Robot collaborative planning method and system

Abstract

The application provides a robot cooperative planning method and system, relates to the technical field of robot control, and comprises the following steps: in response to a robot clamping a target container in a first working state entering a target channel, a cooperative planning object for the target container is generated; a candidate holding passage segment set is generated based on the cooperative planning object; a candidate holding passage segment in the candidate holding passage segment set is jointly defined by channel structure information and container holding state; a target holding passage segment is extracted from the candidate holding passage segment set according to a carrying task of the robot; and a robot cooperative planning result is generated based on the target holding passage segment. According to the application, when a mobile mechanical arm crosses a liquid drainage ditch or a grid, the requirements of chassis passage and liquid holding in the open working turnover barrel can be considered, and the risk of overflow caused by the mismatch between passage planning and liquid holding is reduced.

Description

Technical Field

[0001] This application relates to the field of robot control technology, and in particular to robot collaborative planning methods and systems. Background Technology

[0002] Mobile robotic arms move open-ended container drums within chemical turnover warehouses or cleaning fluid temporary storage warehouses. Shelves are arranged along narrow aisles within the warehouse, and drainage ditches, floor drains, or troughs are installed on the aisle floor for drainage in case of liquid spills. The robot needs to grab container drums from the shelves, temporary storage tables, or liquid retrieval stations and transport them through the narrow aisles with drainage ditches or troughs to the target workstation.

[0003] The turnover hopper is not an ordinary uncovered container, but rather an open operation state during liquid dispensing, replenishment, testing, or process transitions. In this open operation state, the turnover hopper must remain open; simply covering it cannot change the state of the transported object. When the robot handles the hopper, the chassis creates short undulations as it passes over drainage channels or grids. These undulations are transmitted through the robotic arm to the open turnover hopper, causing the liquid inside to surge towards the edge of the opening, increasing the risk of spillage.

[0004] For enclosed containers, boxes, or rigid components, ground drainage ditches usually only affect whether the chassis can pass smoothly; however, for turnover containers in an open operation state, ground drainage ditches will directly affect whether the liquid level occupies the empty area at the container opening, thus affecting liquid overflow. Summary of the Invention

[0005] This application provides a robot collaborative planning method and system to solve the problem that when a robot is transporting a turnover bucket in an open operation state in a narrow passage of a chemical turnover warehouse with drainage ditches or grids, the chassis passage route meets the passage requirements, but the liquid retention requirements in the turnover bucket cannot be met simultaneously.

[0006] A first aspect of this application provides a robot cooperative planning method, comprising: in response to a robot gripping a target container in a first operating state and entering a target channel, generating a cooperative planning object for the target container; the first operating state is a state in which the target container maintains a carrying relationship with respect to the container boundary during transport; the cooperative planning object includes channel construction information of the target channel and container holding state of the target container; A candidate retention passage segment set is generated based on the collaborative planning object; the candidate retention passage segments in the candidate retention passage segment set are jointly defined by the channel construction information and the container retention state; The target retaining passage is extracted from the candidate retaining passage set according to the robot's handling task; Based on the stated objective, the robot collaborative planning results are generated to maintain the passageway.

[0007] Optionally, in one possible implementation of the first aspect, generating a cooperative planning object for the target container in response to the robot gripping the target container in a first operating state into the target channel includes: Retrieve the channel construction record of the target channel, mark the construction occupied area located in the target channel in the channel construction record, and obtain the construction occupied area record; Based on the positional relationship between the constructed occupied area and the target channel, the channel construction information is generated; Read the container holding record of the target container in the first working state, mark the container boundary side and the adjacent side of the carrier in the container holding record, and obtain the container holding state; The collaborative planning object is generated by configuring the channel construction information and the container holding state as the same planning object for the target container.

[0008] Optionally, in one possible implementation of the first aspect, the step of reading the container holding record of the target container in the first operating state, marking the container boundary side and the carrier adjacent side in the container holding record to obtain the container holding state includes: The container side of the target container is delineated from the container holding record to obtain the container side set; Mark the container side closest to the carrier inside the target container in the container side set to obtain the adjacent side of the carrier. The container side that is connected to the adjacent side of the carrier in the set of container sides is defined as the container boundary side; The container holding state is generated based on the adjacency relationship between the adjacent side of the carrier and the boundary side of the container.

[0009] Optionally, in one possible implementation of the first aspect, generating a candidate set of passage segments based on the collaborative planning object includes: Mark the construction action position in the target channel that corresponds to the channel construction information in the collaborative planning object; The target channel is divided according to the location of the construction action to obtain a set of constructed passage segments; The connection between the constructed passage segments in the set of constructed passage segments and the robot chassis walking area is determined to obtain the chassis connection result. Based on the chassis connection results, the side of the robot chassis walking area that is connected to the structural action position is determined as the chassis driven side; According to the gripping posture of the robot when gripping the target container, the driven side of the chassis is converted into the structural action direction acting on the target container; The orientation of the load-bearing edge is determined based on the container holding state in the collaborative planning object; By comparing the direction of the structural action with the direction of the adjacent edge of the load-bearing object, it is determined whether the direction of the structural action and the direction of the adjacent edge of the load-bearing object point to the same side of the container, and the result of the same side direction is obtained; Based on the same-side direction determination result, the corresponding constructed passage segment is classified into the non-maintained passage segment record or the maintained passage segment record; The constructed passage segments corresponding to the maintained passage segment records are retained from the constructed passage segment set, and the constructed passage segments corresponding to the non-maintained passage segment records are removed to obtain the candidate maintained passage segment set.

[0010] Optionally, in one possible implementation of the first aspect, converting the driven side of the chassis into a structural action direction acting on the target container according to the gripping posture of the robot when gripping the target container includes: The lateral correspondence between the robot chassis walking area and the target container is determined based on the clamping posture; According to the lateral correspondence, the driven side of the chassis is mapped to the target container to obtain the driven side of the container; The direction along the activated side of the container pointing towards the interior of the target container is marked as the direction of the construction action.

[0011] Optionally, in one possible implementation of the first aspect, determining the bearing edge direction based on the container holding state in the collaborative planning object includes: The container side of the target container is delineated from the container holding state in the collaborative planning object to obtain the container side set; The occupied area of ​​the carrier within the target container is obtained by marking the container holding status in the collaborative planning object; In the set of container sides, mark the container sides adjacent to the area occupied by the carrier to obtain the carrier adjacent side; The direction along the area occupied by the carrier pointing to the adjacent side of the carrier is marked as the adjacent side direction of the carrier.

[0012] Optionally, in one possible implementation of the first aspect, extracting the target holding passage from the candidate holding passage set according to the robot's handling task includes: By breaking down the starting and ending positions of the transport task, a transport endpoint group is obtained; Mark the candidate holding passage segments in the candidate holding passage segment set that are connected to the transport endpoint group to obtain the endpoint holding passage segments; Mark the ends of the candidate retaining passage segments in the candidate retaining passage segment set with retaining nodes to obtain the retaining node set; Based on the end-connection relationships between the nodes in the set of nodes, a record of the connection relationships is obtained; The target maintaining passage segment is obtained by concatenating the candidate maintaining passage segment set with the transport endpoint group and the maintaining connection relationship record.

[0013] Optionally, in one possible implementation of the first aspect, obtaining the target holding passage segment by concatenating the candidate holding passage segment set based on the transport endpoint group and the holding connection relationship record includes: The chain head node is obtained by determining the holding node in the set of holding nodes that corresponds to the starting operation position in the transport endpoint group; In the set of holding nodes, determine the holding node corresponding to the end position in the transport endpoint group to obtain the chain tail node; Record the candidate passable segments between the head node and the tail node of the chain along the maintained connection relationship to obtain the task passable chain; The candidate hold-through segments in the task pass chain are grouped to obtain the target hold-through segment.

[0014] Optionally, in one possible implementation of the first aspect, generating robot cooperative planning results based on the target-maintained passage segment includes: The target is arranged to maintain the traffic order in the passage segment, resulting in a chassis traffic plan; Mark the passage position in the target-maintaining passage segment corresponding to the construction action position as an attitude adjustment node; Based on the chassis traffic plan and the attitude adjustment nodes, the attitude sequence of the robot arm end relative to the target container is arranged to obtain the arm end attitude plan; The chassis traffic planning and the arm end posture planning are coordinated and arranged to obtain the robot collaborative planning result.

[0015] A second aspect of this application provides a robot collaborative planning system, comprising: an object module, configured to generate a collaborative planning object for the target container in response to a robot gripping a target container in a first operating state entering a target channel, wherein the first operating state is a state in which the target container maintains a carrying relationship with respect to the container boundary during transport, and the collaborative planning object includes channel construction information of the target channel and container holding state of the target container; The candidate module is used to generate a set of candidate maintainable passage segments based on the collaborative planning object. The candidate maintainable passage segments in the set are jointly defined by the channel construction information and the container maintainable state. The target module is used to extract the target holding passage from the candidate holding passage set according to the robot's handling task; The planning module is used to generate collaborative planning results for robots based on the target and to maintain the passageway.

