Connection control method and control system for trackless transfer robot, trackless transfer robot, storage medium and program product

Abstract

The invention discloses a connection control method and control system for a trackless transfer robot, the trackless transfer robot, a storage medium and a program product. The connection operation can have higher flexibility. In the connection control method of the trackless transfer robot, the trackless transfer robot is moved to a connection target point according to a connection task to execute connection of an object, and the connection control method comprises the following steps: the trackless transfer robot is moved along a preset planned path; the planned path is a path which enables the trackless transfer robot to pass through a part or all of the connection target sites; and under the condition that the trackless transfer robot reaches one connection target place indicated by the connection task, the connection of the object is executed according to the connection height of the object.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of intelligent logistics, in particular to a connection control method and system for a trackless carrying robot, the trackless carrying robot, a storage medium and a program product. BACKGROUND

[0002] In an automated logistics warehouse system, a loop shuttle vehicle system is usually deployed in front of a vertical warehouse (a three-dimensional warehouse) to realize the automatic connection and transfer of pallets between different business units (such as loading and unloading points, sorting areas, conveying lines, etc.). The traditional loop shuttle vehicle usually runs on a fixed track to complete the circulation of materials through a preset path, and has a certain running efficiency and automation level.

[0003] However, with the rapid changes in market environment and the diversification of business needs, the traditional loop shuttle vehicle system gradually exposes the defect of insufficient adaptability due to its dependence on fixed track layout and lack of flexible adjustment capability. Once the business logic, operation process or functional area layout changes, the original track system is difficult to quickly adjust or expand, resulting in high system reconstruction cost and long cycle, affecting the flexibility and response speed of the overall logistics system.

[0004] Therefore, there is an urgent need for a more flexible and dynamically adaptable business change loop operation scheme to improve the flexibility and reconfigurability of the connection system in front of the vertical warehouse. SUMMARY

[0005] The present application is formed based on the above situation, and aims to provide a connection control method for a trackless carrying robot, so that the connection operation has higher flexibility. On this basis, the present application also provides a control system for a trackless carrying robot, a trackless carrying robot, a computer readable storage medium and a computer program product.

[0006] One technical solution of the present application provides a connection control method for a trackless carrying robot, which makes the trackless carrying robot move to a connection target location according to a connection task to perform the connection of an object, wherein the connection control method comprises:

[0007] making the trackless carrying robot move along a pre-set planning path, the planning path being a path that enables the trackless carrying robot to pass through part or all of the connection target locations; and

[0008] in the case where the trackless carrying robot reaches one of the connection target locations indicated by the connection task, performing the connection of the object according to the connection height of the object.

[0009] The docking control method for the trackless transport robot described in this technical solution offers greater flexibility compared to circumferential operations based on physical tracks. Specifically, physical tracks are designed according to specific business logic, workflows, or functional area layouts, and once installed, their path is fixed. Consequently, changes in business logic, workflows, or functional area layouts necessitate modifications to the physical tracks, leading to work interruptions and reduced efficiency. In contrast, the docking control method described in this technical solution utilizes a trackless transport robot that does not rely on physical tracks to move along a pre-defined virtual planned path, flexibly adapting to frequent changes in business logic, workflow, or functional area layouts. More specifically, changes in business logic, workflows, or functional area layouts only require updating the virtual planned path to create a new one, without interrupting operations. This achieves high flexibility while improving efficiency. Furthermore, since the trackless transport robot can dock objects according to specific docking heights, it can flexibly handle docking stations or other receiving equipment with varying heights.

[0010] Based on the above technical solution, optionally, the planned path includes a first planned path and a second planned path. The first planned path is a path that enables the trackless transport robot to traverse all the docking target locations. The second planned path is a path that enables the trackless transport robot to traverse a portion of the docking target locations. The docking control method further includes, upon receiving the docking task, determining whether to move the trackless transport robot along the first planned path or the second planned path based on the docking target location information contained in the docking task.

[0011] According to the docking control method of the trackless transport robot described in this technical solution, by selecting a first planned path that passes through all docking target locations and a second planned path that passes through only a portion of the docking target locations based on the docking target location information contained in the docking task, the trackless transport robot can "take a shortcut" and avoid unnecessary movement of the trackless transport robot.

[0012] Based on the above technical solution, optionally, the docking control method further includes: observing the environmental landmark features around the trackless transport robot while the trackless transport robot moves along the planned path; estimating the pose of the trackless transport robot based on the observed environmental landmark features; and / or constructing and storing an environmental map around the trackless transport robot based on the observed environmental features.

[0013] According to the docking control method of the trackless carrying robot, the pose estimation and the environment map construction can be realized while the docking task is performed. Thus, the basic data can be provided for subsequent path updating, autonomous movement and map updating.

