Method, device and equipment for calibrating wheel diameter of carrying device and storage medium

Abstract

The application discloses a kind of carrying equipment wheel diameter calibration method, device, equipment and storage medium, the method includes: first, the actual moving distance of carrying equipment is obtained according to the target path segment in the driving path;Wherein, driving path includes at least one path segment, at least one path segment includes target path segment;Afterwards, based on actual moving distance, and operating state information and theoretical moving distance, determine the target calibration coefficient corresponding to carrying equipment;Wherein, operating state information includes at least one of the tire hardness of carrying equipment, the task information corresponding to carrying equipment and the carrying state corresponding to carrying equipment;Finally, based on target calibration coefficient, the wheel diameter to be calibrated corresponding to the driving wheel of carrying equipment is calibrated, and the equivalent wheel diameter is obtained;In this way, the error caused by tire deformation can be reduced, the pose estimation accuracy of the carrying equipment is improved, so that the carrying equipment is not easy to stop suddenly when reaching the target position, and the driving stability of the carrying equipment is improved.

Description

Technical Field

[0001] This invention relates to the field of intelligent warehousing, and in particular to a method, apparatus, equipment, and storage medium for calibrating the wheel diameter of handling equipment. Background Technology

[0002] In warehousing and logistics systems, goods are typically moved using handling equipment (such as robots). During the process of moving goods from storage locations, if the load on the handling equipment is high, the rubber tires of the equipment will undergo plastic deformation, meaning the tires are compressed. After compression, the tires become elliptical, causing the path traveled in one rotation to become longer. This results in the odometer calculating the distance traveled by the handling equipment to be less than the actual distance traveled, leading to a larger error in the equipment's position estimation. Consequently, the handling equipment may still have residual speed when it reaches the target location, causing the robot to stop abruptly and resulting in severe shelf shaking. Summary of the Invention

[0003] This invention provides a method, apparatus, device, and storage medium for calibrating the wheel diameter of a handling equipment. It can calibrate the wheel diameter of the handling equipment based on the actual moving distance, operating status information, and theoretical moving distance of the handling equipment, thereby improving the position estimation accuracy of the handling equipment.

[0004] The embodiments of this application disclose the following technical solutions:

[0005] In a first aspect, embodiments of this application provide a method for calibrating the wheel diameter of a handling device, the method comprising:

[0006] The actual distance traveled by the transport equipment along the target path segment in the travel path is obtained; wherein the travel path includes at least one path segment, and at least one path segment includes the target path segment;

[0007] Based on the actual travel distance, as well as the operating status information and the theoretical travel distance, the target calibration coefficient corresponding to the handling equipment is determined; wherein, the operating status information includes at least one of the following: the tire hardness of the handling equipment, the task information corresponding to the handling equipment, and the handling status corresponding to the handling equipment;

[0008] Based on the target calibration coefficient, the wheel diameter to be calibrated corresponding to the traveling wheel of the handling equipment is calibrated to obtain the equivalent wheel diameter.

[0009] In some embodiments, obtaining the actual distance traveled by the conveying equipment along the target path segment includes:

[0010] Acquire the last frame image corresponding to the first identifier code collected by the handling equipment at the first moment; wherein, the first moment refers to the moment when the handling equipment leaves the first point and the first identifier code is collected for the last time; the first identifier code is set at the first point, and the first point is the starting point of the target path segment;

[0011] The first frame image corresponding to the second identification code collected by the handling equipment at the second moment is acquired; wherein, the second moment refers to the moment when the handling equipment arrives at the second point and the second identification code is collected for the first time; the second identification code is set at the second point, which is the end point of the target path segment;

[0012] Based on the last frame of the image, determine the first actual position of the handling equipment, and based on the first frame of the image, determine the second actual position of the handling equipment.

[0013] The actual distance traveled is determined based on the second actual position and the first actual position.

[0014] In some embodiments, determining a first actual position corresponding to the handling equipment based on the last frame image, and determining a second actual position corresponding to the handling equipment based on the first frame image, includes:

[0015] Determine the first distance between the first identifier and the handling equipment in the last frame image, and determine the first actual position based on the position information of the first identifier in the global coordinate system and the first distance;

[0016] Determine the second distance between the second identifier and the transport device in the first frame image, and determine the second actual position based on the position information of the second identifier in the global coordinate system and the second distance.

[0017] In some embodiments, obtaining the actual distance traveled by the conveying equipment along the target path segment includes:

[0018] The third actual position of the transport equipment is determined at the third moment; wherein, the third moment is the moment when the transport equipment arrives at the starting point of the target path segment within the first preset distance range;

[0019] The fourth actual position of the transport equipment is determined at the fourth moment; wherein, the fourth moment is the moment within the second preset distance range corresponding to the end point of the target path segment;

[0020] The actual distance traveled is determined based on the fourth and third actual positions.

[0021] In some embodiments, the target calibration coefficient corresponding to the handling equipment is determined based on the actual movement distance, as well as the operating status information and the theoretical movement distance, including:

[0022] Based on the tire hardness of the handling equipment and / or the task information corresponding to the handling equipment, determine the reference calibration coefficient corresponding to the handling equipment;

[0023] Based on the number of wheel diameter calibrations of the handling equipment, determine the calibration weight coefficient corresponding to the target path segment;

[0024] The target calibration coefficient is determined based on the actual movement distance, theoretical movement distance, reference calibration coefficient, and calibration weight coefficient.

[0025] In some embodiments, a reference calibration coefficient for the handling equipment is determined based on the tire hardness of the handling equipment and / or the task information corresponding to the handling equipment, including:

[0026] If the tire hardness is less than or equal to the preset hardness threshold and the task information is to return the target object, or if the tire hardness is greater than the preset hardness threshold, the first preset value will be determined as the reference calibration coefficient.

[0027] When the tire hardness is less than or equal to a preset hardness threshold and the task information is to acquire a target object, the second preset value is determined as the reference calibration coefficient; wherein, the first preset value is less than the second preset value.

