Warehouse cargo identification and automatic driving carrying robot coordination method and system
By detecting target task sequences and area sequences in autonomous transport robots and optimizing path planning, the problem of sorting goods before transporting tasks is solved, thereby improving transportation efficiency and direct transport capacity between warehouses.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- ANHUI DIANHYDROGEN INTELLIGENT TRANSPORT IOT TECH CO LTD
- Filing Date
- 2025-12-08
- Publication Date
- 2026-07-31
AI Technical Summary
Existing autonomous transport robots need to sort goods before performing transport tasks, and the amount of goods transported at one time cannot be too large. This results in some goods having a low proportion and needing to wait a long time before they can be transported, making it impossible to directly transport goods from warehouse to warehouse.
By detecting when the target robot arrives at the checkpoint, the target task sequence and area sequence are obtained. Based on these sequences, a path is planned, the placement of goods is obtained, and the movement and unloading sequence of the robot in the warehouse are optimized.
It solved the problem of sorting goods before transporting them, improved transportation efficiency, reduced waiting time, and enabled direct warehouse-to-warehouse transportation.
Smart Images
Figure CN121300202B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of path planning technology, and in particular to a method and system for warehouse cargo identification and collaborative autonomous driving transport robot. Background Technology
[0002] Autonomous transport robots are industrial vehicles that load goods automatically or manually, travel automatically along a set route or tow a cargo trolley to a designated location, and then load and unload goods automatically or manually. Due to their advantages of convenient control and high operational stability, they are widely used in automated warehousing systems.
[0003] When performing transport tasks, existing autonomous driving transport robots typically transport one type of goods to a designated location. The problem with this approach is that the goods need to be sorted before the transport task can begin, and the amount transported at one time cannot be too large. This is to avoid some goods with a low proportion having to wait a long time before they can be transported, and it is impossible to directly achieve warehouse-to-warehouse transport. Summary of the Invention
[0004] This invention provides a method for warehouse cargo identification and collaboration between autonomous driving transport robots, which at least solves the problem in the prior art that cargo needs to be sorted before starting the transport task, and the single transport volume cannot be too large, so as to avoid some cargo with a low proportion needing to wait for a long time before the transport can start, thus making it impossible to directly realize warehouse-to-warehouse transport.
[0005] On the one hand, a method for coordinating warehouse cargo identification with an autonomous driving transport robot includes: In response to detecting that the target robot has arrived at the target checkpoint, at least a portion of the target robot's target task sequence is obtained, the target task sequence being used to characterize the loading or unloading sequence of the target robot; Based on the target task sequence, obtain the target region sequence corresponding to the target task sequence; In response to detecting that the target robot has completed the task in its current area, based on the target area sequence and the current area of the target robot, a path for the target robot to move to the next area is obtained; In response to detecting that the target robot has entered a new area, the system obtains the cargo placement status of the area where the target robot is currently located, and obtains the path of the target robot in the area based on the target robot's target task in that area.
[0006] Optionally, in response to detecting that the target robot has reached the target checkpoint, obtaining at least a portion of the target robot's target task sequence includes: In response to detecting that the target robot has reached the target checkpoint, the target task sequence of the target robot is obtained according to at least one of the following methods: Method 1: Acquire a target image of the target robot, and obtain the cargo stacking method of the target robot based on the target image to obtain at least part of the target task sequence of the target robot; Method 2: Communicate with the target robot to obtain the target task sequence stored in the target robot; Method 3: Communicate with the target robot to obtain the target robot's unique identifier, and obtain the target task sequence based on the target robot's unique identifier.
[0007] Optionally, acquiring a target image of the target robot, and obtaining the cargo stacking method of the target robot based on the target image to obtain at least a portion of the target task sequence of the target robot, including: Acquire a target image of the target robot, and obtain the goods stacked on the surface by the target robot based on the target image; Based on the goods stacked on the surface by the target robot, obtain at least a portion of the target robot's target task sequence; In response to detecting that the target robot has completed a task in the target task sequence, the target image of the target robot is reacquired to update at least a portion of the target task sequence of the target robot.
[0008] Optionally, obtaining the target region sequence corresponding to the target task sequence includes: Based on the target task sequence, obtain the target cargo sequence; Based on the target cargo sequence, at least one region corresponding to each type of cargo in the target cargo sequence is obtained; Based on the target task sequence and at least one region corresponding to each type of cargo, a target region sequence corresponding to the target task sequence is obtained based on the load of each region.