[0014] On the basis of the above technical solution, in the case that the environment map of the surroundings of the trackless carrying robot is stored, the docking control method further comprises: observing the current environment landmark features of the surroundings of the trackless carrying robot in the case that the trackless carrying robot moves along the planned path; and determining whether the similarity between the current environment landmark features and the corresponding environment landmark features stored in the environment map is greater than or equal to a preset threshold. In the case that the similarity is determined to be less than the threshold, the environment map is updated based on the current environment landmark features.

[0015] According to the docking control method of the trackless carrying robot, the environment map can be updated according to the change of the surrounding environment while the docking task is performed.

[0016] On the basis of the above technical solution, in the case that the environment map of the surroundings of the trackless carrying robot is stored, the docking control method further comprises: observing the current environment landmark features of the surroundings of the trackless carrying robot in the case that the trackless carrying robot moves along the planned path, and estimating the current pose of the trackless carrying robot; and determining whether the arrangement of the docking target location has changed according to the observed current environment landmark features. In the case that the arrangement of the docking target location is determined to have changed, the planned path is updated based on the current environment landmark features and the current pose.

[0017] According to the docking control method of the trackless carrying robot, the planned path can be adjusted through real-time sensing of the surrounding environment while the docking task is performed.

[0018] On the basis of the above technical solution, optionally, the environment landmark features include visual markers and / or environment objects in the surroundings of the trackless carrying robot, and the environment objects include objects corresponding to the docking target locations.

[0019] On the basis of the above technical solution, optionally, the connection control method further comprises: observing environmental landmark features around the trackless carrying robot in the case of moving the trackless carrying robot along the planned path; estimating the pose of the trackless carrying robot based on the observed environmental landmark features; and determining whether there is an obstacle at a position in front of the trackless carrying robot by a certain distance on the planned path based on the observed environmental landmark features. In the case of determining that there is no obstacle, the trackless carrying robot continues to move along the planned path. And in the case of determining that there is an obstacle, the trackless carrying robot moves in a direction deviating from the planned path in a way of bypassing the obstacle, and the trackless carrying robot returns to the planned path after bypassing the obstacle and continues to move along the planned path.

[0020] According to the connection control method of the trackless carrying robot, the situation that the execution of the connection task is forced to be interrupted due to the collision between the trackless carrying robot and the obstacle during movement can be avoided. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is a schematic diagram representing a working scene to which a connection control method of an embodiment of the present application and its modified examples is applicable.

[0022] Figure 2 is a flowchart representing a connection control method of an embodiment of the present application.

[0023] Figure 3 is a schematic diagram representing a working scene to which a connection control method of a first modified example of an embodiment of the present application is applicable.

[0024] Figure 4 is a flowchart representing a connection control method of a first modified example of an embodiment of the present application.

[0025] Figure 5 is a flowchart representing a connection control method of a second modified example of an embodiment of the present application.

[0026] Figure 6 is a flowchart representing a connection control method of a third modified example of an embodiment of the present application.

[0027] Figure 7 is a flowchart representing a connection control method of a fourth modified example of an embodiment of the present application.

[0028] Figure 8 is a schematic diagram representing an example in which a connection target location in a working scene has changed.

[0029] Figure 9 is a flowchart showing a connection control method of a fifth modification of an embodiment of the present application.

[0030] Figure 10 is a schematic diagram showing an example of a trackless transport robot moving in a manner to avoid an obstacle located in front.

[0031] Figure 11 is a schematic diagram showing another example of a work scenario to which a connection control method of an embodiment of the present application and modifications thereof are applied.

[0032] Figure 12 is a flowchart showing a connection control method of a sixth modification of an embodiment of the present application.

[0033] Figure 13 is a schematic diagram showing an example of further actions of a trackless transport robot after reaching a connection target location. DETAILED DESCRIPTION

[0034] First, before the specific embodiments and modifications are described, some technical terms involved in the present application are described.

[0035] The "trackless transport robot" described in the present application refers to a trackless autonomous mobile robot (i.e., a trackless AMR), which is a robot capable of sensing the surrounding environment through sensors, without relying on a pre-laid physical track, and autonomously navigating, deciding, and performing a transport task in a complex and dynamic environment. In particular, in the present application, the trackless transport robot includes a placement component for placing an object (cargo or a pallet carrying cargo), and the placement component can be lifted to a specific height in the height direction according to an instruction, so that the object can be placed at a specific location (e.g., a certain layer of a rack, one end of a connection platform, a placement platform of a stacker or a lift, etc.). Optionally, the trackless transport robot described in the present application is a side fork AMR, which has a fork (placement component) installed on the side of the robot. The fork can be used to place different types of pallets (e.g., a river-shaped pallet, a field-shaped pallet), and can also be used to place cargo directly.

