure 4 As shown, calculating the first target position of the transport robot based on the first indicated position can include:

[0099] Step 410: Determine whether the first indicated position obtained in the current step is the same as the first indicated position obtained in the previous step. If they are different, calculate the updated first target position of the transport robot based on the first indicated position obtained in the current step. If they are the same, directly determine the first target position determined in the previous step as the updated first target position of the transport robot.

[0100] Specifically, the overall processing logic of this step can be referred to step 220. The only difference is that after obtaining the first indication position in this step, it will be compared with the first indication position obtained in the previous step. Based on the comparison result, the method for determining the first target position will be determined, and then the updated first target position will be determined.

[0101] Accordingly, controlling the transport robot to align the first actual position with the first target position includes:

[0102] Step 420: Control the handling robot to align the current first actual position with the updated first target position so that the worker can perform loading / unloading of soft-packaged goods on the handling robot at the updated first target position.

[0103] Specifically, the overall processing logic of this step can be referred to step 230. The only difference is that in this step, the current first actual position of the current handling robot needs to be re-identified and detected, and the detected latest first actual position is aligned with the updated first target position.

[0104] The method for handling control in the freight space in this embodiment can dynamically update the first target position of the handling robot after the worker dynamically issues an instruction to indicate the first indicated position, and align the latest detected current first actual position with the updated first target position, so that the worker can perform loading / unloading of soft-packaged goods on the handling robot at the updated first target position, thereby realizing dynamic control of the handling robot as the handling process progresses.

[0105] Example 5

[0106] One embodiment of the present invention relates to a handling robot that can be used to perform the method steps in Embodiments 1 to 4, such as... Figure 5 As shown, the handling robot is located inside a train car or container, and a control device is installed on the robot; the control device includes:

[0107] The acquisition module 510 is used to acquire a first indicated position based on a designated position of the worker's body located inside a train car or container, wherein the first indicated position is made on demand by the worker during the loading / unloading process of the handling robot, and is used to indicate the loading / unloading position that the handling robot should provide when the worker performs loading / unloading on the handling robot;

[0108] Calculation module 520 is used to calculate a first target position of the handling robot based on the first indicated position, wherein the first target position is a presumed loading / unloading position that the worker expects the handling robot to provide;

[0109] The control module 530 is used to control the handling robot to align the first actual position with the first target position, so that the worker can perform loading / unloading of soft-packaged goods on the handling robot at the first target position, wherein the first actual position is the actual loading / unloading position provided by the handling robot.

[0110] In some embodiments, the control device further includes:

[0111] Response module: Used to respond to trigger operations for the working mode and control the handling robot to enter the corresponding working mode, the working mode including at least the human-machine collaboration mode; when the handling robot enters the human-machine collaboration mode, it triggers the acquisition module to perform the step of acquiring the first indicated position based on the specified position of the worker's body located in the train car or container.

[0112] In some embodiments, the working mode further includes at least a standalone operation mode;

[0113] The response module is also used to control the handling robot to autonomously unload and stack soft-packaged goods in the train wagon or container after the handling robot enters the individual operation mode; wherein the stacking height of the unloaded soft-packaged goods in the train wagon or container is not greater than a preset height.

[0114] In some embodiments, the acquisition module 510 is used to spatially locate the specified position of the worker's body based on the positioning sensing signal emitted by the positioning device set at the specified position of the worker's body, and to determine the spatial position obtained by spatial positioning as the first indicated position.

[0115] In some embodiments, the acquisition module 510 is used to detect the movement of a worker's body at a designated position inside the train wagon or container based on depth map information collected inside the train wagon or container, perform spatial positioning of the designated position at the preset movement, and determine the spatial position obtained by spatial positioning as the first indicated position.

[0116] In some embodiments, the computing module 520 includes:

[0117] A first calculation unit is configured to directly determine the first indicated position as the first target position; or...

[0118] The second calculation unit is used to determine a target spatial region containing the first indicated location, and to select any location from the target spatial region as the first target location.

[0119] In some embodiments, the second computing unit is configured to:

[0120] Based on the length, width, and height of the train wagon or container, detect the first pile of goods inside the train wagon or container that is closest to the handling robot in the vertical length direction, and determine the first distance from the first indicated position to the first pile of goods.