[0028] In some embodiments, determining the calibration weight coefficient corresponding to the target path segment based on the number of wheel diameter calibrations of the conveying equipment includes:

[0029] If the number of wheel diameter calibrations is less than the preset threshold, the preset initial weighting coefficient will be determined as the calibration weighting coefficient.

[0030] If the number of wheel diameter calibrations is greater than or equal to the preset number threshold, the initial weight coefficient is gradually reduced based on the preset weight reduction value to obtain the calibration weight coefficient.

[0031] In some embodiments, the method further includes:

[0032] When the handling status of the handling equipment changes from a loaded state to an unloaded state, or from an unloaded state to a loaded state, the calibration weight coefficient is reset to the preset initial weight coefficient.

[0033] In some embodiments, the target calibration coefficient is determined based on the actual travel distance, the theoretical travel distance, the reference calibration coefficient, and the calibration weight coefficient, including:

[0034] Determine the ratio between the theoretical distance traveled and the actual distance traveled;

[0035] The target calibration coefficient is determined based on the distance ratio, as well as the calibration weight coefficient and the reference calibration coefficient.

[0036] In some embodiments, the target calibration coefficient is determined using the following formula:

[0037] X new =XX*(1-M / N)*Y

[0038] Among them, X new X represents the target calibration coefficient, M represents the reference calibration coefficient, N represents the theoretical movement distance, and Y represents the actual movement distance.

[0039] In some embodiments, the wheel diameter to be calibrated is calibrated based on the target calibration coefficient to obtain the equivalent wheel diameter corresponding to the driving wheel, including:

[0040] Multiply the target calibration coefficient by the wheel diameter to be calibrated to obtain the equivalent wheel diameter corresponding to the traveling wheel.

[0041] In some embodiments, the method further includes:

[0042] The initial wheel diameter of the traveling wheels of the handling equipment is compensated based on the wheel diameter compensation coefficient to obtain the wheel diameter to be calibrated; the wheel diameter compensation coefficient is related to the operating status information of the handling equipment.

[0043] In some embodiments, the method further includes:

[0044] The wheel diameter compensation coefficient is determined based on the tire hardness of the handling equipment and / or the corresponding handling condition of the handling equipment.

[0045] In some embodiments, a wheel diameter compensation coefficient is determined based on the tire hardness of the handling equipment and / or the corresponding handling state of the handling equipment, including:

[0046] When the tire hardness is less than or equal to the preset hardness threshold and the handling condition is determined to be a load condition, the third preset value is determined as the wheel diameter compensation coefficient.

[0047] When the tire hardness is greater than the preset hardness threshold, or when the transport state is determined to be unloaded, the fourth preset value is determined as the wheel diameter compensation coefficient; wherein, the third preset value is greater than the fourth preset value.

[0048] In some embodiments, determining the transport state as a load state includes:

[0049] When a pressure sensor is installed on the handling equipment, the pressure value output by the pressure sensor is obtained. If the pressure value is greater than or equal to a preset pressure threshold, the handling state is determined to be a load state.

[0050] When a lifting mechanism is installed on the handling equipment, the position and orientation information of the lifting mechanism is obtained. If the position and orientation information indicates that the height of the lifting mechanism is higher than a preset height threshold, the handling state is determined to be a load state.

[0051] Secondly, embodiments of this application provide a wheel diameter calibration device for handling equipment, the device comprising:

[0052] The acquisition module is configured to: acquire the actual distance traveled by the handling equipment along the target path segment in the travel path; wherein the travel path includes at least one path segment, and at least one path segment includes the target path segment;

[0053] The determination module is configured to: determine the target calibration coefficient corresponding to the handling equipment based on the actual movement distance, as well as the operating status information and the theoretical movement distance; wherein, the operating status information includes at least one of the following: the tire hardness of the handling equipment, the task information corresponding to the handling equipment, and the handling status corresponding to the handling equipment;

[0054] The calibration module is configured to calibrate the wheel diameter to be calibrated corresponding to the traveling wheel of the handling equipment based on the target calibration coefficient, so as to obtain the equivalent wheel diameter.

[0055] Thirdly, embodiments of this application also provide an electronic device, including a memory and a processor, wherein the memory stores a computer program, characterized in that the processor executes the computer program to implement the method in any implementation of the first aspect.

[0056] Fourthly, embodiments of this application also provide a computer-readable storage medium storing computer instructions for causing the computer to perform the method in any of the implementations of the first aspect.

[0057] Fifthly, embodiments of this application also provide a computer program product, including a computer program that, when executed by a processor, implements the method in any of the implementations of the first aspect.

[0058] In a sixth aspect, embodiments of this application also provide a computer program that, when executed by a processor, implements the method in any of the implementations of the first aspect.

[0059] This embodiment provides a wheel diameter calibration method for a transport equipment. The method includes: first, obtaining the actual travel distance of the transport equipment along a target path segment in the travel path; wherein the travel path includes at least one path segment, and at least one path segment includes a target path segment; then, determining a target calibration coefficient corresponding to the transport equipment based on the actual travel distance, as well as operating status information and theoretical travel distance; wherein the operating status information includes at least one of the following: tire hardness of the transport equipment, task information corresponding to the transport equipment, and transport status corresponding to the transport equipment; finally, calibrating the wheel diameter to be calibrated corresponding to the travel wheel of the transport equipment based on the target calibration coefficient to obtain an equivalent wheel diameter; thus, errors caused by tire deformation can be reduced, the position estimation accuracy of the transport equipment can be improved, the transport equipment is less likely to stop suddenly when it reaches the target position, and the driving stability of the transport equipment can be improved. Attached Figure Description

[0060] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0061] Figure 1 A schematic diagram of a warehousing system provided in an embodiment of this application;

[0062] Figure 2 A schematic diagram of a handling device provided in an embodiment of this application;

[0063] Figure 3 A schematic flowchart illustrating a wheel diameter calibration method for a handling device provided in this application embodiment;

[0064] Figure 4 A schematic flowchart illustrating another wheel diameter calibration method for handling equipment provided in this application embodiment;

[0065] Figure 5 A flowchart illustrating another wheel diameter calibration method for handling equipment provided in this application embodiment;

[0066] Figure 6 A flowchart illustrating another wheel diameter calibration method for handling equipment provided in this application embodiment;

[0067] Figure 7 A flowchart illustrating another wheel diameter calibration method for handling equipment provided in this application embodiment;

[0068] Figure 8 This is a schematic diagram of the structure of a wheel diameter calibration device for handling equipment provided in an embodiment of this application;

[0069] Figure 9 This application provides a schematic diagram of the internal structure of a robot.