[0036] The "path planning" described in the present application refers to planning a global or local path under the premise of given starting point and target point, in combination with current real-time environmental information (including dynamic environmental information and static environmental information). Path planning includes global path planning (environmental information is completely known) and local path planning (environment is unknown or partially unknown, environmental information is obtained in real time through sensing).

[0037] The "planned path" described in the present application is a path for the trackless transport robot to move, which is formed in advance based on various path planning algorithms.

[0038] The "docking station" described in the present application refers to a work station for the handover and transfer of objects, used to transfer objects between different areas. For example, in the process of warehousing, the docking station is used to transfer objects from a pre-processing area (or referred to as a buffer area, i.e. an area where a trackless handling robot is located or an area where a shuttle is located) to a storage area, and in the process of warehousing, the docking station is used to transfer objects taken from the shelves from the storage area to the pre-processing area. The docking station has various types, such as a conveyor line type station, including drum, chain and belt conveyors. In addition, the docking station can also be a simple marker point or a device with a lifting platform, and the trackless handling robot will autonomously navigate to its location for precise loading or unloading of objects.

[0039] The "environmental landmark feature" described in the present application refers to a prominent, identifiable object or location in a physical environment for navigation, positioning and spatial awareness.

[0040] Next, referring to Figure 1 , the working scenario to which the docking control method of an embodiment of the present application and its variants is applied is described. However, it should be noted that the working scenario here is only an example, and the docking control method described in the present application is applicable to working scenarios other than this.

[0041] As shown in Figure 1 , the working scenario is a warehouse environment, which is the internal space of a warehouse. The internal space is deployed with one or more independent vertical storage systems, and each vertical storage system includes a group of shelves, an access device and a control system. As shown in Figure 1 , a plurality of shelves form a storage area of the warehouse, and a passageway for AMR or AGV to pass through and work is formed between adjacent shelves. For example, in Figure 1 , the internal space of the warehouse is deployed with two independent vertical storage systems, and the two independent vertical storage systems are deployed at a certain distance apart in the left-right direction in Figure 1 . As an example, in the present application, the group of shelves included in each vertical storage system includes five independent shelves C1-C10. In addition, a certain number of docking stations are configured for each vertical storage system to transfer objects (i.e. goods or pallets carrying goods) from the shelf area (i.e. the storage area) of the vertical storage system to the buffer area described below. Specifically, in Figure 1In the present embodiment, four docking stations S1-S4 and S5-S8 are respectively configured for each set of the storage system, and a group of docking stations is formed. The two groups of docking stations are arranged apart by a certain space. Thus, a buffer area (or a pre-processing area) is formed between the two groups of docking stations. The buffer area is used for one or more trackless handling robots to move and work, so as to receive the objects transferred from the storage area via the docking stations, or place the objects on the docking stations to transfer the objects to the storage area via the docking stations.

[0042] In addition, in the present embodiment, Figure 1 In the present embodiment, one trackless handling robot R1 is arranged in the buffer area, and each trackless handling robot can participate in the docking task of the objects.

[0043] Specifically, in the case of performing the docking task in the storage process, the trackless handling robot first moves to and reaches a designated loading point, lifts and carries the object to the buffer area by the placement component. Then, the trackless handling robot moves along the pre-set planning path in the buffer area to reach the docking target location indicated by the docking task. The docking target location can be adjacent to one end of a docking station, or can be spaced apart from one end of the docking station. After reaching the docking target location, the trackless handling robot performs corresponding actions according to the positional relationship between the docking target location and the docking station. In the case that the docking target location is adjacent to one end of the docking station, the trackless handling robot lifts the placement component with the object according to the height of the docking station, so as to transfer the object to one end of the docking station, so that the docking station can transfer the object from the buffer area to the storage area. In the case that the docking target location is spaced apart from one end of the docking station, the trackless handling robot further moves from the docking target location to a position adjacent to one end of the docking station, and then transfers the object to the docking station.

[0044] On the other hand, in the case of performing the docking task in the storage process, according to the received docking task, the trackless handling robot moves along the pre-set planning path in the buffer area to the docking target location indicated by the docking task, and then receives the object transferred from one end of the docking station. Then, the trackless handling robot can return to the pre-set planning path, move to the specified position along the planning path, leave the planning path, and further move to other areas (for example, the outbound delivery area, the sorting area, etc.).