[0009] Optionally, in response to detecting that the target robot has completed the task in its current area, obtaining the path for the target robot to move to the next area based on the target area sequence and the current area of the target robot includes: In response to detecting that the target robot has completed the task in its current area, the next area is obtained based on the target area sequence; Based on the current area and the next area of the target robot, obtain the current key point and the target key point. The current key point is configured as the exit of the area where the target robot is currently located, and the target key point is configured as the entrance of the next area that the target robot is going to. Establish a list of failed key points and a list of passed key points, and add all key points of the map where the target robot is located to the list of failed key points; The current key point is transferred to the list of key points that have been passed. Based on each key point in the list of key points that have been passed, a list of movement parameters for the target robot to start from any key point in the list of key points that have not been passed and reach any key point in the list of key points that have not been passed is obtained. Based on the list of movement parameters, the key point in the list of failed key points corresponding to the optimal movement parameters is obtained as the first key point; Determine whether the first key point is the target key point; If the first key point is not the target key point, then the first key point is moved from the list of failed key points to the list of passed key points and the first key point is obtained again. If the first key point is the target key point, then the path from the current key point to the first key point is obtained as the path for the target robot to move to the next area.
[0010] Optionally, obtaining the list of movement parameters for the target robot that has traveled from any key point in the key point list to any key point that has not been traveled includes: pass The target robot has passed any key point in the key point list. i Departure to any key point in the list of unpassed key points j The movement parameters; in, For moving parameters, The preset distance coefficient, The preset utilization rate coefficient, D ij Used to characterize key points i With key points j The distance between them Used to characterize key points i With key points j Utilization rate of routes between them; According to all The target robot obtains a list of movement parameters for starting from any key point in the key point list and arriving at any key point that it has not passed.
[0011] Optionally, before the step of obtaining the list of movement parameters for the target robot that has started from any key point in the key point list and reached a point that has not been passed, the method further includes: Based on the map where the target robot is located, obtain the connectivity relationships between all key points on the map where the target robot is located; When two key points are directly connected, the length of the path connecting the two key points is the distance between the two key points. When two key points are not directly connected, set the distance between the two key points to positive infinity.
[0012] Optionally, in response to detecting that the target robot has entered a new area, obtaining the cargo placement status of the area where the target robot is currently located, and obtaining the path of the target robot in the current area based on the target robot's target task in that area, includes: In response to detecting that the target robot has entered a new area, the system obtains the cargo placement status of the area where the target robot is currently located. Based on the cargo placement situation in the area where the target robot is currently located, at least one cargo placement point corresponding to the target robot's target task in that area is obtained; Based on at least one cargo placement point corresponding to the target robot's target task in the area, select one of the cargo placement points as the optimal placement point; Based on the optimal placement point, the path from the target robot to the unloading area corresponding to the optimal placement point is obtained as the path of the target robot in its current location area.
[0013] On the other hand, a warehouse cargo identification and autonomous driving transport robot collaborative system includes a collaborative platform and at least one target robot; The collaborative platform is configured as follows: In response to detecting that the target robot has arrived at the target checkpoint, the target task sequence of the target robot is obtained, the target task sequence being used to characterize the loading or unloading order of the target robot; Based on the target task sequence, obtain the target region sequence corresponding to the target task sequence; In response to detecting that the target robot has completed the task in its current area, based on the target area sequence and the current area of the target robot, a path for the target robot to move to the next area is obtained; In response to detecting that the target robot has entered a new area, the system obtains the cargo placement status of the area where the target robot is currently located, and obtains the path of the target robot in the area based on the target task of the target robot in that area. Send the target robot the path to move to the next area and / or the path of the target robot in its current area; The target robot is configured as follows: The target robot moves according to the path sent by the collaborative platform to the next area and / or the path of the target robot in its current area.
[0014] Optionally, the target robot is further configured to: During movement, collision detection is performed, and when a collision with another target robot is detected, a preset avoidance procedure is executed.
[0015] On the other hand, a warehouse cargo identification and autonomous driving transport robot collaborative device is provided. The computer device includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the above-mentioned method.
[0016] On the other hand, a computer storage medium storing a computer program, wherein a processor executes the computer program to implement the above-described method.