[0016] The robot collaborative planning method and system provided in this application have the following advantages: By simultaneously introducing the channel structure information of the target channel and the container holding state of the target container during the robot collaborative planning process, this application correlates and judges the effect of ground structures such as drainage ditches and grids on the chassis with the holding relationship between the liquid in the turnover bucket and the boundary of the bucket opening. This allows for the selection of candidate holding passage sections suitable for handling turnover buckets with open openings, and further generates the target holding passage section and the robot collaborative planning result. Therefore, when the mobile robotic arm crosses drainage ditches or grids in narrow channels of a chemical turnover warehouse, it no longer generates a chassis route solely based on whether the channel is passable, but can simultaneously consider the chassis passage requirements and the liquid holding requirements within the bucket, reducing the possibility of liquid approaching or occupying the empty area at the bucket opening due to chassis posture changes. Attached Figure Description

[0017] Figure 1 This is a flowchart illustrating the robot cooperative planning method provided in an embodiment of this application; Figure 2 This is a schematic diagram of the robot collaborative planning system provided in the embodiments of this application; Figure 3 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0019] The technical solutions of this application will be described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0020] See Figure 1This is a flowchart illustrating the robot cooperative planning method provided in an embodiment of this application. Figure 1 The execution entity of the method shown can be a software and / or hardware device. The execution entity of this application can include, but is not limited to, at least one of the following: user equipment, network equipment, etc. User equipment can include, but is not limited to, computers, smartphones, personal digital assistants (PDAs), and the aforementioned electronic devices. Network equipment can include, but is not limited to, a single network server, a server group consisting of multiple network servers, or a cloud based on cloud computing consisting of a large number of computers or network servers. Cloud computing is a type of distributed computing, consisting of a super virtual computer composed of a group of loosely coupled computers. This embodiment does not impose any limitations on this.

[0021] The robot cooperative planning method provided in this application includes steps S1 to S4, as detailed below: S1, in response to the robot gripping the target container in the first working state and entering the target channel, generates a collaborative planning object for the target container.

[0022] In this embodiment, a robot refers to a mobile robotic arm used to perform target container handling tasks, and may include a mobile chassis and a robotic arm mounted on the mobile chassis. Gripping refers to the robotic arm's end effector grasping, supporting, or limiting the target container, enabling the target container to move with the robot. Entering the target channel refers to the robot gripping the target container and entering a storage channel that requires passage planning and container holding determination. Generating a collaborative planning object for the target container refers to configuring the channel structure information and the container holding status of the target container into the same planning basis, so that the channel environment and container holding requirements can jointly participate in subsequent planning.

[0023] It should be noted that in chemical turnover warehouses or cleaning fluid temporary storage warehouses, the target container handled by the mobile robotic arm can be a turnover drum in an open operating state. The turnover drum needs to remain open during liquid retrieval, replenishment, testing, or process transitions, and the liquid inside must be kept within the drum's opening boundary during handling. The first operating state refers to the state in which the target container maintains the relationship between the carrier and the container boundary during handling. The target container can be a turnover drum in an open operating state, or it can be an open cleaning tank, an open reagent kit, or a temporarily unlocked process container. The target channel is the channel through which the robot grips the target container; the target channel can be a narrow channel in a chemical turnover warehouse with drainage ditches, grids, or guide channels. The collaborative planning object is the planning basis obtained by configuring the channel structure information of the target channel and the container holding state of the target container into the same planning object.

[0024] It is understood that the collaborative planning objects include the channel structure information of the target channel and the container holding status of the target container. The channel structure information is not merely map information describing the channel boundaries or obstacle locations, but rather represents the positional relationship of drainage ditches, grids, guide channels, ground joints, or local undulations within the target channel. The channel structure information can be converted into the location and direction of the structural action in step S2. The container holding status represents the load-bearing relationship that the target container needs to maintain in its first operating state. When the target container is an open-top transport container, the container holding status can correspond to an empty opening state, a liquid level maintenance state, or a transport container posture maintenance state.

[0025] It should be noted that step S1, by generating a collaborative planning object, incorporates both the channel construction information of the target channel and the container holding status of the target container into the planning basis. The channel construction information is used to characterize the sources of positions in the target channel that may cause chassis movement, while the container holding status is used to characterize the holding requirements of the load-bearing structure within the target container relative to the container boundary. Therefore, step S1 provides a unified input for generating the candidate holding passage segment set in step S2, reducing planning mismatches caused by the separation of chassis passage planning and target container holding requirements.

[0026] In some embodiments, step S1 includes steps S11 to S14: Step S11: Retrieve the channel construction record of the target channel, mark the construction occupied area located in the target channel in the channel construction record, and obtain the construction occupied area record.

[0027] It should be noted that in chemical turnover warehouses or cleaning fluid temporary storage warehouses, the target passage is not only composed of passage boundaries and obstacles. Drainage ditches, grids, guide channels, ground seams, and local undulations may be located within the robot chassis's walking range. The passage structure record is the record of the passage structure within the target passage. The passage structure record can be derived from warehouse maps, passage inspection results, manual annotation results, or robot inspection records.

[0028] In this embodiment, retrieving the channel structure record of the target channel refers to reading the channel structure record corresponding to the target channel from the robot controller, warehouse control platform, channel map, inspection results, or manual annotation results. Marking the structure-occupied area refers to identifying the area occupied by drainage ditches, grids, guide channels, ground joints, or local undulation structures within the target channel. The structure-occupied area record is the record obtained after marking the structure-occupied area, and is used to provide a spatial basis for generating channel structure information.

[0029] After retrieving the channel structure record of the target channel, the occupied locations of drainage ditches, grids, guide channels, ground joints, or local undulations can be identified within the narrow channels of the chemical turnover warehouse, and these occupied locations are marked as structural occupation areas. For example, when a drainage ditch is set horizontally in the target channel, the strip-shaped area covered by the drainage ditch within the target channel can be considered a structural occupation area. When a floor drain grid is set on one side of the target channel, the area where the floor drain grid might fall into the robot chassis can be considered a structural occupation area. The purpose of identifying structural occupation areas is not to directly designate drainage ditches or grids as impassable areas, but rather to determine whether the local undulations will be transmitted to the open-top turnover hopper when the mobile chassis passes through the structural occupation area.

[0030] It should be noted that step S11 is not to simply remove the channel structure as an obstacle, but to determine the source of the channel structure's occupancy in the target channel. By obtaining the structure occupancy area record, step S12 can further determine the positional relationship of the structure occupancy area record relative to the target channel, and step S2 can determine the location of the structure's action in the target channel.

[0031] Step S12: Generate channel construction information based on the positional relationship of the constructed occupied area record relative to the target channel.

[0032] It should be noted that the construction occupation area record only indicates the location range of the channel construction within the target channel. Without considering the positional relationship of the target channel, the robot cannot determine whether the channel construction will affect the handling of the target container. The positional relationship refers to the distribution relationship of the construction occupation area record relative to the target channel, such as being located in the middle of the target channel, on the side of the target channel, at the lateral crossing position of the target channel, near the entrance of the target channel, or near the exit of the target channel. The channel construction information is generated based on the positional relationship between the construction occupation area record and the target channel, and is used to determine the location of the construction action in step S2.

[0033] In this embodiment, the positional relationship of the constructed occupancy area record relative to the target channel refers to the distribution relationship of the constructed occupancy area record within the target channel. This can include the constructed occupancy area record being located at the entrance, middle section, exit, side, or lateral crossing position of the target channel. Generating channel construction information refers to forming information representing the potential impact of the channel construction on robot passage based on the positional relationship of the constructed occupancy area record within the target channel. The purpose of the channel construction information is not simply to mark obstacles, but to provide a basis for determining the location and direction of subsequent construction actions.

[0034] The target channel can be divided into a channel entrance, a channel middle section, a channel exit, an area near the left-side shelf, and an area near the right-side shelf. The system determines which area of ​​the target channel the structural occupancy record falls into. For example, when a drainage ditch crosses the target channel laterally, the corresponding structural occupancy record can be used to indicate the structural positions that the front and rear wheels might sequentially cross when the mobile chassis passes through the target channel. When a grille is located on one side of the target channel, the corresponding structural occupancy record can be used to indicate the structural positions that might be affected by a wheel assembly or support area on one side of the mobile chassis. The resulting channel structural information provides a basis for marking the structural action position in step S21.

[0035] It should be noted that step S12 transforms the channel construction information from a simple map marker into an environmental input for generating the candidate retention passage set. By generating channel construction information based on the positional relationship between the constructed occupied area record and the target channel, the robot can locate the construction action position corresponding to the channel construction information in step S21, allowing the channel construction information to participate in the judgment of the target container retention requirements.

[0036] Step S13: Read the container holding record of the target container in the first working state, mark the container boundary side and the adjacent side of the carrier in the container holding record, and obtain the container holding state.

[0037] It's important to note that in the first operating state, the handling risk of the target container does not stem from whether the target container can be gripped by the robotic arm, but rather from whether the maintenance relationship between the load inside the target container and the container boundary will be disrupted. Taking an open-top reusable container as an example, although the container can be gripped by the robotic arm, the liquid level inside may already be close to the container's opening boundary. Local undulations caused when the chassis crosses the drainage ditch or grid can cause the liquid level to move towards the edge of the container opening. The container holding record is a record of the target container's holding information in the first operating state. This information can originate from container liquid level detection results, load-occupying area identification results, workstation records, manual input, or process system records. The container boundary side is the container side on the target container involved in determining the holding relationship, while the load-adjacent side is the container side on which the load inside the target container is closest. The container holding state is generated based on the adjacency relationship between the container boundary side and the load-adjacent side.

[0038] The container side of the target container can be divided according to its relative orientation under the robot's gripping posture, such as the container side near the left side of the robot chassis, the container side near the right side of the robot chassis, the container side near the direction of travel of the target channel, and the container side away from the direction of travel of the target channel. When the target container is an open-top transport container, the side adjacent to the carrier can correspond to the side where the liquid level is closest to the boundary of the container opening. When the target container is an open reagent kit, the side adjacent to the carrier can correspond to the side of the reagent kit near the boundary of the compartment.