[0045] In the present embodiment, as Figure 1As shown, it is assumed that the target locations A1 to A8 corresponding to the connecting stations S1 to S8 are located on a pre-set planned path (specifically, the first planned path P1 described below). Furthermore, a visual marker (e.g., a QR code) is placed at each target connecting location. Thus, by sensing the visual markers through a sensing device, the trackless transport robot can determine the specific location of each target connecting location. However, it should be noted that the specific placement of the target locations A1 to A8 is not limited to the above method; they can be placed at any suitable location as long as each target connecting location can be associated with each connecting station. For example, the visual marker representing the target connecting location can be placed directly at one end of each connecting station. In this case, one end of each connecting station constitutes the target connecting location. Alternatively, no visual markers may be placed, and the connecting station itself can directly represent the target connecting location.

[0046] Additionally, it should be noted that although the case where the number of connection stations in the connection station group corresponding to each automated warehouse system is 4 has been described, the number of connection stations and the number of trackless handling robots configured are not limited to this and can be changed according to the number of shelves in the automated warehouse system, the amount of goods stored, etc.

[0047] Furthermore, the planned path described above includes a first planned path P1, which refers to the path that enables each trackless transport robot to traverse all docking target locations. Specifically, the first planned path P1 is... Figure 1 As shown in the path, when the trackless transport robot moves along the first planned path P1, the trackless transport robot can pass through each connection target location corresponding to each connection station S1 to S8.

[0048] Next, refer to Figure 2 and combined Figure 1 The main steps of the docking control method for a trackless transport robot according to one embodiment of this application will be described.

[0049] Figure 2 A flowchart of a docking control method for a trackless transport robot according to an embodiment of this application is shown. Here, for ease of explanation, it is assumed that the trackless transport robot performs a docking task during the warehousing process.

[0050] First, in step ST100, after receiving a specific transfer task from an external device, the trackless transport robot R1 moves from its current location to the designated loading point O and receives the object to be transported from the loading point O. For example, the transfer task requires the trackless transport robot R1 to transport the object placed at the loading point O to the eighth transfer station S8.

[0051] Next, in step ST200, the trackless transport robot R1 carrying the object moves from the loading point O to the initial point A0 of the first planned path P1, and moves along the first planned path P1 in a clockwise or counterclockwise direction (here, the counterclockwise direction is taken as an example for illustration) from the initial point A0. In this way, the trackless transport robot R1 moves along the first planned path P1 in a counterclockwise direction from the initial point A0, and sequentially passes through the first docking station S1, the second docking station S2, the third docking station S3, and the fourth docking station S4 corresponding to the first docking target point A1, the second docking target point A2, the third docking target point A3, and the fourth docking target point A4, and reaches the eighth docking station S8 corresponding to the eighth docking target point A8.

[0052] Then, in step ST300, according to the height of one end of the eighth docking station S8 (i.e., the docking height), the trackless transport robot R1 raises or lowers the carrying component carrying the object to a height above the height of one end of the eighth docking station S8. Next, the object is transferred from the carrying component of the trackless transport robot R1 to one end of the eighth docking station S8 by an appropriate method. The “appropriate method” described herein includes a method in which the forks are actively transplanted and a method in which the docking station is extracted by the extraction mechanism provided therein, and any suitable known technology can be used to transfer the object.

[0053] According to the docking control method of the present embodiment, compared with the case of performing a docking task based on a ring-shaped shuttle moving along a prescribed physical track, the trackless transport robot moves along a virtual planned path, so the movement of the transport device for performing the docking task of the object is more flexible. In particular, in the case where the layout or number of docking stations changes, only the planned path needs to be changed, and there is no need to physically modify the physical track as in the prior art, so the flexibility is higher. In addition, in the docking control method of the present embodiment, the trackless transport robot can perform the docking of the object according to the desired docking height, so compared with the transport device with a fixed docking height, it is more easily adapted to complex and variable warehousing requirements, further improving the flexibility. On the other hand, since the carrying component of the trackless transport robot can adjust the height, in the case where the docking target point is not provided with a docking station or the docking station is in an unusable state, the object can be placed on the ground and the next docking task can be performed. The object placed on the ground can be further transported by other transport devices at an appropriate time. In this way, the work efficiency and flexibility can be further improved.

[0054] Hereinafter, with reference to Figure 3and Figure 4 A first modification of the connection control method of the above embodiment will be described.

[0055] Figure 3 A schematic diagram showing a work scenario to which the connection control method of the first modification is applied is shown. As shown in Figure 3 the difference from the work scenario shown in Figure 1 is that the planned path includes not only the first planned path P1 set in advance but also a second planned path P2 set in advance, which is a path that enables the trackless transport robot to pass through a part of the connection target locations. Specifically, in Figure 3 one of the second planned paths P2, i.e., a path that passes through only the first connection target location Al and the fifth connection target location A5, is shown in a dashed line. In addition, in the first modification, it is assumed that each of the second planned paths P2 shares an initial point A0 with the first planned path P1. However, the initial point of the second planned path P2 can be set to be different from the initial point A0 of the first planned path P1.