[0017] Compared with the prior art, the present invention has the following advantages and beneficial effects: This invention discloses a warehouse cargo identification and autonomous driving transport robot collaboration method and system, comprising: in response to detecting that a target robot has arrived at a target checkpoint, obtaining at least a portion of the target robot's target task sequence, the target task sequence being used to characterize the loading or unloading order of the target robot; obtaining a target area sequence corresponding to the target task sequence; in response to detecting that the target robot has completed the task in its current area, obtaining the path for the target robot to move to the next area based on the target area sequence and the current area of the target robot; in response to detecting that the target robot has entered a new area, acquiring the cargo placement status in the current area of the target robot, and obtaining the path of the target robot in its current area based on the target task of the target robot in that area. This invention at least solves the problem in the prior art that cargo needs to be sorted before starting a transport task, and that the single transport volume cannot be too large, avoiding situations where some cargo with a low proportion needs to wait a long time before transport can begin, thus preventing direct warehouse-to-warehouse transport. Attached Figure Description
[0018] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.
[0019] Figure 1 This is a flowchart illustrating the collaborative method between warehouse cargo identification and autonomous driving transport robot in this application. Figure 2 This is a schematic diagram of the structure of a computer device according to this application.
[0020] The diagram is labeled as follows: 101-Processor, 102-Communication bus, 103-Network interface, 104-User interface, 105-Memory.
[0021] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation
[0022] To enable those skilled in the art to better understand the present disclosure, the technical solutions of the present disclosure will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present disclosure, and not all embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present disclosure.
[0023] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.
[0024] Example 1 A method for warehouse cargo identification and collaborative autonomous driving transport robot includes: S1. In response to detecting that the target robot has reached the target checkpoint, obtain at least part of the target robot's target task sequence.
[0025] Specifically, the target task sequence is used to characterize the order in which the target robot loads or unloads goods.
[0026] Specifically, a checkpoint is typically the entrance to a large storage area, which generally includes multiple warehouses, each containing multiple shelves, other equipment for stacking goods, or floor space.
[0027] Optionally, when the target task sequence is used to characterize the unloading order of the target robot, the unloading order generally depends on the stacking method of the goods loaded on the target robot, that is, the goods on the upper surface of the target robot are unloaded first.
[0028] Optionally, at least part of the target robot's target task sequence can be obtained by communicating with the target robot at a checkpoint, or by obtaining at least part of the target robot's target task sequence based on an image of the target robot taken, or by detecting an RFID tag indicating that the target robot is carrying cargo.
[0029] In this scheme, the purpose of this step is to obtain the stacking pattern of the goods loaded by the target robot when the target robot arrives at a large storage area, so as to determine the unloading sequence of the target robot.
[0030] S2. Based on the target task sequence, obtain the target region sequence corresponding to the target task sequence.
[0031] Optionally, obtaining the target area sequence corresponding to the target task sequence refers to the order in which the target robot moves to the target area. Here, the target area can be a warehouse or a section within a warehouse.
[0032] In this scheme, the purpose of this step is to determine the order in which the target robot goes to different areas based on the unloading sequence of the target robot.
[0033] S3. In response to detecting that the target robot has completed the task in the current area, based on the target area sequence, obtain the path for the target robot to move to the next area according to the current area of the target robot.
[0034] In this scheme, the purpose of this step is to guide the target robot to the area where the next task is to be performed after the target robot has completed its task in a certain area.
[0035] S4. In response to detecting that the target robot has entered a new area, obtain the cargo placement status of the area where the target robot is currently located, and obtain the path of the target robot in the area based on the target robot's target task in the area.
[0036] In this solution, the purpose of this step is to guide the target robot to the unloading location precisely after it arrives at a certain area.
[0037] By adopting the above solution, at least the problems of existing technologies that require sorting of goods before starting a transportation task, and that the single transportation volume cannot be too large, are solved, thus avoiding the problem that some goods with a low proportion need to wait for a long time before transportation can begin, and thus cannot directly realize warehouse-to-warehouse transportation.
[0038] Example 2 This embodiment, based on Embodiment 1, provides a method for warehouse cargo identification and collaborative autonomous driving transport robot, including: S1. In response to detecting that the target robot has reached the target checkpoint, obtain at least part of the target robot's target task sequence.
[0039] Specifically, the target task sequence is used to characterize the order in which the target robot loads or unloads goods.
[0040] Optionally, in response to detecting that the target robot has reached the target checkpoint, at least a portion of the target robot's target task sequence is obtained, including: In response to detecting that the target robot has reached the target checkpoint, the target robot's target task sequence is obtained according to at least one of the following methods: Method 1: Acquire target images of the target robot, and obtain the cargo stacking method of the target robot based on the target images to obtain at least part of the target task sequence of the target robot; Method 2: Communicate with the target robot to obtain the target task sequence stored in the target robot; Method 3: Communicate with the target robot to obtain its unique identifier, and obtain the target task sequence based on the target robot's unique identifier.