[0121] If the first distance is less than the first threshold, then in the first stack of goods, the area enclosed by the projection position of the first indicated position as the midpoint, the first width as the width direction boundary, and the first height as the height direction boundary is taken as the first target space area, and a position is selected from the first target space area as the first target position.

[0122] If the first distance is not less than the first threshold, then any position within the first target space region is selected as the first target position; or, in the second pile of goods passing through the first indicated position in the vertical length direction, the area enclosed by the second width as the width direction boundary and the second height as the height direction boundary is selected as the second target space region, and a position within the second target space region is selected as the first target position; wherein, a position selected from the second target space region satisfies the following: the handling robot is not obstructed by the pile of goods during the process of aligning the first actual position to the first target position.

[0123] In some embodiments, the control module 530 is configured to, when a worker is loading goods onto the handling robot, control the handling robot to move the first actual position to a third height range below the first target position along the height direction inside the train wagon or container, or further move it to a third width range deviating from the first target position along the width direction inside the train wagon or container.

[0124] In some embodiments, the control module 530 is configured to control the handling robot to move the first actual position to a third height range higher than the first target position along the height direction inside the train wagon or container when the worker is unloading the goods from the handling robot, or to move it further to a third width range deviating from the first target position along the width direction inside the train wagon or container.

[0125] In some embodiments, the actual loading / unloading position provided by the handling robot is located at: the highest point position on the handling robot for carrying the goods to be loaded / the highest point position on the handling robot carrying the goods to be unloaded.

[0126] In some embodiments, the first indicated position based on the designated position of the worker's body is triggered as needed by the worker during the loading / unloading process of the handling robot, and the number of triggers is at least 2.

[0127] The calculation module 520 is used to determine whether the first indicated position obtained by the acquisition module in the current time is the same as the first indicated position obtained in the previous time. If they are different, the updated first target position of the transport robot is calculated based on the first indicated position obtained in the current time. If they are the same, the first target position determined in the previous time is directly determined as the updated first target position of the transport robot.

[0128] The control module 530 is used to control the handling robot to align the current first actual position to the updated first target position, so that the worker can perform loading / unloading of soft-packaged goods on the handling robot at the updated first target position.

[0129] In some embodiments, the first indicated location is indicated based on the position of the worker's arm.

[0130] In some embodiments, the positioning sensing signal includes any one of NFC signal, Bluetooth signal, and WiFi signal.

[0131] Example 6

[0132] One embodiment of the present invention relates to a positioning method applied to a wearable device located at a designated position on a worker's body, the worker being located inside a train caravan or container, such as... Figure 6 As shown, the method includes the following steps.

[0133] Step 610: Detect the indication action based on the designated position of the worker's body indicating the first indication position;

[0134] The first indicated position is made by the worker as needed during the loading / unloading process of the handling robot, and is used to indicate the loading / unloading position that the handling robot should provide when the worker performs loading / unloading on the handling robot.

[0135] Specifically, the wearable device in this embodiment can be equipped with a positioning device, possessing all the functions of the positioning device with the same name in the aforementioned method embodiments. This positioning device can be controlled by the worker and emits positioning sensing signals. To accurately receive worker instructions, the positioning device will detect in real time the worker's body's designated position indicating a first indicated position. This indicated action could be the worker pressing a button on the positioning device; of course, the worker can also trigger the positioning device to emit positioning sensing signals through other means such as voice control.

[0136] Step 620: After detecting the instruction action, a positioning sensor signal is sent into the train wagon or container so that the handling robot can obtain the first instruction position indicated by the designated position of the worker's body in the train wagon or container based on the positioning sensor signal, and execute the handling control method for freight space as described in Embodiments 1 to 4 based on the first instruction position.

[0137] Specifically, after detecting the worker's instruction action, the positioning device sends positioning sensing signals into the train wagon or container. After these positioning sensing signals are acquired by the handling robot, the handling robot can obtain the first indicated position based on the designated position of the worker's body inside the train wagon or container, and execute the handling control method for freight space as described in Embodiments 1 to 4 based on the first indicated position.

[0138] The positioning method in this embodiment can be used in conjunction with the aforementioned method embodiments to provide positioning sensing signals, thereby enabling the handling robot to obtain a first indicated position based on a designated position of the worker's body inside a train wagon or container, and to execute a handling control method for the freight space based on the first indicated position.