[0056] Figure 4 A flowchart showing the connection control method of the first modification is shown. The first modification differs from the above embodiment in that step ST200A is included instead of step ST200. Specifically, in step ST200A, before the trackless transport robot R1 on which the object is placed is ready to move from the loading point O to the initial point A0, or while the trackless transport robot R1 is moving from the loading point O to the initial point A0, or after the trackless transport robot R1 has moved from the loading point O to the initial point A0 and before it starts moving, the connection target location information included in the connection task received by the trackless transport robot R1 is analyzed, and based on the analysis result, the trackless transport robot R1 is caused to move along the first planned path P1 or one of the second planned paths P2. For example, in a case where the connection target location information includes the first connection target location Al to the seventh connection target location A7, the trackless transport robot R1 is caused to move along the first planned path P1 to ensure that the trackless transport robot R1 can pass through each of the first connection target location Al to the seventh connection target location A7. For another example, in a case where the connection target location information includes the first connection target location Al, the second connection target location A2, the fifth connection target location A5, and the sixth connection target location A6, the trackless transport robot R1 is caused to move along one of the second planned paths P2 (shown by a double-dotted line).

[0057] According to the connection control method of the first variant, by causing the trackless carrying robot to move along one of the first planned path and the second planned path based on the connection target location information included in the connection task, the execution efficiency of the connection task can be improved, and unnecessary movement of the trackless carrying robot can be avoided. In other words, according to the connection control method of the first variant, the technical effect of "shortcut" can be achieved.

[0058] Next, referring to Figure 5 , the connection control method of the second variant of the above embodiment will be described.

[0059] Figure 5 A flowchart of the connection control method of the second variant is shown. Compared with the above embodiment, the second variant is different in that it further includes step ST210 and step ST220. Specifically, in step ST210, when the trackless carrying robot R1 moves along the first planned path P1 or the second planned path P2, the environment landmark features around the trackless carrying robot R1 are observed by the environment sensing device possessed by the trackless carrying robot R1. In Figure 1 or Figure 3 In the working scenario shown in

[0060] In step ST220, based on the observed environment landmark features, the pose of the trackless carrying robot R1 is estimated and / or the environment map around the trackless carrying robot R1 is constructed and stored. Specifically, if a sufficient number of visual markers (e.g., two-dimensional code landmarks) are arranged in the buffer space where the trackless carrying robot R1 is located, then even without constructing the surrounding environment map, the pose of the trackless carrying robot R1 can be estimated in real time and accurately by identifying these visual markers. On the other hand, if the global pose of the trackless carrying robot R1 is given in advance, for example, through GNSS positioning information, then based on the global pose and the observed environment landmark features, the environment map around the trackless carrying robot R1 can be constructed. In addition, in working scenarios such as Figure 1 and Figure 3In the case of the internal space of the warehouse shown, the positioning information provided by the GNSS has the problems of low accuracy and invalidity in indoor space, and is difficult to be used for accurate positioning of the trackless carrying robot R1 located in the indoor space. Therefore, the SLAM technology, i.e., the simultaneous localization and mapping technology, can be used to estimate the pose of the trackless carrying robot R1 based on the observed environmental landmark features, and to construct an environmental map around the trackless carrying robot R1.

[0061] According to the transfer control method of the second variant, the pose estimation of the trackless carrying robot and the construction of the surrounding environmental map can be realized while the transfer task is being performed.

[0062] Figure 6 A flowchart of the transfer control method of the third variant is shown. In the third variant, it is assumed that an environmental map around the trackless carrying robot R1 has been constructed and stored. The environmental map can be given in advance or constructed in the manner described in the second variant. Compared with the above-mentioned embodiments, the third variant is different in that it further includes step ST210A, step ST230 and step ST240.

[0063] In step ST210A, the current environmental landmark features around the trackless carrying robot R1 are observed in the case where the trackless carrying robot R1 moves along one of the first planned path P1 and the second planned path P2.

[0064] In step ST230, it is determined whether the similarity between the observed current environmental landmark features and the environmental landmark features at the corresponding position in the stored environmental map is greater than or equal to a pre-set threshold value. The threshold value is shown, for example, in the form of a percentage, for example, the threshold value is 80%, but is not limited thereto.

[0065] In the case where it is determined that the similarity is greater than or equal to the threshold value, the environmental map is not updated. On the other hand, in the case where it is determined that the similarity is less than the threshold value, step ST240 is entered.

[0066] In step ST240, the environmental map is updated based on the observed current environmental landmark features to form an updated environmental map.