[0070] Figure 10 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0071] To enable those skilled in the art to better understand the technical solutions in the embodiments of this application, and to make the above-mentioned objectives, features and advantages of the embodiments of this application more apparent and understandable, the technical solutions in the embodiments of this application will be further described in detail below with reference to the accompanying drawings.

[0072] In warehousing and logistics systems, goods are typically moved using handling equipment (such as robots). During the process of moving goods from storage locations, if the load on the handling equipment is high, the rubber tires of the equipment will undergo plastic deformation, meaning the tires are compressed. After compression, the tires become elliptical, causing the path traveled in one rotation to become longer. This results in the odometer calculating the distance traveled by the handling equipment to be less than the actual distance traveled, leading to a larger error in the equipment's position estimation. Consequently, the handling equipment may still have residual speed when it reaches the target location, causing the robot to stop abruptly and resulting in severe shelf shaking.

[0073] Based on this, this application provides a wheel diameter calibration method for a handling equipment. This wheel diameter calibration method can calibrate the wheel diameter of the handling equipment according to the actual moving distance, operating status information and theoretical moving distance of the handling equipment, so as to improve the position estimation accuracy of the handling equipment, make the handling equipment less likely to stop suddenly when it reaches the target position, and improve the driving stability of the handling equipment.

[0074] Figure 1 This is a schematic diagram of a warehousing system provided for some embodiments of this application. For example... Figure 1 As shown, the warehousing system 100 includes multiple carriers 10, multiple handling devices 20, at least one workstation 30, and a control device. Figure 1 (Not shown in the image).

[0075] In some embodiments, the carrier 10 may include multiple cargo positions (also referred to as placement positions). These placement positions can be used to place target objects, which may be containers, bins, goods, or the original packaging of goods. This application does not limit this; the following embodiments use containers as an example for illustrative purposes.

[0076] For example, the cargo space can be a rectangular prism-shaped storage space, and multiple cargo spaces on the carrier 10 can be neatly arranged along the length, width, and height of the carrier 10. The container can be a product specifically designed for the carrier 10, a regular cargo box (also called a container), or cargo packaging (also called a box), and this application embodiment does not limit this.

[0077] In some embodiments, the carrier 10 may be a shelf, a turnover vehicle, a cage vehicle, etc.

[0078] For example, the carrier 10 can be a movable shelf. The movable shelf includes at least one partition that divides the carrier 10 into at least two layers. Each partition of the carrier 10 has at least one storage location, and each storage location can accommodate at least one container. The container placed in each storage location can be a box or a pallet; this embodiment does not limit the specific type. It should be noted that the carrier 10 includes, but is not limited to, partitioned shelves, container shelves, picking shelves, and movable shelves. The carrier 10 provided in this embodiment can refer to any carrier used for placing containers.

[0079] For example, the carrier 10 can be a high-density storage rack or a low-density storage rack. When the carrier 10 is a high-density storage rack, the gaps between containers are smaller.

[0080] For example, the carrier 10 can be a single-sided carrier, a double-sided carrier, or a four-sided carrier (i.e., containers can be retrieved from four sides). This application embodiment does not limit this; however, it uses a double-sided carrier 10 as an example for illustrative purposes. For instance, when the carrier 10 is a double-sided shelf, partitions can be provided between multiple storage locations along the vertical direction; each side of the carrier 10 can have 30 storage locations, for a total of 60 storage locations on both sides. This application embodiment does not limit the type of carrier 10 or the number of storage locations it includes; this is merely an illustrative example.

[0081] In some embodiments, multiple vehicles 10 may be arranged in rows and columns in the storage area of ​​the storage system 100. The area between two adjacent rows or columns of vehicles may be referred to as an aisle, in which the handling equipment 20 can move.

[0082] In some embodiments, the handling device 20 may also be referred to as an automated handling device, a carrier handling device, or a handling robot. The handling device 20 is used to handle the carrier 10 or the container.

[0083] For example, the handling device 20 can be a handling robot, such as an Automated Guided Vehicle (AGV). For instance, the handling robot can move under the carrier 10 and then lift the carrier 10 off the ground, thereby carrying the carrier 10 to move.

[0084] In some embodiments, Figure 2 A conveying device is shown, such as Figure 2 As shown, the handling equipment 20 may include a chassis 21, a lifting assembly 22, and a load-bearing assembly 23 fixed on the lifting assembly. During the lifting process, the lifting assembly 22 can drive the load-bearing assembly 23 to move up and down to realize the handling of the carrier 10 or container.

[0085] In some embodiments, the chassis 21 may be provided with wheels 211, which rotate under the drive of a motor, thereby moving the chassis 21.

[0086] For example, the tire of the traveling wheel 211 can be made of rubber. The higher the hardness of the rubber, the less likely the tire of the traveling wheel 211 is to deform; the lower the hardness of the rubber, the more likely the tire of the traveling wheel 211 is to deform.

[0087] In some embodiments, a wheeled odometer may be installed in the handling equipment 20. Figure 2 (Not shown in the image). The wheel-type odometer can be installed on the traveling wheels 211 of the conveying equipment 20 to detect the number of rotations of the traveling wheels 211.

[0088] In some embodiments, a processing device may be provided in the conveying device 20. Figure 2 (Not shown in the image). The processing device can control the operation of the conveying equipment 20.