[0139] Example 7

[0140] One embodiment of the present invention relates to a positioning device, such as... Figure 7 As shown, the positioning device is installed in a wearable device located at a designated position on the worker's body, inside a train car or container. The positioning device includes:

[0141] The detection module 710 is used to detect the indication action of indicating a first indication position based on a specified position of the worker's body;

[0142] The first indicated position is made by the worker as needed during the loading / unloading process of the handling robot, and is used to indicate the loading / unloading position that the handling robot should provide when the worker performs loading / unloading on the handling robot.

[0143] The sending module 720 is used to send a positioning sensing signal to the train wagon or container after detecting the indicated action, so that the handling robot can obtain a first indicated position based on the designated position of the worker's body in the train wagon or container based on the positioning sensing signal, and execute the handling control method for freight space as described in Embodiments 1 to 4 based on the first indicated position.

[0144] Example 8

[0145] One embodiment of the present invention relates to a handling interaction method applied to a handling robot located inside a train wagon or container, and a positioning device disposed in a wearable device located at a designated position on a worker's body, the worker being located inside the train wagon or container, the handling interaction method comprising:

[0146] The positioning device detects the indicating action based on the worker's body's designated position indicating the first indicated position, and after detecting the indicating action, sends a positioning sensor signal into the train car or container; wherein, the first indicated position is made as needed by the worker during the loading / unloading process of the handling robot, and is used to indicate the loading / unloading position that the handling robot should provide when the worker loads / unloads goods to the handling robot.

[0147] The handling robot obtains a first indicated position based on a designated position of the worker's body inside a train wagon or container based on positioning sensor signals, and executes the handling control method for freight space described in Embodiments 1 to 4 based on the first indicated position.

[0148] The steps in this embodiment can be found in the corresponding steps in the foregoing method embodiments, and will not be repeated here.

[0149] Example 9

[0150] One embodiment of the present invention relates to a handling interaction system, comprising: a handling robot located inside a train wagon or container, and a positioning device disposed in a wearable device located at a designated position on a worker's body, the worker being located inside the train wagon or container;

[0151] The positioning device is used to detect the indicating action of the worker's body pointing to a first indicating position based on a designated position, and after detecting the indicating action, to send a positioning sensing signal into the train car or container; wherein, the first indicating position is made by the worker as needed during the loading / unloading process of the handling robot, and is used to indicate the loading / unloading position that the handling robot should provide when the worker loads / unloads goods to the handling robot.

[0152] The transport robot is used to obtain a first indicated position based on a designated position of the worker's body inside a train wagon or container based on the positioning sensor signal, and to execute the transport control method for freight space as described in Embodiments 1 to 4 based on the first indicated position.

[0153] The functions of each module in this embodiment can be found in the corresponding functional modules in the foregoing embodiments, and will not be repeated here.

[0154] Example 10

[0155] Another embodiment of the present invention relates to an electronic device, such as... Figure 8 As shown, it includes at least one processor 802; and a memory 801 communicatively connected to at least one processor 802; wherein the memory 801 stores instructions executable by at least one processor 802, the instructions being executed by at least one processor 802 to enable at least one processor 802 to execute any of the above method embodiments.

[0156] The memory 801 and processor 802 are connected via a bus, which can include any number of interconnecting buses and bridges. The bus connects various circuits of one or more processors 802 and memory 801 together. The bus can also connect various other circuits, such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be a single element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices over a transmission medium. Data processed by processor 802 is transmitted over a wireless medium via an antenna, which further receives data and transmits it to processor 802.

[0157] Processor 802 is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. Memory 801 can be used to store data used by processor 802 during operation.

[0158] Another embodiment of the present invention relates to a computer-readable storage medium storing a computer program. When executed by a processor, the computer program implements any of the above-described method embodiments.

[0159] Another embodiment of the present invention relates to a computer program product that, when run on a terminal device, causes an electronic device to perform any of the above-described embodiments of the method.

[0160] That is, those skilled in the art will understand that all or part of the steps in the methods of the above embodiments can be implemented by a program instructing related hardware. This program is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0161] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0162] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0163] Those skilled in the art will understand that the above embodiments are specific examples of implementing the present invention, and in practical applications, various changes in form and detail may be made without departing from the spirit and scope of the present invention.