[0067] According to the connection control method of the third variant, the map information on the environment map can be checked and updated in real time by observing the surrounding environment while performing the connection task. Further, the updated environment map can be shared with other devices (e.g., other trackless transport robots). In this way, when the other device is another trackless transport robot, after receiving the updated environment map, the original planned path can be changed or updated according to the updated environment map, without the need for real-time observation during the execution of the connection task, reducing unnecessary computing power expenditure.

[0068] Figure 7 A flowchart of the connection control method of the fourth variant is shown. In the fourth variant, it is also assumed that the environment map around the trackless transport robot R1 has been constructed and stored. This environment map can be given in advance or constructed in the manner described in the second variant. Compared with the above-mentioned embodiments, the fourth variant is different in that it further includes step ST210B, step ST250, and step ST260.

[0069] In step ST210B, the current environmental landmark features around the trackless transport robot R1 are observed and the current pose of the trackless transport robot R1 is estimated while the trackless transport robot R1 moves along one of the first planned path P1 and the second planned path P2. As for the estimation of the current pose, any suitable method can be used. For example, it can be realized based on the observed current environmental landmark features, based on the positioning information provided by the GNSS, or by combining the two.

[0070] In step ST250, it is determined whether the arrangement of the connection target location has changed according to the observed current environmental landmark features.

[0071] Figure 8 A schematic diagram showing an example of a change in the connection target location is shown. As in the above-mentioned embodiments, the connection target location is a location where the trackless transport robot R1 needs to connect to the other device (e.g., another trackless transport robot). Figure 1 and Figure 3In contrast, the arrangement positions and directions of the two docking stations on the lower right, i.e., the seventh docking station S7 and the eighth docking station S8, are changed. For this purpose, the positions of the visual markers representing the seventh docking target location A7 and the eighth docking target location A8 corresponding to the seventh docking station S7 and the eighth docking station S8 are also adjusted. As a result, the arrangement of the docking target locations within the buffer area is changed. In this case, if the trackless handling robot R1 moves along the originally set first planned path P1 or the second planned path P2, the docking task can not be successfully performed. For example, if the trackless handling robot R1 moves along the originally set first planned path P1 or the second planned path P2 in the case where the docking target location information in the docking task includes the seventh docking target location A7 and / or the eighth docking target location A8, the trackless handling robot R1 can only move to the seventh docking target location and / or the eighth docking target location before the layout change, and cannot transfer the object to the seventh docking station S7 and / or the eighth docking station S8 whose positions have been changed. Therefore, in the case where it is determined that the arrangement of the docking target locations is changed, step ST260 is entered.

[0072] In step ST260, the originally set planned path is updated based on the observed current environmental landmark features and the estimated current pose. More specifically, the originally set first planned path P1 and part or all of the plurality of second planned paths P2 are updated based on the observed current environmental landmark features and the estimated current pose to form an updated first planned path P1’ and an updated second planned path P2’. As shown in FIG. 8, the thick solid line represents the updated first planned path P1’, and the dashed line represents an updated second planned path P2’. Figure 8

[0073] According to the docking control method of the fourth variant, the change of the movement line of the handling device can be more flexible. In the prior art, the specific form of the physical track is determined according to the arrangement of the docking target locations. If the arrangement of the docking target locations is changed, in order to meet the requirements of the docking task, the physical track has to be modified, resulting in increased cost and reduced work efficiency. Unlike the prior art, in the docking control method of the fourth variant, the movement path of the trackless handling robot (i.e., the planned path) is a virtual path. Therefore, based on the observed environmental landmark features and the pose of the trackless handling robot, the movement path of the trackless handling robot can be easily changed to automatically adapt to the change of the docking target locations.

[0074] Figure 9 ​A flowchart of the connection control method of the fifth modification example is shown. Compared with the above-described embodiments, the fifth modification example is different in that it further includes step ST210, step ST220A, step ST270, step ST280A, and step ST280B. Since step ST210 has been described above, repeated description is omitted here, and only steps ST220A, step ST270, step ST280A, and step ST280B are described.

[0075] In step ST220A, the pose of the trackless transport robot R1 is estimated based on the observed environmental landmark features.

[0076] In step ST270, it is determined whether there is an obstacle at a position located a certain distance ahead of the trackless transport robot R1 on the planned path (the first planned path P1 or the second planned path P2) on which the trackless transport robot R1 is located, based on the observed environmental landmark features. The "obstacle" described here is, for example, a cargo placed on the ground ahead of the planned path of the trackless transport robot R1, such as another trackless transport robot located ahead of the trackless transport robot R1 on the planned path. In a case where it is determined that there is an obstacle, step ST280A is entered. In a case where it is determined that there is no obstacle, step ST280B is entered.