[0041] Specifically, when the target robot's task is loading, at least part of the target task sequence is generally obtained through method 2 or method 3; when the target robot's task is unloading, at least part of the target task sequence can be obtained through method 1, method 2 or method 3.
[0042] Optionally, when the target robot's task is unloading, and at least part of the target task sequence of the target robot is obtained through method 2 or method 3, the loading order of the goods needs to be entered when the target robot loads the current goods, and then the unloading order of the target robot is obtained as the target task sequence according to the principle of last-in-first-out.
[0043] Optionally, acquire target images of the target robot, and obtain the cargo stacking method of the target robot based on the target images to obtain at least part of the target task sequence of the target robot, including: Acquire target images of the target robot, and obtain the goods stacked on the surface by the target robot based on the target images; Based on the goods stacked on the surface by the target robot, obtain at least part of the target robot's target task sequence; In response to the detection that the target robot has completed a task in the target task sequence, the target image of the target robot is reacquired to update at least part of the target task sequence of the target robot.
[0044] Specifically, in response to detecting that the target robot has completed a task in the target task sequence, the target image of the target robot is re-acquired to update at least a portion of the target task sequence, including: In response to the detection that the target robot has completed a task in the target task sequence, the goods stacked on the surface by the target robot are obtained based on the target image; Based on the goods stacked on the surface by the target robot, obtain at least a portion of the target robot's target task sequence.
[0045] Using the above method, at the target checkpoint, a camera positioned at least above the checkpoint can photograph the goods stacked on the surface of the target robot. This allows for the acquisition of the tasks prioritized in the target task sequence. Each time the target robot completes a task, the goods stacked on the surface can be photographed again at the corresponding warehouse exit to update the target task sequence. This approach enhances the adaptability of the solution, enabling its application to various types of autonomous transport robots. It also eliminates the need to specifically record the loading order when the autonomous transport robot loads goods, thus improving the ease of use and applicability of the solution.
[0046] S2. Based on the target task sequence, obtain the target region sequence corresponding to the target task sequence.
[0047] Optionally, based on the target task sequence, obtain the target region sequence corresponding to the target task sequence, including: Based on the target task sequence, obtain the target cargo sequence; Based on the target cargo sequence, obtain at least one region corresponding to each type of cargo in the target cargo sequence; Based on the target task sequence and at least one region corresponding to each type of cargo, and based on the load of each region, obtain the target region sequence corresponding to the target task sequence.
[0048] Optionally, based on the target task sequence and at least one region corresponding to each type of cargo, and considering the load of each region, a target region sequence corresponding to the target task sequence is obtained, including: Based on the target task sequence and at least one region corresponding to each type of goods, and based on the load of each region, according to the load balancing principle, obtain the regions that correspond one-to-one with each type of goods. Based on the region and target task sequence that correspond to each type of cargo, obtain the target region sequence corresponding to the target task sequence.
[0049] Optionally, based on the target task sequence and at least one region corresponding to each type of cargo, and considering the load of each region, a target region sequence corresponding to the target task sequence is obtained, including: Based on the target task sequence and at least one region corresponding to each type of goods, and based on the priority weight of each region, obtain the region corresponding to each type of goods. Based on the region and target task sequence that correspond to each type of cargo, obtain the target region sequence corresponding to the target task sequence.
[0050] S3. In response to detecting that the target robot has completed the task in the current area, based on the target area sequence, obtain the path for the target robot to move to the next area according to the current area of the target robot.
[0051] Optionally, in response to detecting that the target robot has completed the task in its current area, based on the target area sequence and the target robot's current location, a path for the target robot to move to the next area is obtained, including: In response to detecting that the target robot has completed the task in the current area, the next area is obtained based on the target area sequence; Based on the target robot's current location and the next location, obtain the current key point and the target key point. The current key point is configured as the exit of the target robot's current location, and the target key point is configured as the entrance of the target robot's next location. Create a list of failed key points and a list of passed key points, and add all key points on the map where the target robot is located to the list of failed key points; Transfer the current key point to the list of key points that have been passed. Based on each key point in the list of key points that have been passed, obtain the list of movement parameters for the target robot to start from any key point in the list of key points that have not been passed and reach any key point in the list of key points that have not been passed. Based on the list of movement parameters, the key point in the list of failed key points corresponding to the optimal movement parameters is the first key point; Determine whether the first key point is the target key point; If the first key point is not the target key point, then the first key point is moved from the list of failed key points to the list of passed key points and the first key point is obtained again. If the first key point is the target key point, then the path from the current key point to the first key point is obtained as the path for the target robot to move to the next area.