[0039] It should be noted that step S13, by marking the container boundary side and the adjacent side of the carrier, enables the container holding state to be used for orientation determination. The container holding state does not simply describe the presence of a carrier in the target container, but rather describes the adjacency relationship of the carrier relative to the container boundary. Step S26 can determine the orientation of the adjacent side of the carrier based on the container holding state.

[0040] In some embodiments, step S13 includes steps S131 to S134: Step S131: Delineate the container side of the target container from the container holding record to obtain the container side set.

[0041] It should be noted that if the target container is considered as a single unit, the robot cannot determine which side of the target container the channel structure affects, nor can it determine which side the load is closest to. A container side is the opposite side of the target container formed under the robot's gripping posture. A set of container sides is a collection of multiple container sides. The set of container sides can be defined according to the shape of the target container, the robot's gripping posture, and the direction of passage in the target channel.

[0042] When the target container is a turnover bucket, it can be divided into front, rear, left, and right sides according to the clamping posture. When the target container is a long, trough-shaped container, it can be divided into front side, rear side, left long side, and right long side. When the target container is a reagent kit, the container sides can be defined according to the grid arrangement direction and the robot clamping direction. The container side set is used to receive the adjacent side markings of the carrier in step S132, and also for determining the adjacent side direction of the carrier in step S26.

[0043] In this embodiment, defining the container side of the target container from the container holding record refers to laterally dividing the target container based on its shape, clamping posture, and transport direction as reflected in the container holding record. The container side of the target container can be the front, rear, left, or right side of the target container, or it can be the end side or long side of a long slot container. The container side set is a collection of multiple container sides used as a reference basis for the adjacent side of the carrier, the container boundary side, and the direction of the carrier's adjacent edge.

[0044] It should be noted that step S131, by defining the container side set, provides a unified reference for the positional relationship between the load-bearing structure and the container boundary. Without the container side set, it is difficult to establish a same-side judgment relationship between the adjacent side of the load-bearing structure and the container boundary side with the direction of the structural action.

[0045] Step S132: Mark the container side that the carrier inside the target container is close to in the container side set to obtain the carrier adjacent side.

[0046] In this embodiment, the carrier inside the target container is the object carried by the target container during transportation. The carrier inside the target container can be cleaning fluid, cutting fluid, process aids, reagents, or particulate matter.

[0047] It should be noted that the position of the carrier within the target container may change with the handling posture. The container side closest to the carrier is the container side to which the carrier's occupied area faces or is close, and it is also the holding side of the target container that requires the most attention. The container side adjacent to the carrier is the container side marked based on the positional relationship between the carrier and the container side set. The carrier can be a liquid, particulate matter, reagent, or process aid.

[0048] In this embodiment, the container side to which the carrier is closest can be determined based on a liquid level sensor, visual inspection, workstation record, or container posture record. For example, when the liquid in a turnover bucket in an open operation state is biased towards the left edge of the bucket opening, the left container side can be marked as the adjacent side of the carrier. When a row of reagents in an open reagent kit is close to the grid boundary, the corresponding grid boundary side can be marked as the adjacent side of the carrier. The marking result of the adjacent side of the carrier is used to indicate which side of the container boundary the carrier has approached, so that the subsequent step S27 can determine whether the structural action direction of the drainage ditch or grid to the target container is consistent with the approach direction.

[0049] It should be noted that step S132 transforms the risk of the carrier remaining relative to the target container boundary into the carrier's adjacent side. The carrier's adjacent side can form an adjacency relationship with the container boundary side in step S134, and can also further form the carrier's edge direction in step S26.

[0050] Step S133: Determine the container side that is connected to the adjacent side of the carrier in the container side set as the container boundary side.

[0051] In this embodiment, the container side in the container side set that is adjacent to the carrier side refers to a container side that has a proximity, continuation, or boundary correspondence with the carrier side. The container boundary side is the boundary side on the target container used to jointly characterize the retention relationship with the carrier side. Determining it as a container boundary side means selecting the container side participating in the carrier retention judgment from the container side set and designating that container side as the container boundary side.

[0052] It should be noted that the "adjacent side of the carrier" refers to the container side that the carrier is close to, while the "container boundary side" is not an arbitrary container side, but rather the container side within the set of container sides that is adjacent to the "adjacent side of the carrier". "Adjacent" indicates that the adjacent side of the carrier and the container boundary side have a proximity or continuation relationship in the spatial division of the target container.

[0053] When the liquid in an open container is close to the left edge of the container opening, the side of the container corresponding to the left edge of the container opening can be identified as the container boundary side. When the reagent in an open reagent kit is close to the grid boundary, the grid side adjacent to the reagent can be identified as the container boundary side. The determination of the container boundary side can be based on container structure records, visual recognition results, or workstation inspection results.

[0054] It should be noted that step S133 establishes a relationship between the adjacent side of the carrier and the boundary side of the container, preventing the container from remaining in a state at the recording level where the carrier exists. By determining the container boundary side, step S134 can form an adjacency relationship between the adjacent side of the carrier and the boundary side of the container.

[0055] Step S134: Generate the container holding state based on the adjacency relationship between the adjacent side of the carrier and the boundary side of the container.

[0056] It should be noted that in conventional container handling, the container status is easily simplified to whether it is clamped, in place, or tilted. For a target container in its first operational state, the relationship between the carrier and the container boundary affects the holding requirements during handling. Step S13 describes the relationship between the carrier inside the target container and the container boundary through the container boundary side and the carrier's adjacent side, so that the container holding status can serve as a basis for planning.

[0057] In this embodiment, the adjacency relationship between the adjacent side of the carrier and the container boundary side refers to the positional relationship between the container side that the carrier is close to and the corresponding container boundary side. This indicates whether the adjacent side of the carrier is connected to the container boundary side, which container boundary side the adjacent side of the carrier faces, and whether the carrier is approaching the container boundary side. Generating the container holding state refers to organizing the adjacency relationship between the adjacent side of the carrier and the container boundary side into the holding state of the target container in the first operating state.

[0058] In a turnover container in an open operating state, if the liquid-occupied area is close to the left boundary of the container opening, the adjacency relationship between the adjacent side of the carrier and the container boundary side can indicate that the liquid is moving towards the left boundary of the container opening. When the target container is a process container that is not yet locked, if the carrier is close to the boundary side corresponding to the unlocked cover, the adjacency relationship can indicate that the carrier is moving towards that boundary side.

[0059] It should be noted that the container holding state generated in step S134 is used to explain why the target container cannot be handled as a normal rigid component. By generating the container holding state based on the adjacency relationship between the adjacent side of the carrier and the container boundary side, the subsequent step S26 can determine the direction of the carrier's adjacent side from the container holding state, thereby participating in the selection of the candidate holding passage segment set. After the container holding state is generated from the adjacency relationship between the adjacent side of the carrier and the container boundary side, the robot no longer only knows that the target container is in an open working state, but can also determine the container side that the carrier is close to and the boundary side that needs to be held.

[0060] It should be noted that step S13 provides container-side input for generating the candidate passable segment set. Using the container holding status obtained in step S13, step S2 can incorporate the adjacent edge direction of the load into the passable segment selection process, reducing omissions of container holding requirements caused by relying solely on chassis passability judgments.

[0061] Step S14: Configure the channel construction information and container hold state as the same planning object for the target container to generate a collaborative planning object.

[0062] In this embodiment, configuring the same planning object for the target container means associating channel construction information and container holding status according to the same target container, the same target channel, or the same handling task. The same planning object is a planning object where channel construction information and container holding status jointly serve the same target container handling task. Generating a collaborative planning object means using the same planning object as the input basis for subsequently generating a set of candidate holding passage segments.

[0063] It should be noted that if the channel construction information and the container holding status are used for chassis planning and boom planning respectively, it is easy to create a situation where the chassis route is passable but the target container holding requirements cannot be met simultaneously.

[0064] Understandably, channel construction information and container holding status can be associated and configured according to the target container identifier, handling task identifier, or target channel identifier. For example, when a robot grips an open material container in a chemical turnover warehouse, the location of the drainage ditch in the target channel and the liquid level holding status of the material container can be configured as the same collaborative planning object. When a robot grips an open cleaning tank in a cleaning fluid storage area, the location of the grid and the area occupied by the cleaning fluid can be configured accordingly.

[0065] Preferably, step S1 can associate the channel construction information of the target channel with the container holding status of the target container. It should be noted that when a robot transports an open container in a target channel with drainage channels or grids, the passability information of the target channel alone cannot determine whether the liquid inside the container will approach the container's opening boundary. Step S1 associates the channel construction information and the container holding status through a collaborative planning object, ensuring that the target channel environment and the target container holding requirements are aligned with the same planning starting point. Through the collaborative planning object, the set of candidate holding passage segments can be jointly defined by the channel construction information and the container holding status, reducing matching problems caused by the separation of passage planning and container holding requirements from the source.

[0066] S2 generates a set of candidate passage segments based on the collaborative planning object.

[0067] It should be noted that conventional path planning typically focuses on whether the robot can pass through the target channel, and candidate passage segments often represent passage segments that the chassis can reach or avoid obstacles. In the scenario of this application, the candidate maintaining passage segment set is not simply a set of paths that meet the chassis's passage requirements, but rather a set of passage segments in which the target container can maintain the relationship between the load and the container boundary in the first operating state. The candidate maintaining passage segments are jointly defined by the channel construction information and the container maintaining state in the collaborative planning object.