Claims

1. A method for handling control in freight space, characterized in that, The method, applied to a handling robot located inside a train car or container, includes: Obtain a first indicated position based on a designated position of a worker's body within a train boxcar or container, wherein the first indicated position is made as needed by the worker during loading / unloading operations on the handling robot, and is used to indicate the loading / unloading position that the handling robot should provide when the worker performs loading / unloading operations on the handling robot; The first target position of the handling robot is calculated based on the first indicated position, and the first target position is the estimated loading / unloading position that the worker expects the handling robot to provide. The handling robot is controlled to align a first actual position with a first target position, so that the worker can perform loading / unloading of soft-packaged goods on the handling robot at the first target position. The first actual position is the actual loading / unloading position provided by the handling robot. The method of controlling the handling robot to align the first actual position with the first target position includes: when a worker is loading goods onto the handling robot, controlling the handling robot to move the first actual position to a height range lower than the first target position along the height direction inside the train wagon or container; and when a worker is unloading goods from the handling robot, controlling the handling robot to move the first actual position to a height range higher than the first target position along the height direction inside the train wagon or container, so that the worker can perform loading / unloading of soft-packaged goods onto the handling robot at the first target position. Before obtaining the first indicated position based on a designated location on the worker's body inside the train car or container, the method further includes: In response to a trigger operation for a working mode, the handling robot is controlled to enter the corresponding working mode, which includes at least a human-machine collaborative mode; When the transport robot enters the human-machine collaborative mode, it triggers the execution of the step of obtaining the first indicated position based on the specified position of the worker's body inside the train wagon or container.

2. The method according to claim 1, characterized in that, The working mode also includes at least a standalone operation mode, and the method further includes: When the handling robot enters the individual operation mode, it is controlled to autonomously unload and stack soft-packaged goods inside the train wagon or container; wherein, the stacking height of the unloaded soft-packaged goods inside the train wagon or container does not exceed a preset height.

3. The method according to claim 1, characterized in that, The acquisition of the first indicated position based on a designated location on the worker's body within a train car or container includes: Based on the positioning sensing signal emitted by the positioning device set at a designated location on the worker's body, the designated location on the worker's body is spatially located, and the spatial location obtained by spatial positioning is determined as the first indicated location.

4. The method according to claim 1, characterized in that, The acquisition of the first indicated position based on a designated location on the worker's body within a train car or container includes: Based on the depth map information collected inside the train wagon or container, the movement of a worker's body at a designated position inside the train wagon or container is detected, the designated position in the preset movement is spatially located, and the spatially located position is determined as the first indicated position.

5. The method according to claim 1, characterized in that, The calculation of the first target position of the transport robot based on the first indicated position includes: The first indicated location can be directly determined as the first target location; or... Determine a target spatial region containing the first indicated location, and select any location within the target spatial region as the first target location.

6. The method according to claim 5, characterized in that, The step of determining a target spatial region containing the first indicated location, and selecting any location from the target spatial region as the first target location, includes: Based on the length, width, and height of the train wagon or container, detect the first pile of goods inside the train wagon or container that is closest to the handling robot in the vertical length direction, and determine the first distance from the first indicated position to the first pile of goods. If the first distance is less than the first threshold, then in the first stack of goods, the area enclosed by the projection position of the first indicated position as the midpoint, the first width as the width direction boundary, and the first height as the height direction boundary is taken as the first target space area, and a position is selected from the first target space area as the first target position. If the first distance is not less than the first threshold, then any position within the first target space region is selected as the first target position; or, in the second pile of goods passing through the first indicated position in the vertical length direction, the area enclosed by the second width as the width direction boundary and the second height as the height direction boundary is selected as the second target space region, and a position within the second target space region is selected as the first target position; wherein, a position selected from the second target space region satisfies the following: the handling robot is not obstructed by the pile of goods during the process of aligning the first actual position to the first target position.