[0052] Optionally, obtain a list of movement parameters for the target robot that has started from any key point in the key point list and reached any key point that has not been passed, including: pass The target robot has passed any of the key points in the key point list. i Departure to any key point in the list of unpassed key points j The movement parameters; in, For moving parameters, The preset distance coefficient, The preset utilization rate coefficient, D ij Used to characterize key points i With key points j The distance between them Used to characterize key points i With key points j Utilization rate of routes between them; According to all Obtain a list of movement parameters for the target robot that has started from any key point in the key point list and reached any key point that has not been passed.
[0053] The above scheme is mainly adopted to improve the passage efficiency of the target robot. The time for the target robot to travel from one key point to another is mainly affected by two factors: the distance between the two key points and the waiting time when it needs to avoid other robots due to conflicts between the two key points. This scheme obtains the movement parameters by comprehensively considering the distance between the two key points and the utilization rate of the path, so as to improve the passage efficiency of the target robot.
[0054] Optionally, the target robot's movement speed and the average waiting time per conflict can be obtained. and ,when and When all are positive integers, The smaller, the more The more optimal the corresponding movement parameters, the faster the target robot moves. The smaller the value, the longer the average waiting time for a single conflict. The larger.
[0055] Optionally, before obtaining the step of obtaining the list of movement parameters for the target robot that has started from any key point in the key point list and reached a point that has not been passed, the method further includes: Based on the map where the target robot is located, obtain the connectivity relationships between all key points on the map. When two key points are directly connected, the length of the path connecting the two key points is the distance between the two key points. When two key points are not directly connected, set the distance between the two key points to positive infinity.
[0056] S4. In response to detecting that the target robot has entered a new area, obtain the cargo placement status of the area where the target robot is currently located, and obtain the path of the target robot in the area based on the target robot's target task in the area.
[0057] Optionally, in response to detecting that the target robot has entered a new area, the placement of goods in the area where the target robot is currently located is obtained, and based on the target robot's target task in that area, the path of the target robot in the current area is obtained, including: In response to the detection that the target robot has entered a new area, obtain the cargo placement status of the area where the target robot is currently located; Based on the cargo placement situation in the area where the target robot is currently located, obtain at least one cargo placement point that corresponds to the target robot's target task in that area; Based on at least one cargo placement point corresponding to the target robot's target task in the area, select one of the cargo placement points as the optimal placement point; Based on the optimal placement point, the path from the target robot to the unloading area corresponding to the optimal placement point is obtained as the path of the target robot in its current area.
[0058] The above solution further solves the problem in the existing technology that goods need to be sorted before the transportation task can be started, and the single transportation volume cannot be too large, so as to avoid some goods with a low proportion needing to wait for a long time before transportation can begin, thus making it impossible to directly realize warehouse-to-warehouse transportation.
[0059] Example 3 Based on Embodiments 1 and 2, this embodiment provides a collaborative system for warehouse cargo identification and autonomous driving transport robots, including a collaborative platform and at least one target robot. The collaboration platform is configured as follows: In response to the detection that the target robot has arrived at the target checkpoint, the target task sequence of the target robot is obtained, which is used to characterize the loading or unloading sequence of the target robot; Based on the target task sequence, obtain the target region sequence corresponding to the target task sequence; In response to the detection that the target robot has completed the task in the current area, based on the target area sequence, the path for the target robot to move to the next area is obtained according to the current area of the target robot; In response to the detection that the target robot has entered a new area, the system obtains the cargo placement status of the target robot's current area and, based on the target robot's target task in that area, obtains the target robot's path in the current area. Send the target robot the path to move to the next area and / or the path of the target robot in its current area; The target robot is configured as follows: The target robot moves according to the path sent by the collaborative platform to the next area and / or the path of the target robot in its current area.
[0060] Optionally, the target robot is also configured as follows: During movement, collision detection is performed, and when a collision with another target robot is detected, a preset avoidance procedure is executed.