[0089] For example, the processing device can be coupled to a wheel odometer, and the processing device can receive the detection results of the wheel odometer on the motor and determine the travel distance of the conveying device 20 based on the detection results.

[0090] In some embodiments, the number of workstations 30 may be one or more. Each workstation 30 may have a corresponding vehicle docking area, which includes one or more docking positions for parking vehicles 10. The vehicle docking area may include an operation area and a queuing area. Both the operation area and the queuing area are used to park vehicles 10. The operation area is used to park vehicles that are being operated (e.g., sorting, picking) at workstation 30, and the queuing area is used to park at least one vehicle that has been pre-selected by workstation 30 but has not yet been operated.

[0091] For example, workstation 30 includes a picking workstation and a sorting workstation. The picking workstation is used to pick goods from carriers. When picking goods from carriers, the picking workstation staff can either remove pre-selected boxes from carriers parked in the operating area and place them on the operating table for picking, or use the picking workstation's robotic arm to remove pre-selected boxes from carriers parked in the operating area and place them on the operating table for picking. During the picking process, carriers parked in the corresponding queuing area of ​​the picking workstation will wait for picking. The sorting workstation is used to sort goods from carriers. When sorting goods from carriers, the sorting workstation staff can either sort goods from carriers parked in the operating area, or use the sorting workstation's robotic arm to perform pick-and-place operations on carriers parked in the operating area for sorting. During the sorting process at the sorting station, vehicles parked in the queuing area wait for the sorting station to process their goods.

[0092] In some embodiments, in certain application scenarios (e.g., cargo-to-person scenarios), the handling equipment 20 can transport the carrier 10 to the corresponding workstation 30, and then the staff or robotic arm of the workstation 30 can pick the goods in the carrier 10.

[0093] In some embodiments, a control device may be coupled to the conveying equipment 20 for controlling the operation of the conveying equipment 20. For example, the control device may control the conveying equipment 20 to travel along a target path.

[0094] For example, the control device can receive the detection results of the wheel odometer on the motor and determine the moving distance of the conveying equipment 20 based on the detection results.

[0095] In some embodiments, the control device and the handling equipment 20 are communicatively connected for data communication. For example, the control device can communicate with the handling equipment 20 via a local area network (LAN), wireless local area network (WLAN), or other networks.

[0096] In some examples, the control device can be a server or a terminal device, or a device deployed with a Warehouse Management System (WMS) and a Robot Management System (RMS). The terminal device can include at least one of a personal computer, laptop computer, smartphone, tablet computer, and portable wearable device; the server can include a standalone server or a server cluster consisting of multiple servers, and this application embodiment does not limit this.

[0097] The following is in conjunction with the appendix Figure 3 This application describes the wheel diameter calibration method for handling equipment provided in its embodiments. It should be noted that the wheel diameter calibration method for handling equipment provided in this application can be implemented by the control device in the aforementioned warehousing system 100, or by the processing device in the aforementioned handling equipment 20. This application does not limit this implementation.

[0098] Figure 3 This is a flowchart illustrating a wheel diameter calibration method for handling equipment provided in an embodiment of this application, as shown below. Figure 3 As shown, in some embodiments, the wheel diameter calibration method for handling equipment provided in this application includes S301-S303.

[0099] S301. Obtain the actual distance traveled by the handling equipment according to the target path segment in the travel path.

[0100] In some embodiments, the destination of a task can be determined based on the handling task corresponding to the handling equipment. After determining the destination, a travel path can be generated based on the current position of the handling equipment and the destination. The handling equipment can then travel along the travel path from its current position to the destination corresponding to the handling task.

[0101] For example, at least one candidate path can be generated based on the current location of the transport equipment and the task endpoint. When there is only one candidate path, this path can be determined as the transport equipment's travel path. When there are multiple candidate paths, the transport equipment's travel path can be determined from these multiple candidate paths according to actual needs; for example, the shortest candidate path can be determined based on its path length, or the path with the fewest conflict areas can be determined based on the number of conflict areas traversed by each candidate path. This application does not limit this approach.

[0102] In some embodiments, the driving path may include at least one path segment, and the at least one path segment includes a target path segment.

[0103] For example, when the travel path includes a single path segment, that path segment can be designated as the target path segment. For instance, if a transport device travels directly from point A to point B along the travel path, this means the travel path from point A to point B includes a single path segment—the path segment from point A to point B; in this case, the path segment from point A to point B is the target path segment. When the travel path includes multiple path segments, the target path segment can be determined based on the current position of the transport device, either the path segment the transport device is currently traveling on or the path segment it has most recently completed. For instance, if a transport device travels from point A through points B and C to point D along the travel path, this means the travel path from point A to point D includes multiple path segments: the path segment from point A to point B (AB), the path segment from point B to point C (BC), and the path segment from point C to point D (CD); in this case, AB can be designated as the target path segment when the transport device reaches point B, or it can be designated as the target path segment when the transport device departs from point A.

[0104] In some embodiments, the driving path can be divided according to the environmental features corresponding to the driving path to obtain at least one path segment. The environmental features corresponding to the driving path can be identification codes (e.g., QR codes, barcodes) set on the driving path, or laser positioning points (e.g., reflectors) set on the driving path. This application embodiment does not limit this.

[0105] It should be noted that the travel path in this application embodiment can be fixed or dynamically updated; for example, the travel path of the handling equipment can be dynamically updated according to the distribution of obstacles in the warehousing system. This application embodiment does not limit this. Furthermore, as the travel path is updated, the path segments included in the travel path will also be updated accordingly.

[0106] In some embodiments, the actual distance traveled refers to the distance actually traveled by the transport equipment.