[0077] In step ST280A, since it is determined that there is an obstacle, the trackless transport robot R1 is caused to temporarily move in a direction deviating from the planned path in such a way as to bypass the obstacle, and after successfully bypassing the obstacle, return to the planned path and continue moving along the planned path. Figure 10 An example in which the trackless transport robot R1 moves in such a way as to bypass an obstacle located ahead is shown. As shown in Figure 10 the trackless transport robot R1 is moving along the first planned path P1 set in advance, and real-time sensing of environmental landmark features ahead thereof is performed. On the other hand, a cargo Q is placed at a certain point position B0 on the first planned path P1. When the trackless transport robot R1 moves to a current point position B1 along the first planned path P1, the trackless transport robot R1 discovers, through the environmental sensing device, that there is an obstacle at the certain point position B0 located a certain distance from the current point position B1. In this case, as shown in Figure 10 the trackless transport robot R1 temporarily deviates from the first planned path P1 set in advance and moves along the path shown by the broken line. By moving along the path shown by the broken line, the trackless transport robot R1 advances to the front of the cargo Q while bypassing the cargo Q. After bypassing the cargo Q, the trackless transport robot R1 returns to the first planned path P1 set in advance and continues moving along the first planned path P1.

[0078] In step ST280B, since it is determined that there are no obstacles, the trackless transport robot R1 will not encounter any obstruction along the predetermined first planned path P1, and thus continues to move along the first planned path P1.

[0079] According to the docking control method described in the fifth variation, the docking task can be prevented from failing due to obstacles obstructing the trackless transport robot during the docking process.

[0080] Figure 11 This illustrates another example of a working scenario to which the connection control method of the above-described embodiments and their variations is applicable. For example... Figure 11 As shown, with Figure 1 Unlike the work scenarios shown, multiple units are configured in the buffer space. Figure 11 The diagram shows six trackless transport robots R1 to R6. Each trackless transport robot R1 to R6 receives and executes its respective docking task. Specifically, each trackless transport robot operates based on the docking control method described in any of the above embodiments and their variations.

[0081] Figure 12 This is a flowchart of the connection control method described in the sixth variation. This sixth variation is based on... Figure 11 The work scenario shown is formed. More specifically, this sixth variation is formed when multiple trackless transport robots are arranged in a buffer area. Compared with the fifth variation described above, the sixth variation differs in that it also includes steps ST290 and ST290A.

[0082] In the case where it is determined that there is an obstacle in step ST270, the process proceeds to step ST290. In step ST290, it is determined whether the obstacle is another trackless transport robot and whether the other trackless transport robot is in a standby state. Specifically, any one of the trackless transport robots R1 to R6 (for example, the first trackless transport robot R1) determines whether the environmental landmark feature located in front thereof observed by the environmental sensing device is another trackless transport robot (for example, the third trackless transport robot R3). In the case where it is determined that the obstacle is the third trackless transport robot R3, the first trackless transport robot R1 transmits a query message REQUEST to the third trackless transport robot R3 to confirm whether the third trackless transport robot R3 is in a standby state (i.e., not in a state of performing a transfer task). At the same time, the first trackless transport robot R1 decelerates or stops moving. The third trackless transport robot R3 in the standby state moves away from the planned path in a direction deviating from the planned path (for example, to a space between adjacent transfer platforms) upon receiving the query message REQUEST. After moving away from the planned path, the third trackless transport robot R3 transmits a response message RESPONSE to the first trackless transport robot R1, the response message RESPONSE indicating that it is in the standby state. The first trackless transport robot R1 in the state of deceleration or stoppage resumes the original moving speed and continues to move along the planned path upon receiving the response message RESPONSE. Note that if the distance between the first trackless transport robot R1 and the third trackless transport robot R3 is large, the first trackless transport robot R1 can not necessarily decelerate or stop.

[0083] According to the transfer control method of the sixth modification example, the trackless transport robot in the standby state is caused to move away from the planned path, so that the path can be prevented from being blocked, and thus the work efficiency can be further improved.

[0084] Further, in the above-described embodiment and modifications thereof, preferably, as shown in Figure 13 after the trackless transport robot reaches the transfer target position, the trackless transport robot moves away from the planned path in a direction deviating from the planned path (for example, to a space between adjacent transfer platforms). Then, the transfer of the object is performed in accordance with the transfer height of the object. In this way, in the case where a plurality of trackless transport robots perform a transfer task at the same time, the path can be prevented from being blocked, and thus the work efficiency can be further improved.

[0085] Note that in the above-described embodiment and modifications thereof, the planned path is described as a closed path. However, the form of the planned path is not limited to a closed path, and can be set as a non-closed path.

[0086] As another aspect, the present application provides a control system including a memory, a processor, and a computer program stored in the memory. When the processor of the control system executes the above computer program, the above connection control method of any one of the above embodiments and variations thereof can be implemented.