[0061] Optionally, in response to detecting that the target robot has reached the target checkpoint, at least a portion of the target robot's target task sequence is obtained, including: In response to detecting that the target robot has reached the target checkpoint, the target robot's target task sequence is obtained according to at least one of the following methods: Method 1: Acquire target images of the target robot, and obtain the cargo stacking method of the target robot based on the target images to obtain at least part of the target task sequence of the target robot; Method 2: Communicate with the target robot to obtain the target task sequence stored in the target robot; Method 3: Communicate with the target robot to obtain its unique identifier, and obtain the target task sequence based on the target robot's unique identifier.
[0062] Optionally, acquire target images of the target robot, and obtain the cargo stacking method of the target robot based on the target images to obtain at least part of the target task sequence of the target robot, including: Acquire target images of the target robot, and obtain the goods stacked on the surface by the target robot based on the target images; Based on the goods stacked on the surface by the target robot, obtain at least part of the target robot's target task sequence; In response to the detection that the target robot has completed a task in the target task sequence, the target image of the target robot is reacquired to update at least part of the target task sequence of the target robot.
[0063] Optionally, based on the target task sequence, obtain the target region sequence corresponding to the target task sequence, including: Based on the target task sequence, obtain the target cargo sequence; Based on the target cargo sequence, obtain at least one region corresponding to each type of cargo in the target cargo sequence; Based on the target task sequence and at least one region corresponding to each type of cargo, and based on the load of each region, obtain the target region sequence corresponding to the target task sequence.
[0064] Optionally, in response to detecting that the target robot has completed the task in its current area, based on the target area sequence and the target robot's current location, a path for the target robot to move to the next area is obtained, including: In response to detecting that the target robot has completed the task in the current area, the next area is obtained based on the target area sequence; Based on the target robot's current location and the next location, obtain the current key point and the target key point. The current key point is configured as the exit of the target robot's current location, and the target key point is configured as the entrance of the target robot's next location. Create a list of failed key points and a list of passed key points, and add all key points on the map where the target robot is located to the list of failed key points; Transfer the current key point to the list of key points that have been passed. Based on each key point in the list of key points that have been passed, obtain the list of movement parameters for the target robot to start from any key point in the list of key points that have not been passed and reach any key point in the list of key points that have not been passed. Based on the list of movement parameters, the key point in the list of failed key points corresponding to the optimal movement parameters is the first key point; Determine whether the first key point is the target key point; If the first key point is not the target key point, then the first key point is moved from the list of failed key points to the list of passed key points and the first key point is obtained again. If the first key point is the target key point, then the path from the current key point to the first key point is obtained as the path for the target robot to move to the next area.
[0065] Optionally, obtain a list of movement parameters for the target robot that has started from any key point in the key point list and reached any key point that has not been passed, including: pass The target robot has passed any of the key points in the key point list. i Departure to any key point in the list of unpassed key points j The movement parameters; in, For moving parameters, The preset distance coefficient, The preset utilization rate coefficient, D ij Used to characterize key points i With key points j The distance between them Used to characterize key points i With key points j Utilization rate of routes between them; According to all Obtain a list of movement parameters for the target robot that has started from any key point in the key point list and reached any key point that has not been passed.
[0066] Optionally, before obtaining the step of obtaining the list of movement parameters for the target robot that has started from any key point in the key point list and reached a point that has not been passed, the method further includes: Based on the map where the target robot is located, obtain the connectivity relationships between all key points on the map. When two key points are directly connected, the length of the path connecting the two key points is the distance between the two key points. When two key points are not directly connected, set the distance between the two key points to positive infinity.
[0067] Optionally, in response to detecting that the target robot has entered a new area, the placement of goods in the area where the target robot is currently located is obtained, and based on the target robot's target task in that area, the path of the target robot in the current area is obtained, including: In response to the detection that the target robot has entered a new area, obtain the cargo placement status of the area where the target robot is currently located; Based on the cargo placement situation in the area where the target robot is currently located, obtain at least one cargo placement point that corresponds to the target robot's target task in that area; Based on at least one cargo placement point corresponding to the target robot's target task in the area, select one of the cargo placement points as the optimal placement point; Based on the optimal placement point, the path from the target robot to the unloading area corresponding to the optimal placement point is obtained as the path of the target robot in its current area.
[0068] Example 4 This embodiment provides a warehouse cargo identification and autonomous driving transport robot collaborative device. The computer device includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement any of the above methods.