[0107] Exemplary methods can be employed to determine the actual travel distance of handling equipment using different sensors. Specifically, the sensor for measuring the actual travel distance can be selected based on the environmental characteristics corresponding to the travel path. For example, if there are markers along the travel path, an image sensor (e.g., a camera) can identify the markers passed by the handling equipment to determine its position and thus the actual travel distance. If there are no markers along the travel path, a laser sensor (e.g., LiDAR) can scan and locate the surrounding environment of the handling equipment, and the scanned location data can be matched with the warehousing system to determine the equipment's position and thus the actual travel distance. Alternatively, the sensor for measuring the actual travel distance can be selected based on actual needs. This application does not limit this approach.

[0108] In some embodiments, the actual travel distance of the handling equipment can be determined by one sensor or by multiple sensors. This application does not limit this approach.

[0109] For example, the actual moving distance of the handling equipment can be determined by an image sensor or a laser sensor, or by combining a wheel odometer, an inertial measurement unit (IMU), and an image sensor, and using a weighted fusion algorithm to determine the actual moving distance of the handling equipment.

[0110] like Figure 4 As shown, in some embodiments, S301 may include S3011a-S3014a.

[0111] S3011a. Obtain the last frame image corresponding to the first identification code collected by the handling equipment at the first moment.

[0112] In some embodiments, the first moment refers to the moment when the transport equipment leaves the first location and the first identifier code is last collected. The first identifier code is set at the first location, which is the starting point of the target path segment. That is, at the first moment, the transport equipment has left the starting point of the target path segment (i.e., the first location), but has not yet completely left the identifiable range of the first identifier code; the first identifier code is the identifier code set at the starting point of the target path segment among multiple identifier codes.

[0113] For example, the first identification code can be a QR code, a barcode, or other identification that can be used for positioning. As the transport equipment travels along the path, it can continuously identify multiple identification codes it passes. When the transport equipment leaves the first location, the moment when it last successfully identified the first identification code is determined as the first moment, and the last frame image corresponding to the first identification code is obtained.

[0114] S3012a: Obtain the first frame image corresponding to the second identifier code collected by the handling equipment at the second moment.

[0115] In some embodiments, the second moment refers to the moment when the transport equipment arrives at the second location and the second identifier code is captured for the first time. The second identifier code is located at the second location, which is the end point of the target path segment. That is, at the second moment, the transport equipment approaches the end point of the target path segment (i.e., the second location) and enters the identifiable range of the second identifier code, capturing the image of the second identifier code for the first time; the second identifier code is the identifier code located at the end point of the target path segment among multiple identifier codes.

[0116] It should be noted that the method by which the handling equipment acquires the first frame image corresponding to the second identifier at the second moment is the same as that in S3011a, and will not be repeated here.

[0117] In some embodiments, the identification code can be identified using an image sensor. The image sensor can be disposed on a transport device and coupled to a control device and / or a processing device within the transport device. When the image sensor is coupled to the processing device in the transport device, the processing device can control the image sensor to identify the identification code (e.g., a first identification code, a second identification code) to obtain at least one frame of image corresponding to the identification code. When the image sensor is coupled to a control device, the control device can control the image sensor to identify the identification code to obtain at least one frame of image corresponding to the identification code. When the image sensor is coupled to both the control device and the processing device in the transport device, the control device can generate a control command and send it to the transport device. Upon receiving the control command, the transport device, in response to the control command, controls the image sensor to identify the identification code through the processing device to obtain at least one frame of image corresponding to the identification code. This application does not limit the scope of the embodiments described herein.

[0118] S3013a. Based on the last frame image corresponding to the first identification code acquired at the first moment, determine the first actual position of the handling equipment, and based on the first frame image corresponding to the second identification code acquired at the second moment, determine the second actual position of the handling equipment.

[0119] For example, the first identification code in the last frame image can be identified, and the first actual position corresponding to the handling equipment can be determined based on the identification result. The second identification code in the first frame image can be identified, and the second actual position corresponding to the handling equipment can be determined based on the identification result.

[0120] It should be noted that if the last frame image corresponding to the first identifier cannot be successfully identified due to occlusion or lighting issues, the image most recent to the last frame image corresponding to the first identifier can be designated as the new last frame image. Similarly, if the first frame image corresponding to the second identifier cannot be successfully identified due to occlusion or lighting issues, the image most recent to the first frame image corresponding to the second identifier can be designated as the new first frame image.

[0121] like Figure 5 As shown, in some embodiments, S3013a may include S501-S502.

[0122] S501. Determine the first distance between the first identifier code and the handling device in the last frame image, and determine the first actual position based on the position information of the first identifier code in the global coordinate system and the first distance.

[0123] In some embodiments, the first actual position refers to the coordinates of the transport device in a global coordinate system at a first moment. The global coordinate system can be a coordinate system constructed with any point in the historical area traversed by the transport device according to its travel path as the origin, the length direction of the transport device's travel path as the y-axis, and the direction perpendicular to the y-axis as the x-axis. It can be understood that the first distance is the distance between the first identifier code in the last frame of the image at the first moment and the current position of the transport device.

[0124] It should be noted that the global coordinate system can be constructed by the transport equipment based on the current position information and travel path of the transport equipment, or it can be constructed by the control device based on the current position information and travel path of the transport equipment. This application embodiment does not limit this.

[0125] In some embodiments, the first distance refers to the distance between the first identifier and the transport device in the last frame image.

[0126] For example, the first distance between the first identifier and the handling equipment can be determined based on the pixel value corresponding to the first identifier in the last frame image. The first distance between the first identifier and the handling equipment can refer to the distance between the center point of the first identifier and the center point of the handling equipment.

[0127] In some embodiments, the identification codes in the warehousing system can be assigned corresponding code values, with different code values ​​for different identification codes. In some application scenarios, the identification codes can be identified to determine their code values, and their positions in the global coordinate system can be determined based on these code values.

[0128] For example, the first identifier code in the last frame of the image is identified to obtain the code value corresponding to the first identifier code; then, the position information of the first identifier code in the global coordinate system can be determined based on the code value of the first identifier code. The position information of the first identifier code in the global coordinate system can refer to the coordinates of the first identifier code in the global coordinate system. Based on the coordinates of the first identifier code in the global coordinate system and the first distance between the first identifier code and the handling equipment, the coordinates of the handling equipment in the global coordinate system at the first moment (i.e., the first actual position) can be obtained.