[0068] Understandably, drainage ditches or grids in narrow passageways of chemical turnover warehouses cannot be simply avoided entirely, as the target passageway width is limited, and the robot may need to pass near the drainage ditches or grids. Passageway construction information is used to determine the locations of structural actions in the target passageway that may cause the robot chassis to move, and container holding status is used to determine the orientation of the load-bearing edge within the target container. Step S2 does not exclude all passageways with drainage ditches or grids, but rather determines whether the direction of the channel construction acting on the target container points to the same side of the load-bearing edge. Passageways that still meet the holding requirements after this determination are added to the candidate holding passageway set.

[0069] In some embodiments, step S2 includes steps S21 to S29: Step S21: Mark the construction action position in the target channel that corresponds to the channel construction information in the collaborative planning object.

[0070] In this embodiment, the correspondence between the target channel and the channel structure information in the collaborative planning object means that a certain location in the target channel corresponds to a drainage ditch, grid, guide channel, ground joint, or local undulation structure recorded in the collaborative planning object. Marking the location of the structure's action is to use this location as a reference location for subsequent division of the structure passage section and determination of the chassis connection result.

[0071] It should be noted that if the channel construction information only exists as an environmental record within the target channel, the robot can only know that drainage ditches, grids, or guide channels exist in the target channel, but cannot determine where these channel structures within the target channel affect the robot chassis. The construction effect location is the position within the target channel corresponding to the channel construction information in the collaborative planning object, used to characterize the location where the channel construction may affect the robot chassis's walking area.

[0072] Understandably, locations within the target channel corresponding to drainage ditches, grids, guide channels, ground joints, or local undulations can be marked as construction sites. For example, when a drainage ditch traverses the target channel laterally, the area where the drainage ditch intersects with the robot's potential path can be considered a construction site. When a grid is located on one side of the target channel, the area where the grid may contact the robot's chassis can be considered a construction site.

[0073] Step S22: Divide the target channel according to the location of the construction action to obtain the set of construction passage segments.

[0074] In this embodiment, dividing the target channel according to the location of the structural action means using the distribution of the structural action locations within the target channel as the basis for division, dividing the target channel into multiple passage segments that can be judged separately. The set of multiple structural passage segments is the structural passage segment set. The purpose of dividing the target channel is to transform the overall target channel into a set of passage segments where the structural action and container maintenance relationship can be judged segment by segment.

[0075] If the entire target passage is involved in the judgment, the robot has difficulty distinguishing which passage segments are affected by the passage structure and which are not. The set of constructed passage segments is the set of passage segments obtained after dividing the target passage according to the location of the structure's effect. A constructed passage segment is a passage segment formed around the location of the structure's effect.

[0076] It should be noted that step S22 transforms the target passage from an overall passage space into a set of constructed passage segments. By constructing the set of passage segments, step S2 can determine the relationship between the direction of the construction action and the direction of the adjacent edge of the load-bearing structure segment by segment, avoiding treating the entire target passage as a single passable area.

[0077] Step S23: Connect the constructed passage segments in the constructed passage segment set to the robot chassis walking area to obtain the chassis connection result.

[0078] In this embodiment, the robot chassis travel area is the area that the robot chassis is expected to cover within the constructed passageway. This area can be determined based on the robot chassis's external dimensions, its predetermined travel position in the target channel, and the spatial location of the constructed passageway. The contact determination refers to judging whether the structural action position in the constructed passageway overlaps with, is adjacent to, or falls into the robot chassis travel area. The chassis contact result is obtained after judging whether the constructed passageway and the robot chassis travel area are in contact and the contact side. The existence of a structural action position in the target channel does not necessarily mean that the robot chassis will contact the structural action position; in narrow passageways of chemical turnover warehouses, this determination is used to distinguish whether drainage ditches or grids actually fall into the area traversed by the mobile chassis.

[0079] Understandably, each structural passage segment can be mapped onto the robot's chassis travel area, and it can be determined whether the structural action location falls within the robot's chassis travel area. If the structural action location falls within the robot's chassis travel area, then the corresponding structural passage segment connects with the robot's chassis travel area. For example, when the drainage ditch coincides with the area that the robot's left wheel assembly is expected to pass through, the chassis connection result can indicate that the left side is connected. When the grille is only located outside the robot's chassis travel area, the chassis connection result can indicate that it is not connected.

[0080] It should be noted that step S23 is used to determine whether the channel structure will transmit its influence through the robot chassis. Based on the chassis connection results, step S24 can determine the driven side of the chassis, and step S25 can convert the driven side of the chassis into the direction of the structural action acting on the target container.

[0081] Step S24: Based on the chassis connection results, the side of the robot chassis that is connected to the structural action position in the walking area is determined as the driven side of the chassis.

[0082] In this embodiment, the side of the robot chassis traveling area that is connected to the structural action position refers to the chassis side that will contact, cross, or be adjacent to the structural action position when the robot chassis is expected to pass through it. The driven side of the chassis is the side of the robot chassis traveling area affected by the structural action position.

[0083] Furthermore, the chassis contact result needs to be further converted into the driven side of the chassis before it can be linked to the gripping posture of the robot when holding the target container. The driven side of the chassis indicates which side of the robot chassis is first affected by the local posture change when the chassis passes through the drainage ditch or grid. This lateral result is then transmitted to the turnover bucket through the gripping posture of the robotic arm. In this application, the driven side of the chassis is the side of the robot chassis's walking area that is in contact with the structural action position. It can be the left, right, front, or rear side of the robot chassis's walking area, or other lateral areas in the robot chassis's walking area that can be converted to the target container by the gripping posture. The chassis contact result indicates that when the drainage ditch is in contact with the left side of the robot chassis's walking area, the driven side of the chassis can be determined as the left side; when the grid is in contact with the right front side of the robot chassis's walking area, the driven side of the chassis can be determined as the right front side.

[0084] It should be noted that the determination of the driven side of the chassis does not limit the use of wheeled chassis, tracked chassis or other chassis forms for the robot, as long as the driven side can be determined based on the chassis's travel area.

[0085] Step S25: According to the gripping posture of the robot when gripping the target container, convert the driven side of the chassis into the structural action direction acting on the target container.

[0086] In this embodiment, the gripping posture of the robot when gripping the target container refers to the posture relationship of the target container relative to the robot chassis's walking area. The driven side of the chassis is the lateral source of the influence of the channel structure on the robot chassis, but the driven side of the chassis is not equivalent to the driven direction of the target container. The direction of the structural action acting on the target container is the direction formed on the target container after the driven side of the chassis is transformed by the gripping posture. The transformation refers to mapping the lateral influence of the robot chassis to the lateral influence of the target container according to the gripping posture.

[0087] Understandably, if the left side of the robot chassis is activated, and the target container is held in a forward gripping posture by the robotic arm, then the left side of the chassis may correspond to the left side of the target container. If the target container is rotated relative to the robot chassis, then the left side of the chassis may correspond to the front or rear side of the target container. Through the change of gripping posture, the activated side of the chassis can correspond to the activated side of the container on the target container, forming a structural action direction pointing towards the interior of the target container.

[0088] In some embodiments, step S25 includes steps S251 to S253: Step S251: Determine the lateral correspondence between the robot chassis walking area and the target container based on the clamping posture.

[0089] In this embodiment, the lateral correspondence between the robot chassis walking area and the target container refers to the correspondence between each side of the robot chassis walking area and each container side of the target container. The clamping posture is the basis for determining the lateral correspondence, and the robot chassis walking area provides a chassis lateral reference, while the target container provides a container lateral reference. Since the driven side of the chassis needs to be converted into the direction of the structural action acting on the target container, it is necessary to first determine this lateral correspondence in order to convert the driven side of the chassis into the container driven side on the target container.

[0090] Understandably, when a robot grips a target container, the container may be aligned with the robot chassis, rotated relative to the chassis, or offset to one side of the chassis by the robotic arm. Lateral correspondences can be determined based on the robotic arm's end effector posture, the target container's gripping point, and the robot chassis's direction of travel. For example, when the turnover bucket is aligned with the moving chassis, the left side of the chassis corresponds to the left side of the turnover bucket. When the turnover bucket is rotated relative to the moving chassis, the left side of the chassis corresponds to the front side of the turnover bucket. This lateral correspondence is used to determine which side of the turnover bucket the driven side of the chassis will ultimately act on, thus providing a basis for determining the direction of the action.

[0091] It should be noted that step S251 provides a mapping basis for converting the driven side of the chassis into the driven side of the container. Through the lateral correspondence, the driven information of the chassis side can be transferred to the container side of the target container, avoiding misjudgment of direction caused by directly treating the driven side of the chassis as the driven side of the target container.

[0092] Step S252: According to the lateral correspondence, the driven side of the chassis is mapped to the target container to obtain the driven side of the container.

[0093] Specifically, based on the lateral correspondence between the robot chassis's walking area and the target container, the corresponding container side on the target container is determined by mapping the chassis's driven side to the target container. The container's driven side is the side on the target container that receives the influence of the chassis's driven side, and is obtained by mapping the chassis's driven side to the target container according to the lateral correspondence.

[0094] It is understandable that when the driven side of the chassis is the left side of the chassis and the lateral correspondence indicates that the left side of the chassis corresponds to the left side of the target container, the driven side of the container is the left side of the target container. When the driven side of the chassis is the right side of the chassis and the target container is rotated and clamped relative to the chassis, the driven side of the container can be the front or rear side of the target container. The driven side of the container is used to mark the direction of the construction action in step S253.

[0095] It should be noted that step S252 converts the affected side of the chassis into the source of influence on the target container side. Compared to focusing only on whether the chassis is affected, focusing on the affected side of the container can indicate which side of the target container the channel structure ultimately affects, providing an object for determining the same side in the direction of the adjacent edge of the load.