[0069] Specifically, such as Figure 2 As shown, Figure 2 This is a schematic diagram of the structure of a computer device according to this application. The computer device may include: a processor 101, such as a central processing unit (CPU), a communication bus 102, a user interface 104, a network interface 103, and a memory 105. The communication bus 102 is used to enable communication between these components. The user interface 104 may include a display screen and an input unit such as a keyboard. Optionally, the user interface 104 may also include a standard wired interface or a wireless interface. The network interface 103 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 105 may be a storage device independent of the aforementioned processor 101. The memory 105 may be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as at least one disk storage device. The processor 101 may be a general-purpose processor, including a central processing unit, a network processor, etc., or it may be a digital signal processor, an application-specific integrated circuit, a field-programmable gate array or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component.
[0070] Those skilled in the art will understand that the appendix Figure 2 The structure shown does not constitute a limitation on the electronic device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.
[0071] like Figure 2 As shown, the memory 105, which serves as a storage medium, may include an operating system, a network communication module, a user interface module, and an application program for implementing a tennis ball catching robot and its control method.
[0072] exist Figure 2In the electronic device shown, the network interface 103 is mainly used for data communication with the network server; the user interface 104 is mainly used for data interaction with the user; the processor 101 and the memory 105 in this application can be set in the electronic device, and the electronic device can call the application program stored in the memory 105 to implement a tennis ball catching robot and its control method through the processor 101 to implement the above method.
[0073] Example 5 This embodiment provides a computer-readable storage medium on which a computer program is stored, and a processor executes the computer program to implement any of the methods described above.
[0074] In some embodiments, the computer-readable storage medium may be a memory such as FRAM, ROM, PROM, EPROM, EEPROM, flash memory, magnetic surface memory, optical disk, or CD-ROM; or it may be a device including one or any combination of the above-mentioned memories. The computer may be a variety of computing devices, including smart terminals and servers.
[0075] In the above embodiments of this disclosure, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.
[0076] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some interfaces; indirect couplings or communication connections between units or modules may be electrical or other forms.
[0077] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.
[0078] Furthermore, the functional units in the various embodiments of this disclosure can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.
[0079] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable non-volatile storage medium. Based on this understanding, the technical solution of this disclosure, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a non-volatile storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this disclosure. The aforementioned non-volatile storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.
[0080] The above are merely preferred embodiments of this disclosure. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this disclosure, and these improvements and modifications should also be considered within the scope of protection of this disclosure.
Claims
1. A warehouse goods identification and automatic driving carrier robot coordination method, characterized in that, include: In response to detecting that the target robot has arrived at the target checkpoint, a target task sequence for the target robot is obtained, at least in the following manner, wherein the target task sequence characterizes the order in which the target robot loads or unloads goods: Method 1: Acquire a target image of the target robot, and obtain the goods stacked on the surface of the target robot based on the target image; Based on the goods stacked on the surface by the target robot, obtain at least part of the target robot's target task sequence; In response to the detection that the target robot has completed a task in the target task sequence, the goods stacked on the surface by the target robot are obtained based on the target image; Based on the goods stacked on the surface by the target robot, obtain at least part of the target robot's target task sequence; Based on the target task sequence, obtain the target region sequence corresponding to the target task sequence; In response to detecting that the target robot has completed the task in its current area, based on the target area sequence and the current area of the target robot, a path for the target robot to move to the next area is obtained; In response to detecting that the target robot has entered a new area, the system obtains the cargo placement status of the area where the target robot is currently located, and obtains the path of the target robot in the area based on the target robot's target task in that area.
2. The method for warehouse cargo identification and collaborative autonomous driving transport robot according to claim 1, characterized in that, The process of obtaining the target task sequence of the target robot, wherein the target task sequence is used to characterize the loading or unloading order of the target robot, further includes at least one of the following: Method 2: Communicate with the target robot to obtain the target task sequence stored in the target robot; Method 3: Communicate with the target robot to obtain the target robot's unique identifier, and obtain the target task sequence based on the target robot's unique identifier.
3. The method for warehouse cargo identification and collaborative autonomous driving transport robot according to claim 1, characterized in that, The step of obtaining a target region sequence corresponding to the target task sequence includes: Based on the target task sequence, obtain the target cargo sequence; Based on the target cargo sequence, at least one region corresponding to each type of cargo in the target cargo sequence is obtained; Based on the target task sequence and at least one region corresponding to each type of cargo, a target region sequence corresponding to the target task sequence is obtained based on the load of each region.