[0129] In some embodiments, the last frame image may include one or more identifier codes; that is, the first identifier code may include one or more identifier codes. This application does not limit this. When the last frame image includes one identifier code, the identifier code in the last frame image can be identified to determine the position of the first identifier code in the global coordinate system. When the last frame image includes multiple identifier codes, the distance between each identifier code and the handling device can be determined based on the pixel values ​​of each identifier code, and the identifier code closest to the handling device among the multiple identifier codes can be identified to determine the position of the first identifier code in the global coordinate system.

[0130] S502. Determine the second distance between the second identifier code and the transport device in the first frame image, and determine the second actual position based on the position information of the second identifier code in the global coordinate system and the second distance.

[0131] In some embodiments, the second actual position refers to the coordinates of the transport device in the global coordinate system at the second time. The position information of the second identifier in the global coordinate system refers to the coordinates of the second identifier in the global coordinate system, and the second distance refers to the distance between the second identifier and the transport device in the first frame image. It can be understood that the second distance refers to the distance between the second identifier and the current position of the transport device in the first frame image.

[0132] It should be noted that the method for determining the second distance between the second identifier and the transport device in the first frame image, and the method for determining the second actual position based on the position information of the second identifier in the global coordinate system and the second distance, is similar to S501, and will not be described again here.

[0133] S3014a. Determine the actual movement distance based on the second actual position and the first actual position.

[0134] In some embodiments, the Euclidean distance between the second actual position and the first actual position can be determined, and the Euclidean distance between the second actual position and the first actual position can be determined as the actual moving distance of the conveying device.

[0135] For example, the Euclidean distance between the second actual position and the first actual position can be determined using the Euclidean distance formula based on the coordinate difference between the two positions. The Euclidean distance formula is existing technology and will not be elaborated upon here.

[0136] like Figure 6 As shown, in some embodiments, S301 may include S3011b-S3013b.

[0137] S3011b: Obtain the third actual position of the transport equipment determined at the third moment.

[0138] In some embodiments, the third time refers to the time when the transport equipment arrives within the first preset distance range corresponding to the starting point of the target path segment. The first preset distance range refers to a spatial area centered on the starting point of the target path segment, and is a preset value that can be set according to actual needs. This application does not limit the value of the first preset distance range in its embodiments.

[0139] For example, the fact that the transport equipment reaches the first preset distance range corresponding to the starting point of the target path segment means that the transport equipment has reached the vicinity of the starting point of the target path segment, at which point the third actual position of the transport equipment can be determined.

[0140] In some embodiments, the third actual position of the transport equipment at a third moment can be determined by a sensor. The sensor can be a lidar or an IMU. This application does not limit this. The following embodiments use a lidar sensor as an example for illustrative purposes.

[0141] For example, during the movement of the transport equipment along the travel path, the transport equipment can continuously match with the warehousing system using LiDAR, and determine the moment when the transport equipment arrives near the starting point of the target path segment as the third moment, and determine the position of the transport equipment in the warehousing system as the third actual position of the transport equipment. The position of the transport equipment in the warehousing system is the coordinate of the transport equipment in the global coordinate system.

[0142] S3012b: Obtain the fourth actual position of the transport equipment determined at the fourth moment.

[0143] In some embodiments, the fourth time refers to the time when the transport equipment arrives at the end of the target path segment within a second preset distance range. The second preset distance range refers to a spatial area centered on the end of the target path segment, and is a preset value that can be set according to actual needs. This application does not limit the value of the second preset distance range in its embodiments.

[0144] For example, the second preset distance range corresponding to the end of the target path segment means that the transport equipment has reached the vicinity of the end of the target path segment, at which point the fourth actual position of the transport equipment can be determined.

[0145] It should be noted that the method for obtaining the fourth actual position of the transport device determined at the fourth moment in this embodiment is similar to that in S3012b, and will not be described again here.

[0146] In some embodiments, a sensor (e.g., a lidar) may be mounted on the handling equipment and coupled to a control device and / or a processing device within the handling equipment. When the lidar is coupled to the processing device in the handling equipment, the processing device can control the lidar to match with the storage system to determine the actual position of the handling equipment (e.g., a third actual position, a fourth actual position). When the lidar is coupled to the control device, the control device can control the lidar to match with the storage system to determine the actual position of the handling equipment. When the lidar is coupled to both the control device and the processing device in the handling equipment, the control device can generate control commands and send them to the handling equipment. Upon receiving the control commands, the handling equipment, in response, controls the lidar to match with the storage system via the processing device to determine the actual position of the handling equipment. This application does not limit the scope of the embodiments described herein.

[0147] S3013b: Determine the actual movement distance based on the fourth actual position and the third actual position.

[0148] In some embodiments, the Euclidean distance between the fourth actual position and the third actual position can be determined, and the Euclidean distance between the fourth actual position and the third actual position can be determined as the actual moving distance of the conveying device.

[0149] For example, the Euclidean distance between the fourth and third actual positions can be determined using the Euclidean distance formula based on the coordinate difference between the fourth and third actual positions. The Euclidean distance formula is existing technology and will not be elaborated upon here.

[0150] It should be noted that, in this embodiment, the actual moving distance of the handling equipment can be determined using a single sensor. For example, an image sensor or a lidar can be used to determine the actual moving distance. In this embodiment, multiple sensors can also be used to determine the actual moving distance of the handling equipment. For example, an image sensor can be used to execute steps S3011a-S3014a to determine a first actual moving distance of the handling equipment, and a lidar can be used to execute steps S3011b-S3013b to determine a second actual moving distance; then, the actual moving distance of the handling equipment is determined based on the first and second actual moving distances. The method for determining the actual moving distance of the handling equipment is not limited in this embodiment.