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

8. The method according to claim 1, characterized in that, The first indicated position, based on the designated position of the worker's body, is made by the worker at least twice as needed during the loading / unloading process of the handling robot; The calculation of the first target position of the transport robot based on the first indicated position includes: Determine whether the first indicated position obtained in the current instance is the same as the first indicated position obtained in the previous instance. If they are different, calculate the updated first target position of the transport robot based on the first indicated position obtained in the current instance. If they are the same, directly determine the first target position determined in the previous instance as the updated first target position of the transport robot. The control of the transport robot to align the first actual position with the first target position includes: The handling robot is controlled to align its current first actual position with the updated first target position, so that the worker can perform loading / unloading of soft-packaged goods on the handling robot at the updated first target position.

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

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

11. A transport robot, characterized in that, The transport robot is located inside a train car or container, and a control device is installed on the robot; the control device includes: The acquisition module is used to acquire a first indicated position based on a specified position of a worker's body located inside a train caravan or container, wherein the first indicated position is made as needed by the worker during the loading / unloading process of the handling robot, and is used to indicate the loading / unloading position that the handling robot should provide when the worker performs loading / unloading on the handling robot; The calculation module is used to calculate the first target position of the handling robot based on the first indicated position, wherein the first target position is a presumed loading / unloading position that the worker expects the handling robot to provide; The control module is used to control the handling robot to align the first actual position with the first target position, so that the worker can perform loading / unloading of soft-packaged goods on the handling robot at the first target position. The first actual position is the actual loading / unloading position provided by the handling robot. The control module is used to control the handling robot to move its first actual position to a height range lower than the first target position along the height direction inside the train wagon or container when the worker is loading goods onto the handling robot; the control module is also used to control the handling robot to move its first actual position to a height range higher than the first target position along the height direction inside the train wagon or container when the worker is unloading goods from the handling robot. The control device further includes: Response module: Used to respond to trigger operations for the working mode and control the handling robot to enter the corresponding working mode, the working mode including at least the human-machine collaboration mode; when the handling robot enters the human-machine collaboration mode, it triggers the acquisition module to perform the step of acquiring the first indicated position based on the specified position of the worker's body located in the train car or container.

12. The handling robot according to claim 11, characterized in that, The working mode also includes at least a stand-alone operation mode; The response module is also used to control the handling robot to autonomously unload and stack soft-packaged goods in the train wagon or container after the handling robot enters the individual operation mode; wherein the stacking height of the unloaded soft-packaged goods in the train wagon or container is not greater than a preset height.

13. The handling robot according to claim 11, characterized in that, The acquisition module is used to perform spatial positioning of the designated position of the worker's body based on the positioning sensing signal emitted by the positioning device set at the designated position of the worker's body, and to determine the spatial position obtained by spatial positioning as the first indicated position.

14. The handling robot according to claim 11, characterized in that, The acquisition module is used to detect the movement of a worker's body at a designated position inside the train wagon or container based on the depth map information collected inside the wagon or container, to perform spatial positioning of the designated position where the worker is in a preset movement, and to determine the spatial position obtained by spatial positioning as the first indicated position.

15. The handling robot according to claim 11, characterized in that, The computing module includes: A first calculation unit is configured to directly determine the first indicated position as the first target position; or... The second calculation unit is used to determine a target spatial region containing the first indicated location, and to select any location from the target spatial region as the first target location.

16. The handling robot according to claim 15, characterized in that, The second computing unit is used for: Based on the length, width, and height of the train wagon or container, detect the first pile of goods inside the train wagon or container that is closest to the handling robot in the vertical length direction, and determine the first distance from the first indicated position to the first pile of goods. If the first distance is less than the first threshold, then in the first stack of goods, the area enclosed by the projection position of the first indicated position as the midpoint, the first width as the width direction boundary, and the first height as the height direction boundary is taken as the first target space area, and a position is selected from the first target space area as the first target position. If the first distance is not less than the first threshold, then any position within the first target space region is selected as the first target position; or, in the second pile of goods passing through the first indicated position in the vertical length direction, the area enclosed by the second width as the width direction boundary and the second height as the height direction boundary is selected as the second target space region, and a position within the second target space region is selected as the first target position; wherein, a position selected from the second target space region satisfies the following: the handling robot is not obstructed by the pile of goods during the process of aligning the first actual position to the first target position.