[0096] Step S253: Mark the direction along the active side of the container pointing into the target container as the construction action direction.

[0097] It should be noted that simply marking the location of the drainage ditch or grid does not indicate which side of the target container the drainage ditch or grid will affect. There is also a robotic arm gripping posture between the robot chassis and the target container. Step S25 converts the driven side of the chassis into the direction of structural action by using the gripping posture, giving the influence of the channel structure on the target container a clear direction.

[0098] In this embodiment, the direction from the driven side of the container towards the interior of the target container refers to the direction extending from the driven side of the container towards the interior of the target container. The driven side of the container only indicates which side of the target container receives the action from the chassis; it is necessary to convert the driven side of the container into a direction to compare it with the direction of the adjacent edge of the load-bearing object. The structural action direction is the directional information obtained after this direction is marked, used to characterize the direction in which the channel structure, after being transmitted to the target container via the chassis and clamping posture, affects the load-bearing object's maintenance relationship.

[0099] It is understandable that when the driven side of the container is the left side of the transfer tank, the direction of the structural action can be understood as the direction from the left side of the transfer tank towards the inside of the transfer tank. When the driven side of the container is the front side of the transfer tank, the direction of the structural action can be understood as the direction from the front side of the transfer tank towards the inside of the transfer tank. The specific angle value of the structural action direction is not required, as long as it can be determined on the same side as the adjacent edge of the load. This direction is used to indicate the source of the influence on the liquid retention relationship within the tank when the chassis crosses the drainage ditch or grid, after the local posture change is transmitted to the transfer tank by the robotic arm.

[0100] It should be noted that step S253 ultimately transforms the channel construction action into directional information on the target container. Based on the direction of the construction action, step S27 can determine whether the direction generated by the channel construction will overlap with the direction of the adjacent edge of the carrier, thereby determining whether the corresponding constructed passage segment should enter the candidate retention passage segment set.

[0101] It should be noted that step S25 establishes a directional relationship between the environmental structure and the target container's maintenance requirements. After the direction of the structural action is established, step S27 can be used to determine the same side as the direction of the adjacent edge of the load-bearing structure, thus avoiding the uniform consideration of all drainage ditches or grids as impassable areas.

[0102] Step S26: Determine the bearing edge direction based on the container holding state in the collaborative planning object.

[0103] It is understandable that when the target container is an open-top reusable container, the direction of the carrier's edge can represent the direction from which the liquid-occupied area points towards the container's opening boundary. When the target container is an open reagent kit, the direction of the carrier's edge can represent the direction from which the reagent-occupied area points towards the compartment boundary. The direction of the carrier's edge is not limited to liquid scenarios, as long as there is a holding relationship between the carrier within the target container and the container boundary.

[0104] In some embodiments, step S26 includes steps S261 to S264: Step S261: Delineate the container side of the target container from the container-maintained state in the collaborative planning object to obtain the container side set.

[0105] The container side of the target container is the opposite side formed by the target container under the current clamping posture and transport direction. The container side set is a collection of multiple container sides. Defining the container side of the target container is to provide a unified reference for the area occupied by the carrier and the adjacent sides of the carrier. The direction of the adjacent side of the carrier needs to be referenced to the container side of the target container; without the container side set, the relationship between the area occupied by the carrier and the container boundary is difficult to describe as direction.

[0106] It is understood that the container side set in step S261 can be the same as the container side set defined in step S131 based on the container holding record, or it can be reread from the container holding status in the collaborative planning object. The container side set of the target container can be defined according to the shape, clamping posture, and transport direction of the target container. Open-top reusable hoppers can be defined as front, rear, left, and right sides. Long trough-shaped containers can be defined as two end sides and two long side sides. Open-top reagent kits can have their container side set defined according to the grid arrangement direction.

[0107] Step S262: Mark the occupied area of ​​the carrier inside the target container from the container holding state in the collaborative planning object to obtain the occupied area of ​​the carrier.

[0108] The area occupied by the carrier within the target container refers to the region where the carrier resides inside the target container. The carrier can be a liquid, reagent, particulate matter, or process aid. The carrier-occupied area can be derived from liquid level detection, visual recognition, process records, or target container attitude estimation results. Specifically, in an open reusable container, the carrier-occupied area can be the area occupied by the liquid inside the container; in an open reagent kit, the carrier-occupied area can be the area occupied by the reagent in the compartment; in a temporarily unlocked container, the carrier-occupied area can be the area of ​​the material inside the container near the unlocked boundary. The carrier-occupied area is used in step S263 to determine the adjacent side of the carrier.

[0109] It should be noted that step S262 removes the position of the carrier inside the target container from the container holding state, so that the direction of the carrier's adjacent edge is no longer an abstract description. Based on the area occupied by the carrier, step S263 can identify the container side adjacent to the carrier in the container side set.

[0110] Step S263: Mark the container side adjacent to the area occupied by the carrier in the container side set to obtain the carrier adjacent side.

[0111] Among them, the container side adjacent to the area occupied by the carrier refers to the container side in the set of container sides that is adjacent to, in contact with or facing the area occupied by the carrier.

[0112] Understandably, when the area occupied by the carrier is biased towards the left edge of the container opening, the left container side can be considered as the adjacent side of the carrier; when the area occupied by the carrier is biased towards the front end of the long trough-shaped container, the front container side can be considered as the adjacent side of the carrier; if the area occupied by the carrier is close to multiple container sides at the same time, then multiple container sides can be marked as the adjacent side of the carrier.

[0113] Step S264: Mark the direction along the area occupied by the load towards the adjacent side of the load as the adjacent side direction of the load.

[0114] In the embodiments of this application, the adjacent side of the carrier only indicates which side of the carrier is closer to the target container. It is also necessary to extend from the area occupied by the carrier toward the adjacent side of the carrier to form the bearing edge direction in order to compare with the direction of the construction action.

[0115] Understandably, when the liquid-occupied area inside an open container points towards the left edge of the container opening, the direction of the support's edge can be the direction in which the liquid-occupied area points towards the left side of the container. This direction indicates that the liquid inside the container is moving towards the empty area on the left side of the container opening. Similarly, when the reagent-occupied area inside an open reagent kit is close to the front boundary of the compartment, the direction of the support's edge can be the direction in which the reagent-occupied area points towards the front side of the container. By understanding the direction of the support's edge, the robot can identify the direction in which the support inside the target container most needs to be maintained.

[0116] It should be noted that if only the target container is known to be in an open working state, the direction of the influence of the passage structure on the holding relationship of the load cannot be determined. Therefore, this application obtains the bearing edge direction through the container side aggregation, the area occupied by the load, and the adjacent side of the load in step S26, so that the container holding state has an expression form that can be compared with the direction of the structural action. After comparing the bearing edge direction with the direction of the structural action, this application can determine whether a certain structural passage section will push the load further closer to the same container side. Compared with the method of only requiring the robotic arm to level the target container, step S26 provides a more accurate basis for judging the holding relationship inside the container for the selection of passage sections.

[0117] Step S27: By comparing the direction of the structural action with the direction of the adjacent edge of the load, determine whether the direction of the structural action and the direction of the adjacent edge of the load point to the same side of the container, and obtain the result of the same side direction judgment.

[0118] Among them, the same container side is the target container side that the direction of the structural action and the direction of the adjacent edge of the load both point to. The same side direction judgment result is the result obtained after judging whether the two point to the same container side, which can include same side result and opposite side result.

[0119] If the direction of the structural action points to the inside of the left side of the turnover bucket, and the direction of the adjacent edge of the load also points to the boundary of the left side of the turnover bucket, then the result of the same-side direction judgment is the same-side result. If the direction of the structural action points to the inside of the right side of the turnover bucket, and the direction of the adjacent edge of the load points to the boundary of the left side of the turnover bucket, then the result of the same-side direction judgment is the opposite-side result. When the direction of structural action or the direction of the load-bearing edge corresponds to multiple container sides, as long as the direction of structural action and the direction of the load-bearing edge have the same container side, the result of determining the same side direction can be determined as the same side result. This process can cover situations where liquids are simultaneously close to multiple barrel opening boundaries or multiple areas of the chassis are simultaneously subjected to the action of the grid.

[0120] Step S28: Based on the same-side direction judgment result, the corresponding constructed passage segment is classified into the non-maintained passage segment record or the maintained passage segment record.

[0121] Specifically, when the same-side direction judgment result is determined to be the same-side result, the structural action direction of the corresponding structural passage section and the adjacent edge direction of the load point to the same container side. This structural passage section may exacerbate the load's approach to the container boundary side. Therefore, the corresponding structural passage section is classified into the non-maintaining passage section record.

[0122] When the same-side direction judgment result is determined to be opposite-side result, the structural action direction of the corresponding structural passage section does not point to the same container side as the bearing adjacent edge direction. This structural passage section can be classified into the record of maintaining passage section.

[0123] It should be noted that step S28 does not exclude the corresponding construction passage segment simply because a drainage ditch or grid exists in the target channel. Instead, it determines the assignment of the construction passage segment based on the judgment result of the same-side direction. In the narrow passage of the chemical turnover warehouse, drainage ditches or grids may be located in the passage area that the robot must pass through. Avoiding them all would reduce the number of available passage segments. By assigning construction passage segments based on the judgment result of the same-side direction, construction passage segments that will not allow liquid to continue to approach the empty area at the barrel opening can be retained, while construction passage segments that may compromise the liquid retention requirements can be excluded.

[0124] Step S29: Retain the constructed passage segments corresponding to the maintained passage segment records from the constructed passage segment set, and remove the constructed passage segments corresponding to the non-maintained passage segment records to obtain the candidate maintained passage segment set.