[0151] For example, the first actual travel distance and the second actual travel distance can be weighted and fused to obtain the actual travel distance of the handling equipment. For instance, a first product between a preset first weighted value and the first actual travel distance is determined, a second product between a preset second weighted value and the second actual travel distance is determined, and the sum of the first product and the second product is determined as the actual travel distance of the handling equipment.

[0152] As another example, the difference between a first actual travel distance and a second actual travel distance can be determined, and the actual travel distance of the conveying device can be determined from the first and second actual travel distances based on the difference. For example, if the difference between the first and second actual travel distances is less than a preset difference threshold, the first actual travel distance is determined as the actual travel distance of the conveying device. If the difference between the first and second actual travel distances is greater than or equal to the preset difference threshold, the second actual travel distance is determined as the actual travel distance of the conveying device.

[0153] It is understood that when identification codes are set in the warehousing system, the actual moving distance of the handling equipment can be obtained by executing S3011a-S3014a; in scenarios where identification codes are not set in the warehousing system, or where the identification codes in the warehousing system are obscured, the actual moving distance of the handling equipment can be obtained by executing S3011b-S3013b. Therefore, the embodiments of this application are applicable to multiple application scenarios, improving the applicability of the embodiments of this application.

[0154] S302. Based on the actual moving distance, as well as the operating status information and theoretical moving distance, determine the target calibration coefficient corresponding to the handling equipment.

[0155] In some embodiments, the operating status information includes at least one of the following: tire hardness of the handling equipment, task information corresponding to the handling equipment, and handling status corresponding to the handling equipment.

[0156] For example, the tire hardness of different models of handling equipment can be the same or different. The tire hardness of each handling equipment can be preset in the control device and / or the handling device of the handling equipment. The handling status corresponding to the handling equipment is used to indicate the current load status of the handling equipment; for example, the handling status corresponding to the handling equipment can include a loaded status and an unloaded status. The task information corresponding to the handling equipment is used to indicate the current task execution operation stage of the handling equipment; for example, the task information corresponding to the handling equipment can include returning the target object and acquiring the target object; where returning the target object means that the handling equipment puts the target object back on the handling equipment to the target location; acquiring the target object means that the handling equipment moves the target object at the target location to the handling equipment.

[0157] In some implementations, the handling status of the handling equipment can be determined by the relevant structures or devices installed on the handling equipment.

[0158] For example, the handling state of the handling equipment can be determined based on sensors (e.g., pressure sensors) installed on the handling equipment; it can also be determined based on mechanical structures (e.g., lifting mechanisms) installed on the handling equipment. This application does not limit this approach.

[0159] In some embodiments, when a pressure sensor is provided on the handling equipment, the pressure value output by the pressure sensor is acquired. If the pressure value is greater than or equal to a preset pressure threshold, the handling state is determined to be a loaded state. If the pressure value is less than the preset pressure threshold, the handling state is determined to be an unloaded state. The preset pressure threshold is pre-set in the control device and / or the processing device within the handling equipment, and can be set according to actual needs. This application does not limit this aspect.

[0160] In some embodiments, when a lifting mechanism is provided on the handling equipment, the positional information of the lifting mechanism is acquired. If the positional information indicates that the height of the lifting mechanism is higher than a preset height threshold, the handling state is determined to be a loaded state. If the positional information indicates that the height of the lifting mechanism is lower than the preset height threshold, the handling state is determined to be an unloaded state. The preset height threshold is preset within the control device and / or the processing device in the handling equipment, and can be set according to actual needs. This application does not limit this aspect.

[0161] In some embodiments, the theoretical travel distance refers to the theoretical distance that the transport equipment will travel along the target path segment in the travel path. The theoretical travel distance of the transport equipment can be determined by sensors. These sensors can be wheel odometers or motor encoders. This application does not limit the specific type of sensor. The following embodiments will use the determination of the theoretical travel distance of the transport equipment using a wheel odometer as an example for illustrative purposes.

[0162] For example, the number of rotations of the transport equipment's wheels during its journey along the target path segment can be determined using a wheel odometer. Then, based on the number of rotations and a preset circumference of the transport equipment's wheels, the theoretical travel distance of the transport equipment can be determined. For instance, the theoretical travel distance can be determined by multiplying the number of rotations by the preset circumference of the transport equipment's wheels.

[0163] In some embodiments, the target calibration coefficient is a parameter used to correct the wheel diameter of the traveling wheels of the conveying equipment.

[0164] like Figure 7 As shown, in some embodiments, S302 may include S3021-S3023.

[0165] S3021. Based on the tire hardness of the handling equipment and / or the task information corresponding to the handling equipment, determine the reference calibration coefficient corresponding to the handling equipment.

[0166] In some embodiments, the reference calibration coefficient is a basic parameter used to correct the wheel diameter of the traveling wheels of the handling equipment.

[0167] For example, the larger the reference calibration coefficient, the larger the target calibration coefficient; the smaller the reference calibration coefficient, the smaller the target calibration coefficient.

[0168] In some embodiments, determining the reference calibration coefficient corresponding to the handling equipment based on the tire hardness of the handling equipment and / or the task information corresponding to the handling equipment includes: when the tire hardness is less than or equal to a preset hardness threshold and the task information is returning the target object, or when the tire hardness is greater than the preset hardness threshold, determining a first preset value as the reference calibration coefficient; when the tire hardness is less than or equal to the preset hardness threshold and the task information is acquiring the target object, determining a second preset value as the reference calibration coefficient. The first preset value is less than the second preset value, and both the first and second preset values ​​can be set according to actual needs; this application embodiment does not limit this.