4. The method for warehouse cargo identification and collaborative autonomous driving transport robot according to claim 1, characterized in that, In response to detecting that the target robot has completed the task in its current area, the method of obtaining the path for the target robot to move to the next area based on the target area sequence and the current area of the target robot includes: In response to detecting that the target robot has completed the task in its current area, the next area is obtained based on the target area sequence; Based on the current area and the next area of the target robot, obtain the current key point and the target key point. The current key point is configured as the exit of the area where the target robot is currently located, and the target key point is configured as the entrance of the next area that the target robot is going to. Establish a list of failed key points and a list of passed key points, and add all key points of the map where the target robot is located to the list of failed key points; The current key point is transferred to the list of key points that have been passed. Based on each key point in the list of key points that have been passed, a list of movement parameters for the target robot to start from any key point in the list of key points that have not been passed and reach any key point in the list of key points that have not been passed is obtained. Based on the list of movement parameters, the key point in the list of failed key points corresponding to the optimal movement parameters is obtained as the first key point; Determine whether the first key point is the target key point; If the first key point is not the target key point, then the first key point is moved from the list of failed key points to the list of passed key points and the first key point is obtained again. If the first key point is the target key point, then the path from the current key point to the first key point is obtained as the path for the target robot to move to the next area.
5. The method for warehouse cargo identification and collaborative autonomous driving transport robot according to claim 4, characterized in that, The process of obtaining the list of movement parameters for the target robot that has traveled from any key point in the key point list to any key point that has not been traveled includes: pass The target robot has passed any key point in the key point list. i Departure to any key point in the list of unpassed key points j The movement parameters; in, For moving parameters, The preset distance coefficient, The preset utilization rate coefficient, D ij Used to characterize key points i With key points j The distance between them Used to characterize key points i With key points j Utilization rate of routes between them; According to all The target robot obtains a list of movement parameters for starting from any key point in the key point list and arriving at any key point not passed in the key point list.
6. The method for warehouse cargo identification and collaborative autonomous driving transport robot according to claim 5, characterized in that, Before the step of obtaining the list of movement parameters for the target robot that has started from any key point in the key point list and reached a point that has not been passed, the method further includes: Based on the map where the target robot is located, obtain the connectivity relationships between all key points on the map where the target robot is located; When two key points are directly connected, the length of the path connecting the two key points is the distance between the two key points. When two key points are not directly connected, set the distance between the two key points to positive infinity.
7. The method for warehouse cargo identification and collaborative autonomous driving transport robot according to claim 1, characterized in that, In response to detecting that the target robot has entered a new area, the process of obtaining the cargo placement status of the current area where the target robot is located, and obtaining the path of the target robot in the current area based on the target robot's target task in that area, includes: In response to detecting that the target robot has entered a new area, the system obtains the cargo placement status of the area where the target robot is currently located. Based on the cargo placement situation in the area where the target robot is currently located, at least one cargo placement point corresponding to the target robot's target task in that area is obtained; Based on at least one cargo placement point corresponding to the target robot's target task in the area, select one of the cargo placement points as the optimal placement point; Based on the optimal placement point, the path from the target robot to the unloading area corresponding to the optimal placement point is obtained as the path of the target robot in its current location area.
8. A collaborative system for warehouse cargo identification and autonomous driving transport robots, characterized in that, Includes a collaborative platform and at least one target robot; The collaborative platform is configured as follows: In response to detecting that the target robot has arrived at the target checkpoint, a target task sequence for the target robot is obtained, at least in the following manner, wherein the target task sequence characterizes the order in which the target robot loads or unloads goods: Method 1: Acquire a target image of the target robot, and obtain the goods stacked on the surface of the target robot based on the target image; Based on the goods stacked on the surface by the target robot, obtain at least part of the target robot's target task sequence; In response to the detection that the target robot has completed a task in the target task sequence, the goods stacked on the surface by the target robot are obtained based on the target image; Based on the goods stacked on the surface by the target robot, obtain at least part of the target robot's target task sequence; Based on the target task sequence, obtain the target region sequence corresponding to the target task sequence; In response to detecting that the target robot has completed the task in its current area, based on the target area sequence and the current area of the target robot, a path for the target robot to move to the next area is obtained; In response to detecting that the target robot has entered a new area, the system obtains the cargo placement status of the area where the target robot is currently located, and obtains the path of the target robot in the area based on the target task of the target robot in that area. Send the target robot the path to move to the next area and / or the path of the target robot in its current area; The target robot is configured as follows: The target robot moves according to the path sent by the collaborative platform to the next area and / or the path of the target robot in its current area.
9. A warehouse cargo identification and autonomous driving transport robot collaborative system according to claim 8, characterized in that, The target robot is also configured to: During movement, collision detection is performed, and when a collision with another target robot is detected, a preset avoidance procedure is executed.