[0125] In step S28, the constructed passage segment set is divided into a retained passage segment record and a non-retained passage segment record. Step S29 retains the constructed passage segments that meet the retention requirements in the set and excludes the constructed passage segments that do not meet the retention requirements from the set.

[0126] It is understandable that multiple construction passage segments may exist simultaneously in the construction passage segment set. Some construction passage segments, although passing through drainage ditches or grids, may be retained as candidate retention passage segments because their construction direction is opposite to the direction of the adjacent edge of the load. Other construction passage segments, corresponding to the same side, are removed from the construction passage segment set. The resulting candidate retention passage segment set is used in step S3 to extract the target retention passage segment based on the handling task.

[0127] Preferably, step S2 can generate a set of candidate passage segments by determining whether the direction of the structural action and the direction of the adjacent edge of the load are on the same side. It should be noted that a conventional chassis route can meet the passage requirements, but it may not necessarily meet the retention requirements of the target container in the first operating state. Step S2, by determining whether the direction of the structural action and the direction of the adjacent edge of the load are on the same side, links the influence of ground structure in the target passage with the retention relationship of the load inside the target container.

[0128] S3, extract the target maintaining passage from the candidate maintaining passage set according to the robot's handling task.

[0129] Different handling tasks may correspond to different start and end positions. When multiple candidate holding segments exist in the candidate holding segment set, only those that can connect the handling endpoint groups and satisfy the continuity of passage will be grouped into target holding segments. Target holding segments can run through the entire target channel or be a local passage chain within the target channel. Step S3 addresses how the candidate holding segment set serves specific handling tasks. Through handling tasks, holding nodes, and holding connection records, the robot can form target holding segments corresponding to the start and end positions from the candidate holding segment set.

[0130] In some embodiments, step S3 includes steps S31 to S35: Step S31: Disassemble the starting and ending positions of the transport task to obtain the transport endpoint group.

[0131] The transport endpoint group consists of endpoint information comprising the start and end positions of the operation, used to define the start and end range of the target holding passage segment. Without breaking down the transport task into start and end positions, the robot struggles to determine which passage segments in the candidate holding passage segment set serve the current transport task.

[0132] The starting position can be near the shelves, temporary storage table, liquid retrieval station, or entrance to the target channel in the chemical turnover warehouse, while the ending position can be near the liquid replenishment station, testing station, target station, or exit of the target channel. For example, if the turnover drum needs to remain open after liquid retrieval, the robot can grip the turnover drum from the liquid retrieval station and transport it to the testing station. The starting and ending positions can both be located outside the target channel, one inside the target channel and the other outside, or both inside the target channel.

[0133] Step S32: Mark the candidate holding passage segments in the candidate holding passage segment set that are connected to the transport endpoint group to obtain the endpoint holding passage segments.

[0134] The candidate holding passage segments in the candidate holding passage segment set that are connected to the transport endpoint group are those segments that have a passage connection with either the starting or ending work position. "Connected" indicates that there is an adjacency, connectivity, or traversable link between the candidate holding passage segment and the starting or ending work position. There may be multiple candidate holding passage segments in the candidate holding passage segment set, but not all candidate holding passage segments are connected to the transport endpoint group.

[0135] If the starting position is at the entrance of the target channel, the candidate holding passage segment connected to the entrance can be marked as an endpoint holding passage segment; if the ending position is in the middle of the target channel, the candidate holding passage segment connected to the ending position can also be marked as an endpoint holding passage segment. Endpoint holding passage segments are used to form the passage basis for the head node and tail node of the chain.

[0136] It should be noted that step S32 establishes a connection between the candidate holding passage segment set and the transport task endpoints. By using endpoint holding passage segments, step S35 can connect the candidate holding passage segment set around the transport endpoint group, rather than arbitrarily selecting passage segments from the candidate holding passage segment set.

[0137] Step S33: Mark the end of the candidate maintaining passage segment in the candidate maintaining passage segment set to obtain the maintaining node set.

[0138] In this embodiment, the end of a candidate holding passage segment refers to its entrance, exit, or the location where it connects with other candidate holding passage segments. A holding node is a node marked at the end of a candidate holding passage segment to indicate the connection point between candidate holding passage segments. The holding node set is a collection of multiple holding nodes. Marking holding nodes is to transform the continuity relationship between candidate holding passage segments into a node relationship, thereby determining whether continuous passage is possible between candidate holding passage segments.

[0139] Understandably, each candidate hold-alive segment can be marked with hold-alive nodes at both ends. When multiple candidate hold-alive segments are connected, the connection point can correspond to the same hold-alive node or multiple hold-alive nodes with end-connection relationships. If a candidate hold-alive segment is not connected to other candidate hold-alive segments, the hold-alive nodes of that candidate hold-alive segment may not form a complete task pass chain.

[0140] It should be noted that step S33 provides a node basis for determining the continuity between candidate passable segments. Through the set of passable nodes, step S34 can form a record of passable connections, and step S35 can connect the target passable segments based on this record.

[0141] Step S34: Based on the end connection relationship between the nodes in the node set, obtain the record of the connection relationship.

[0142] Specifically, the hold node set only indicates the position of the ends of candidate hold segments, and does not indicate whether different hold nodes can be connected. Therefore, it is necessary to analyze the end connection relationships between hold nodes. End connection relationships can be determined by whether hold nodes are adjacent, whether there are any eliminated segments between hold nodes, and whether hold nodes can be connected along the target channel. The hold connection relationship record is a record obtained based on the end connection relationships between hold nodes, used to indicate which candidate hold segments in the candidate hold segment set can be connected.

[0143] Furthermore, if two holding nodes correspond to the ends of adjacent candidate holding passage segments, and there are no eliminated non-holding passage segments between the two holding nodes, then an end connection relationship can be formed between the two holding nodes; if the two holding nodes are separated by a construction passage segment corresponding to a non-holding passage segment record, then an end connection relationship cannot be formed between the two holding nodes.

[0144] Step S35: Based on the transport endpoint group and the record of maintaining connection relationship, connect the candidate maintaining passage segment set to obtain the target maintaining passage segment.

[0145] Understandably, we can start from the endpoint maintaining passage segment corresponding to the starting operation position, and sequentially connect candidate maintaining passage segments along the maintaining connection record until we reach the endpoint maintaining passage segment corresponding to the ending operation position. If there is only one candidate maintaining passage segment in the candidate maintaining passage segment set, and this candidate maintaining passage segment is also connected to the transport endpoint group, then this candidate maintaining passage segment can be used as the target maintaining passage segment. If the candidate maintaining passage segment set is empty, we can output a prompt that the current transport task does not meet the maintaining passage conditions, or regenerate the collaborative planning object.

[0146] In some embodiments, step S35 includes steps S351 to S354: Step S351: Determine the holding node in the holding node set that corresponds to the starting operation position in the transport endpoint group, and obtain the chain head node.

[0147] The task access chain requires a clearly defined starting node. The head node is the node in the node set that corresponds to the starting position of the operation in the transport endpoint group, and it serves as the starting point of the task access chain.

[0148] Understandably, if the starting position is located at the entrance of the target channel, the holding node on the endpoint of the holding passage near the entrance of the target channel can serve as the chain head node. If the starting position is located inside the target channel, the holding node at the end of the candidate holding passage connected to that starting position can serve as the chain head node.

[0149] Step S352: Determine the holding node in the holding node set that corresponds to the end position of the transport endpoint group to obtain the chain tail node.

[0150] It should be noted that the task transit chain needs to have a clearly defined end node. The tail node is the node in the hold node set that corresponds to the end position of the operation in the transport endpoint group. The tail node serves as the endpoint of the task transit chain.

[0151] If the end point of the operation is located at the exit of the target channel, the holding node on the end point of the passable segment near the exit of the target channel can be used as the tail node; if the end point of the operation is located in the middle of the target channel, the holding node at the end of the candidate passable segment connected to the end point of the operation can be used as the tail node.

[0152] It should be noted that step S352 aligns the task access chain with the end position of the transport task. Through the tail node, step S353 determines the termination position of the candidate concatenation access segment, avoiding the generation of access chains that do not correspond to the transport task.

[0153] Step S353: Record the candidate maintaining passage segments between the head node and tail node of the chain along the maintaining connection relationship to obtain the task passage chain.

[0154] In this embodiment, concatenation along the maintaining connection record refers to connecting candidate maintaining passage segments according to the end-connection relationship between maintaining nodes in the maintaining connection record. The candidate maintaining passage segment between the head node and the tail node is a candidate maintaining passage segment that can be connected from the head node to the tail node. The task passage chain is the result of concatenating candidate maintaining passage segments from the head node to the tail node. The maintaining connection record is used to limit whether candidate maintaining passage segments can be connected; therefore, concatenating candidate maintaining passage segments along the maintaining connection record ensures that the task passage chain consists of continuous and connectable candidate maintaining passage segments.

[0155] Understandably, if multiple candidate maintaining passage segments have end-connection relationships, they can be sequentially linked according to the maintaining connection record to form a task passage chain from the head node to the tail node. If multiple candidate maintaining passage segments can connect both the head and tail nodes, a task passage chain can be selected based on the handling task requirements, target channel conditions, or robot operating status. This selection does not need to be limited to the shortest path, avoiding limiting the target maintaining passage segment to a single optimal method.

[0156] It should be noted that step S353 transforms the candidate holding passage set into a continuous passage chain serving the current handling task. Through the task passage chain, the robot can avoid mistaking discontinuous candidate holding passages as target holding passages.

[0157] Step S354: Group the candidate hold-through segments in the task pass chain to obtain the target hold-through segment.