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

18. The handling robot according to claim 11, characterized in that, The first indicated position, based on the designated position of the worker's body, is triggered as needed by the worker during the loading / unloading process of the handling robot, and the number of triggers is at least 2. The calculation module is used to determine whether the first indicated position obtained by the acquisition module in the current time is the same as the first indicated position obtained in the previous time. If they are different, the module calculates the updated first target position of the transport robot based on the first indicated position obtained in the current time. If they are the same, the previously determined first target position will be directly determined as the updated first target position of the transport robot; The control module is used to control the handling robot to align the current first actual position to the updated first target position, so that the worker can perform loading / unloading of soft-packaged goods on the handling robot at the updated first target position.

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

20. The handling robot according to claim 13, characterized in that, The positioning sensing signal includes any one of NFC signal, Bluetooth signal, and WiFi signal.

21. A positioning method, characterized in that, A wearable device applied to a designated location on a worker's body, the worker being located inside a train car or container, the positioning method comprising: The system detects a gesture indicating a first indicated position based on a designated position on the worker's body; wherein the first indicated position is made as needed by the worker during the loading / unloading process of the handling robot, and is used to indicate the loading / unloading position that the handling robot should provide when the worker is loading / unloading the robot. Upon detecting the indicated action, a positioning sensor signal is sent into the train wagon or container so that the handling robot can obtain a first indicated position based on the designated position of the worker's body inside the train wagon or container, and execute the handling control method for freight space as described in any one of claims 1 to 3, 5 to 10 based on the first indicated position.

22. A positioning device, characterized in that, The positioning device is installed in a wearable device located at a designated position on the worker's body, the worker being located inside a train car or container, and the positioning device includes: The detection module is used to detect the indication action based on the specified position of the worker's body indicating the first indication position; wherein, the first indication position is made as needed by the worker during the loading / unloading process of the handling robot, and is used to indicate the loading / unloading position that the handling robot should provide when the worker performs loading / unloading on the handling robot; The sending module is configured to send a positioning sensing signal to the train wagon or container after detecting the indicated action, so that the handling robot can obtain a first indicated position based on the position of the worker's body within the train wagon or container based on the positioning sensing signal, and perform the handling control method for freight space as described in any one of claims 1 to 3, 5 to 10 based on the first indicated position.

23. A method for interactive data transfer, characterized in that, A handling robot applied inside a train wagon or container, and a positioning device installed in a wearable device at a designated location on a worker's body, the handling interaction method comprising: The positioning device detects a pointing action based on a designated position of the worker's body indicating a first pointing position, and after detecting the pointing action, sends a positioning sensing signal into the train car or container; wherein, the first pointing position is made as needed by the worker during the loading / unloading process of the handling robot, and is used to indicate the loading / unloading position that the handling robot should provide when the worker loads / unloads goods to the handling robot. The handling robot acquires a first indicated position based on a designated position of the worker's body inside a train wagon or container based on the positioning sensor signal, and performs the handling control method for freight space as described in any one of claims 1 to 3, 5 to 10 based on the first indicated position.

24. A transport and interaction system, characterized in that, include: A handling robot located inside a train car or container, and a positioning device installed in a wearable device located at a designated position on the worker's body, the worker being located inside the train car or container; The positioning device is used to detect a pointing action based on a designated position of the worker's body indicating a first pointing position, and after detecting the pointing action, to send a positioning sensing signal into the train car or container; wherein, the first pointing position is made as needed by the worker during the loading / unloading process of the handling robot, and is used to indicate the loading / unloading position that the handling robot should provide when the worker loads / unloads goods to the handling robot. The handling robot is configured to acquire a first indicated position based on a designated position of a worker's body within a train wagon or container, based on the positioning sensor signal, and to perform a handling control method for freight space as described in any one of claims 1 to 3, 5 to 10, based on the first indicated position.

25. An electronic device, characterized in that, include: At least one processor; as well as, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, which enable the at least one processor to perform a method for handling control of a freight space as described in any one of claims 1 to 10, a positioning method as described in claim 21, or a handling interaction method as described in claim 23.

26. A computer program product, the computer program product comprising a computer program or instructions, characterized in that, When the computer program or instructions are executed by a processor, they implement the method for handling control of freight space as described in any one of claims 1 to 10, the positioning method as described in claim 21, or the handling interaction method as described in claim 23.

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

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