[0087] As still another aspect, the present application also provides a computer readable storage medium, which can be included in the trackless transport robot described in the above embodiments and variations thereof, or can exist separately without being assembled into the trackless transport robot. The above computer readable storage medium carries one or more programs, which, when executed by a processor of the trackless transport robot, cause the trackless transport robot to work in the manner of the above embodiments and variations thereof.

[0088] It should be noted that the computer readable medium shown in the present application can be a computer readable signal medium or a computer readable storage medium or any combination of the above two. The computer readable storage medium may, for example, be but is not limited to an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination of the above.

[0089] According to an aspect of the present application, a computer program product is provided, which includes computer instructions stored in a computer readable storage medium. A processor of the trackless transport robot reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions to cause the trackless transport robot to perform the method provided in the various optional implementations of the above embodiments to perform the connection task.

[0090] It should be understood that the present application is not limited to the precise construction that has been described above and shown in the accompanying drawings, and that various modifications and changes can be made without departing from the scope thereof. The scope of the application is limited only by the claims that follow.

Claims

1. A method of controlling docking of a trackless transport robot, the method causing the trackless transport robot to perform docking of an object based on a docking task, the method comprising: causing the trackless transport robot to move along a planned path, the planned path being a path that enables the trackless transport robot to pass through a part or all of a docking target location indicated by the docking task; and in a case where the trackless transport robot reaches one of the docking target locations indicated by the docking task, performing docking of the object based on a docking height of the object. characterized in that 2. The method according to claim 1, wherein: the planned path includes a first planned path and a second planned path, the first planned path is a path that enables the trackless transport robot to pass through all of the docking target locations, the second planned path is a path that enables the trackless transport robot to pass through a part of the docking target locations, and the method further includes, in a case where the docking task is received, determining whether to cause the trackless transport robot to move along the first planned path or the second planned path based on docking target location information included in the docking task.

3. The method according to claim 1, wherein: the method further includes: in a case where the trackless transport robot is caused to move along the planned path, observing environmental landmark features around the trackless transport robot; estimating a pose of the trackless transport robot based on the observed environmental landmark features; and / or constructing and storing an environmental map around the trackless transport robot based on the observed environmental features.

4. The method according to claim 1 or 3, wherein: in a case where an environmental map around the trackless transport robot is stored, the method further includes: in a case where the trackless transport robot is caused to move along the planned path, observing current environmental landmark features around the trackless transport robot; and determining whether a similarity between the current environmental landmark features and corresponding environmental landmark features stored in the environmental map is greater than or equal to a predetermined threshold, and in a case where it is determined that the similarity is less than the threshold, updating the environmental map based on the current environmental landmark features.

5. The method according to claim 1 or 3, wherein: in a case where an environmental map around the trackless transport robot is stored, the method further includes: in a case where the trackless transport robot is caused to move along the planned path, observing current environmental landmark features around the trackless transport robot and estimating a current pose of the trackless transport robot; and determining whether a layout of a docking target location has changed based on the observed current environmental landmark features. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ In a case where it is determined that the arrangement of the transfer target location has changed, the planned path is updated based on the current environmental landmark feature and the current pose. 6.The transfer control method according to any one of claims 3 to 5, wherein The environmental landmark feature includes a visual marker and / or an environmental object in the periphery of the trackless carrying robot, and the environmental object includes an object corresponding to the transfer target location. 7.The transfer control method according to claim 1, wherein The transfer control method further includes: observing an environmental landmark feature in the periphery of the trackless carrying robot in a case where the trackless carrying robot is caused to move along the planned path; estimating a pose of the trackless carrying robot based on the observed environmental landmark feature; and determining whether there is an obstacle at a position in front of the trackless carrying robot by a certain distance on the planned path based on the observed environmental landmark feature, in a case where it is determined that there is no obstacle, causing the trackless carrying robot to continue moving along the planned path, and in a case where it is determined that there is an obstacle, causing the trackless carrying robot to move in a direction deviating from the planned path in a manner of bypassing the obstacle, and causing the trackless carrying robot to return to the planned path and continue moving along the planned path after bypassing the obstacle. 8.A control system comprising a memory, a processor, and a computer program stored on the memory, wherein the processor executes the computer program to implement the transfer control method according to any one of claims 1 to 7.

9. A trackless transport robot, characterized in that The trackless carrying robot is operated according to the transfer control method according to any one of claims 1 to 6. 10.A computer-readable storage medium storing a computer program, wherein the computer program is executed by a processor to implement the transfer control method according to any one of claims 1 to 7. 11.A computer program product comprising a computer program, wherein the computer program is executed by a processor to implement the transfer control method according to any one of claims 1 to 7.

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