[0158] Grouping refers to organizing candidate transport segments into a combination of transport segments for use in this transport task, according to the succession relationship in the task transport chain.

[0159] Understandably, a task pass chain may include one or more candidate hold-through segments. Multiple candidate hold-through segments are grouped together to form a complete target hold-through segment. The target hold-through segment originates from both the set of candidate hold-through segments and corresponds to the transport endpoint group.

[0160] It should be noted that the target-keeping passage segment obtained in step S354 is the direct basis for generating the robot collaborative planning result in step S4. By grouping candidate-keeping passage segments in the task passage chain into target-keeping passage segments, chassis passage planning and arm end-effector posture planning can be formed around the same passage target.

[0161] Understandably, if candidate holdable segments are discontinuous, the holdable connection record will prevent discontinuous candidate holdable segments from being chained together into a task holdable chain; if candidate holdable segments can be chained from the head node to the tail node, then the task holdable chain can serve as the basis for forming the target holdable segment. This process can distinguish between isolated candidate segments and task-available holdable chains.

[0162] It should be noted that step S35 connects the candidate holding passage segment set by transporting endpoint groups and maintaining connection relationships, ensuring that the target holding passage segment meets both the target container holding requirements and the task requirements of the start and end operation positions. Furthermore, step S35 transforms the candidate holding passage segment set into the target holding passage segment. The target holding passage segment can serve as a common basis for chassis access planning and boom attitude planning in step S4, reducing task mismatches caused by independent chassis planning and boom planning.

[0163] Preferably, step S3 can extract the target maintaining passage segment from the candidate maintaining passage segment set based on the transport endpoint group and the maintaining connection relationship record. It should be noted that the robot transport task has a start position and an end position, and the candidate maintaining passage segment set is not equal to the actual passage path used in this transport task. Step S3 extracts the target maintaining passage segment from the candidate maintaining passage segment set using the transport endpoint group, endpoint maintaining passage segment, maintaining node set, and maintaining connection relationship record.

[0164] Furthermore, the target-keeping passage segment can adapt to various handling endpoint situations. For example, when both the starting and ending work positions are located at the two ends of the target channel, the target-keeping passage segment can run through the target channel; when the starting work position is inside the target channel and the ending work position is outside the target channel, the target-keeping passage segment can connect from the starting work position to the exit of the target channel; when both the starting and ending work positions are located inside the target channel, the target-keeping passage segment can be a local task passage chain within the target channel.

[0165] S4 generates robot collaborative planning results based on the goal of maintaining passage through the target.

[0166] The results of robot cooperative planning can include chassis access planning and arm posture planning. Chassis access planning is used to arrange the robot chassis to travel along the target access segment, while arm posture planning is used to arrange the posture sequence of the robot arm relative to the target container.

[0167] In some embodiments, step S4 includes steps S41 to S44: Step S41: Arrange the target to maintain the traffic order in the traffic segment to obtain the chassis traffic plan.

[0168] The target-keeping passage segment can include one or more candidate-keeping passage segments, and the robot chassis needs to pass through the target-keeping passage segment in a specific order. The passage order within the target-keeping passage segment refers to the order in which the candidate-keeping passage segments are passed. Arranging the passage order involves organizing the passage order within the target-keeping passage segment according to the sequence from the head node to the tail node in the task passage chain. Chassis passage planning is the planning content obtained based on the passage order within the target-keeping passage segment, used to control the robot chassis as it passes through the target passage.

[0169] Understandably, the passage sequence can be arranged according to the sequential relationship from the head node to the tail node in the task passage chain. For example, when a robot grips an open working container at the liquid extraction station and enters the narrow passage of a chemical storage warehouse, the target holding passage segment can consist of multiple candidate holding passage segments. Some candidate holding passage segments are located before the drainage ditch, some are located after the drainage ditch, and some pass near the grid. The chassis passage planning is generated according to the sequential relationship between these candidate holding passage segments, enabling the mobile chassis to pass through the target passage along the target holding passage segment that already meets the liquid level holding requirements. If the target holding passage segment consists of only one candidate holding passage segment, then the chassis passage planning can use that candidate holding passage segment as the basis for the mobile chassis to pass through the target passage.

[0170] Step S42: Mark the passage position in the target-maintaining passage segment corresponding to the position of the construction action as the attitude adjustment node.

[0171] In this embodiment, the passage position corresponding to the structural action position in the target holding passage segment is the location where the robot chassis passes through according to the chassis passage plan and corresponds to the structural action position. The passage position can be a passage point, passage section, or area near a holding node in the target holding passage segment. The structural action position is marked in the target channel in step S21 and is used to indicate the location in the target channel where the channel structure may act on the robot chassis and be transmitted to the target container. The attitude adjustment node is the passage position corresponding to the structural action position in the target holding passage segment, used to indicate the location where the robot arm needs to adjust the attitude of the target container in conjunction with the influence of the channel structure. It should be noted that not all passage positions in the target holding passage segment require the robot arm to change its attitude; only the passage positions corresponding to the structural action positions need to be highlighted as attitude adjustment nodes.

[0172] Understandably, when the target-holding passageway passes near the drainage ditch, the corresponding structural action position can form an attitude adjustment node within the target-holding passageway. Similarly, when the target-holding passageway passes the corresponding position of a grid or guide channel, the corresponding passage position can also be marked as an attitude adjustment node. Passage positions within the target-holding passageway that do not correspond to structural action positions can maintain the existing arm-end attitude sequence, avoiding indiscriminate changes in the robotic arm's attitude throughout the entire target-holding passageway.

[0173] It should be noted that step S42 transforms the channel structure influence positions in the target-holding passage segment into nodes of interest for end-arm attitude planning. Through attitude adjustment nodes, end-arm attitude planning does not require applying the same processing throughout the entire target-holding passage segment; instead, it arranges the target container attitude sequence at the passage positions corresponding to the channel structure information.

[0174] Step S43: Arrange the posture sequence of the robot arm end relative to the target container according to the chassis traffic planning and posture adjustment nodes to obtain the arm end posture planning.

[0175] In this embodiment, the chassis passage planning provides the passage sequence of the robot chassis through the target-maintaining passage segment, and the attitude adjustment node provides the position of the target container's attitude that the robot arm end needs to pay attention to. The attitude sequence of the robot arm end relative to the target container is the sequence of attitude changes arranged by the robot arm end relative to the target container during chassis passage. The end-arm attitude planning cannot be generated independently of the chassis passage planning, but needs to be formed together based on the chassis passage planning and the attitude adjustment node. Step S43 sets the attitude of the robot arm end at different passage positions according to the correspondence between the chassis passage planning and the attitude adjustment node.

[0176] Understandably, when the chassis passage plan indicates that the mobile chassis is about to pass through the attitude adjustment node, the arm-end attitude planning can arrange the robotic arm to change or maintain the attitude sequence of the turnover bucket relative to the chassis, preventing the liquid in the turnover bucket from continuing to approach the empty area at the bucket opening. When the chassis passage plan is in a target holding passage section where there is no corresponding structural action position, the arm-end attitude planning can maintain the continuity of the target container's attitude sequence. The arm-end attitude planning does not need to limit specific angle values ​​because its function is to ensure that the target container receives the structural action effect formed by the chassis passage plan when passing through the attitude adjustment node.

[0177] It should be noted that step S43 enables the end-arm attitude planning to maintain the passage segment and attitude adjustment node around the target. Compared to the method where the robotic arm only holds the target container in a fixed attitude, step S43 can arrange the attitude sequence according to the structural action position in the chassis passage planning, thereby making the end-arm planning and the chassis passage planning work together.

[0178] Step S44: Perform collaborative programming of chassis traffic planning and arm end posture planning to obtain robot collaborative planning results.

[0179] In this embodiment, chassis passage planning refers to the planning of the robot chassis as it passes through the target channel along the target holding passage segment, while arm end posture planning refers to the planning of the robot arm's posture sequence relative to the target container during chassis passage. When a mobile robotic arm transports a reusable bucket in an open operating state through a narrow passage of a chemical turnover warehouse, if the chassis passage planning and arm end posture planning are generated separately, the arm end may not have a holding action arranged at the corresponding passage position when the chassis passes through the drainage ditch or grid. Collaborative orchestration associates the chassis passage planning and arm end posture planning around the same target holding passage segment, so that the passage sequence of the chassis in the target holding passage segment corresponds to the posture sequence of the arm end at the posture adjustment node. The robot collaborative planning result is the joint planning result obtained after collaborative orchestration.

[0180] The robot collaborative planning results can record the chassis's passage sequence within the target holding passage segment, as well as the robot arm's posture sequence near the posture adjustment nodes. For example, when chassis passage planning arranges for the mobile chassis to cross a grid along the target holding passage segment, arm posture planning can arrange the holding posture of the transfer bucket near the posture adjustment node corresponding to the grid, ensuring that the relationship between the liquid inside the bucket and the bucket opening boundary is not disrupted by local chassis undulations. After the chassis passage planning and arm posture planning are co-programmed, the robot can perform the handling task according to the same robot collaborative planning result.

[0181] It should be noted that by co-arranging chassis traffic planning and arm-end posture planning, the robot's collaborative planning result is no longer a separate chassis route or a separate arm-end posture sequence, but a joint planning result formed around the target to maintain traffic flow. This result can reduce the situation where the chassis route meets traffic requirements but the liquid retention requirements in the turnover bin cannot be met simultaneously.

[0182] Preferably, step S4 can transform the target-holding passage segment into a robot collaborative planning result. It should be noted that the target-holding passage segment is already defined by both the channel construction information and the container holding state. If step S4 were to generate chassis travel planning or arm-end posture planning again, detached from the target-holding passage segment, it would weaken the holding foundation established in steps S2 and S3. Step S4 establishes both chassis travel planning and arm-end posture planning on top of the target-holding passage segment. Furthermore, the chassis travel planning is derived from the travel sequence of the target-holding passage segment, and the arm-end posture planning is derived from the chassis travel planning and posture adjustment nodes. The posture adjustment nodes correspond to the travel positions in the target-holding passage segment related to the construction action position, enabling the arm-end posture planning to arrange positions around the channel construction that may affect the target container holding state.

[0183] In summary, when a robot grips a target container in its first operating state and traverses a target channel, generating a chassis route solely based on the target channel outline and obstacle positions can easily overlook the impact of drainage ditches, grids, or flow channels within the target channel on the retention status of the contents inside the target container. This embodiment incorporates channel structure information and container retention status into the planning basis through a collaborative planning object, and generates a set of candidate retention passage segments by determining whether the direction of the structure's action aligns with the direction of the liquid's edge. It should be noted that for open-ended transfer containers in chemical transfer warehouses or cleaning fluid temporary storage warehouses, this embodiment can correlate the direction of the channel structure's action on the chassis with the direction of the liquid's edge when the robot crosses drainage ditches, grids, or flow channels, thereby reducing situations where the chassis route meets the passage requirements but the liquid retention requirements within the transfer container cannot be simultaneously met.

[0184] See Figure 2 This is a schematic diagram of the robot cooperative planning system provided in the embodiments of this application, which includes: The object module is used to generate a collaborative planning object for the target container in response to the robot gripping the target container in the first working state and entering the target channel. The first working state is the state in which the target container maintains the relationship between the carrier and the container boundary during the transportation process. The collaborative planning object includes the channel structure information of the target channel and the container holding state of the target container. The candidate module is used to generate a set of candidate maintainable passage segments based on the collaborative planning object. The candidate maintainable passage segments in the set are jointly defined by the channel construction information and the container maintainable state. The target module is used to extract the target passable segment from the candidate passable segment set based on the robot's handling task; The planning module is used to generate collaborative planning results for robots based on the goal of maintaining passage through the passage.

[0185] Figure 2 The system of the illustrated embodiment can be used to perform corresponding operations. Figure 1 The steps in the method embodiments shown are implemented in a similar manner and have similar technical effects, and will not be repeated here.

[0186] See Figure 3 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of this application. The electronic device 40 includes: a processor 41, a memory 42, and a computer program; wherein, The memory 42 is used to store the computer program, and the memory may also be flash memory. The computer program is, for example, an application program or functional module that implements the above method.

[0187] The processor 41 is configured to execute the computer program stored in the memory to implement the various steps performed by the device in the above method. For details, please refer to the relevant descriptions in the preceding method embodiments.

[0188] Alternatively, the memory 42 can be either standalone or integrated with the processor 41.

[0189] When the memory 42 is a device independent of the processor 41, the device may further include: Bus 43 is used to connect the memory 42 and the processor 41.

[0190] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A robot cooperative planning method, characterized in that, include: In response to the robot gripping a target container in a first operating state and entering a target channel, a collaborative planning object for the target container is generated; the first operating state is the state in which the target container maintains the relationship between the carrier and the container boundary during the handling process; the collaborative planning object includes the channel structure information of the target channel and the container holding state of the target container. A candidate retention passage segment set is generated based on the collaborative planning object; the candidate retention passage segments in the candidate retention passage segment set are jointly defined by the channel construction information and the container retention state; The target retaining passage is extracted from the candidate retaining passage set according to the robot's handling task; Based on the stated objective, the robot collaborative planning results are generated to maintain the passageway.

2. The method according to claim 1, characterized in that, The step of generating a cooperative planning object for the target container in response to the robot gripping the target container in the first working state and entering the target channel includes: Retrieve the channel construction record of the target channel, mark the construction occupied area located in the target channel in the channel construction record, and obtain the construction occupied area record; Based on the positional relationship between the constructed occupied area and the target channel, the channel construction information is generated; Read the container holding record of the target container in the first working state, mark the container boundary side and the adjacent side of the carrier in the container holding record, and obtain the container holding state; The collaborative planning object is generated by configuring the channel construction information and the container holding state as the same planning object for the target container.

3. The method according to claim 2, characterized in that, The step of reading the container holding record of the target container in the first operating state, marking the container boundary side and the adjacent side of the carrier in the container holding record, and obtaining the container holding state includes: The container side of the target container is delineated from the container holding record to obtain the container side set; Mark the container side closest to the carrier inside the target container in the container side set to obtain the adjacent side of the carrier. The container side that is connected to the adjacent side of the carrier in the set of container sides is defined as the container boundary side; The container holding state is generated based on the adjacency relationship between the adjacent side of the carrier and the boundary side of the container.

4. The method according to claim 1, characterized in that, The step of generating a candidate passability segment set based on the collaborative planning object includes: Mark the construction action position in the target channel that corresponds to the channel construction information in the collaborative planning object; The target channel is divided according to the location of the construction action to obtain a set of constructed passage segments; The connection between the constructed passage segments in the set of constructed passage segments and the robot chassis walking area is determined to obtain the chassis connection result. Based on the chassis connection results, the side of the robot chassis walking area that is connected to the structural action position is determined as the chassis driven side; According to the gripping posture of the robot when gripping the target container, the driven side of the chassis is converted into the structural action direction acting on the target container; The orientation of the load-bearing edge is determined based on the container holding state in the collaborative planning object; By comparing the direction of the structural action with the direction of the adjacent edge of the load-bearing object, it is determined whether the direction of the structural action and the direction of the adjacent edge of the load-bearing object point to the same side of the container, and the result of the same side direction is obtained; Based on the same-side direction determination result, the corresponding constructed passage segment is classified into the non-maintained passage segment record or the maintained passage segment record; The constructed passage segments corresponding to the maintained passage segment records are retained from the constructed passage segment set, and the constructed passage segments corresponding to the non-maintained passage segment records are removed to obtain the candidate maintained passage segment set.

5. The method according to claim 4, characterized in that, The step of converting the driven side of the chassis into a structural action direction acting on the target container according to the gripping posture of the robot when gripping the target container includes: The lateral correspondence between the robot chassis walking area and the target container is determined based on the clamping posture; According to the lateral correspondence, the driven side of the chassis is mapped to the target container to obtain the driven side of the container; The direction along the activated side of the container pointing towards the interior of the target container is marked as the direction of the construction action.

6. The method according to claim 4, characterized in that, Determining the bearing edge direction based on the container holding state in the collaborative planning object includes: The container side of the target container is delineated from the container holding state in the collaborative planning object to obtain the container side set; The occupied area of ​​the carrier within the target container is obtained by marking the container holding status in the collaborative planning object; In the set of container sides, mark the container sides adjacent to the area occupied by the carrier to obtain the carrier adjacent side; The direction along the area occupied by the carrier pointing to the adjacent side of the carrier is marked as the adjacent side direction of the carrier.

7. The method according to claim 1, characterized in that, The step of extracting the target maintaining passage segment from the candidate maintaining passage segment set according to the robot's handling task includes: By breaking down the starting and ending positions of the transport task, a transport endpoint group is obtained; Mark the candidate holding passage segments in the candidate holding passage segment set that are connected to the transport endpoint group to obtain the endpoint holding passage segments; Mark the ends of the candidate retaining passage segments in the candidate retaining passage segment set with retaining nodes to obtain the retaining node set; Based on the end-connection relationships between the nodes in the set of nodes, a record of the connection relationships is obtained; The target maintaining passage segment is obtained by concatenating the candidate maintaining passage segment set with the transport endpoint group and the maintaining connection relationship record.

8. The method according to claim 7, characterized in that, The method of concatenating the candidate hold-through segment set based on the transport endpoint group and the hold-through connection relationship record to obtain the target hold-through segment includes: The chain head node is obtained by determining the holding node in the set of holding nodes that corresponds to the starting operation position in the transport endpoint group; In the set of holding nodes, determine the holding node corresponding to the end position in the transport endpoint group to obtain the chain tail node; Record the candidate passable segments between the head node and the tail node of the chain along the maintained connection relationship to obtain the task passable chain; The candidate hold-through segments in the task pass chain are grouped to obtain the target hold-through segment.

9. The method according to claim 1, characterized in that, The generation of robot cooperative planning results based on the target-maintaining passage segment includes: The target is arranged to maintain the traffic order in the passage segment, resulting in a chassis traffic plan; Mark the passage position in the target-maintaining passage segment corresponding to the construction action position as an attitude adjustment node; Based on the chassis traffic plan and the attitude adjustment nodes, the attitude sequence of the robot arm end relative to the target container is arranged to obtain the arm end attitude plan; The chassis traffic planning and the arm end posture planning are coordinated and arranged to obtain the robot collaborative planning result.

10. A robot cooperative planning system, employing the robot cooperative planning method as described in any one of claims 1 to 9, characterized in that, include: The object module is used to generate a collaborative planning object for the target container in response to the robot gripping the target container in the first working state and entering the target channel. The first working state is the state in which the target container maintains the relationship between the carrier and the container boundary during the transportation process. The collaborative planning object includes the channel construction information of the target channel and the container holding state of the target container. The candidate module is used to generate a set of candidate maintainable passage segments based on the collaborative planning object. The candidate maintainable passage segments in the set are jointly defined by the channel construction information and the container maintainable state. The target module is used to extract the target holding passage from the candidate holding passage set according to the robot's handling task; The planning module is used to generate collaborative planning results for robots based on the target and to maintain the passageway.

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