[0169] For example, the relationship between the tire hardness of the handling equipment and a preset hardness threshold is determined. When the tire hardness of the handling equipment is less than or equal to the preset hardness threshold, it means that the tires of the handling equipment's traveling wheels are prone to deformation; in this case, the task information corresponding to the handling equipment can be determined. When the task information corresponding to the handling equipment is to acquire a target object, it means that the load on the handling equipment will increase, i.e., the tires of the handling equipment's traveling wheels will deform or deform more severely; therefore, a second preset value is determined as a reference calibration coefficient. When the task information corresponding to the handling equipment is to return a target object, it means that the load on the handling equipment will decrease, i.e., the tires of the handling equipment's traveling wheels will deform less or not at all; therefore, a first preset value is determined as a reference calibration coefficient. When the tire hardness of the handling equipment is greater than the preset hardness threshold, it means that the tires of the handling equipment's traveling wheels are not prone to deformation; in this case, a first preset value is determined as a reference calibration coefficient.

[0170] S3022. Based on the number of wheel diameter calibrations of the handling equipment, determine the calibration weight coefficient corresponding to the target path segment.

[0171] In some embodiments, the wheel diameter calibration count of the transport equipment refers to the number of times the transport equipment completes wheel diameter calibration. The calibration weighting coefficient is used to define the correction strength of the wheel diameter when the transport equipment completes the journey of the target path segment.

[0172] For example, the calibration weight coefficients for different path segments can be the same or different. For instance, the calibration weight coefficient for the target path segment can be determined based on the number of wheel diameter calibrations performed by the handling equipment. Alternatively, the calibration weight coefficient for the target path segment can be determined based on the handling status of the handling equipment. This application does not limit this approach.

[0173] In some embodiments, the number of wheel diameter calibrations of the conveying equipment is determined, and based on the number of wheel diameter calibrations of the conveying equipment, the calibration weight coefficient corresponding to the target path segment is determined.

[0174] For example, in order to reduce the error of a single wheel diameter correction of the handling equipment, the calibration weight coefficient can be gradually reduced as the number of wheel diameter calibrations of the handling equipment increases, so as to avoid over-correction.

[0175] In some embodiments, determining the calibration weight coefficient corresponding to the target path segment based on the number of wheel diameter calibrations of the handling equipment may include: when the number of wheel diameter calibrations is less than a preset threshold, determining a preset initial weight coefficient as the calibration weight coefficient; when the number of wheel diameter calibrations is greater than or equal to the preset threshold, successively reducing the initial weight coefficient based on a preset weight reduction value to obtain the calibration weight coefficient.

[0176] In some embodiments, the wheel diameter calibration count for the transport equipment refers to the number of times the transport equipment completes wheel diameter calibration. The preset count threshold, initial weighting coefficient, and preset weight reduction value are all preset within the control device and / or the processing device in the transport equipment. These parameters can be set according to actual needs. For example, in some application scenarios, to avoid calibration failure leading to error accumulation during subsequent travel, the calibration weighting coefficient can be set to be greater than or equal to 0. In other application scenarios, to avoid reverse correction, the calibration weighting coefficient can be set to a positive number. This application does not limit this. The initial weighting coefficient can range from 1.0 to 0.1.

[0177] In some embodiments, if the preset number threshold is set to 1, then if the number of wheel diameter calibrations of the conveying equipment is less than 1, it means that the wheel diameter calibration has not been completed before the conveying equipment travels along the target path segment. In this case, in order to make the wheel diameter of the traveling wheel of the conveying equipment approach the actual wheel diameter as soon as possible, the initial weight coefficient can be determined as the calibration weight coefficient.

[0178] For example, suppose the travel path includes multiple path segments, namely: the path segment from point A to point B (AB), the path segment from point B to point C (BC), and the path segment from point C to point D (CD); the initial weight coefficient is 1.0, the preset reduction weight value is 0.1, the preset number of calibrations threshold is 1, and the initial number of wheel diameter calibrations for the transport equipment is 0. When the transport equipment travels along AB to point B, i.e., when the target path segment is AB, the transport equipment will perform its first wheel diameter calibration; at this time, the number of wheel diameter calibrations for the transport equipment will be equal to 1, and the calibration weight coefficient will be the initial weight coefficient of 1.0.

[0179] For example, if the number of wheel diameter calibrations of the conveying equipment is greater than or equal to a preset threshold, it means that the wheel diameter calibration has been completed before the conveying equipment travels along the target path segment. In this case, in order to reduce the error of a single wheel diameter correction of the conveying equipment, the initial standard weight coefficient can be reduced successively with a preset reduction value each time to obtain the calibration weight coefficient.

[0180] For example, suppose the travel path includes multiple path segments: path segment from point A to point B (AB), path segment from point B to point C (BC), and path segment from point C to point D (CD). The initial weight coefficient is 1.0, the preset reduction value is 0.1, the preset number of calibrations is 1, and the initial number of wheel diameter calibrations for the transport equipment is 0. When the transport equipment travels along AB to point B, it will perform a wheel diameter calibration. Upon completion of the wheel diameter calibration, the number of wheel diameter calibrations for the transport equipment will be updated from 0 to 1, ensuring that the number of wheel diameter calibrations is greater than or equal to the preset number of calibrations threshold. Thus, when the transport equipment travels along BC, i.e., the target path segment is BC, reducing the initial weight coefficient by 0.1 results in a calibration weight coefficient of 0.9.

[0181] Understandably, when the number of wheel diameter calibrations is less than a preset threshold, setting the initial weighting coefficient as the calibration weighting coefficient allows the obtained equivalent wheel diameter of the handling equipment to quickly approach the actual wheel diameter, reducing error accumulation and improving the movement accuracy of subsequent handling equipment. When the number of wheel diameter calibrations is greater than or equal to the preset threshold, successively reducing the initial weighting coefficient to obtain the calibration weighting coefficient can reduce the error of a single wheel diameter correction of the handling equipment and avoid over-correction.

[0182] In some embodiments, when the handling state of the handling equipment changes from a loaded state to an unloaded state, or from an unloaded state to a loaded state, the calibration weight coefficient is reset to a preset initial weight coefficient.

[0183] For example, when the handling state of the handling equipment changes from a loaded state to an unloaded state, or from an unloaded state to a loaded state, it means that the handling state of the handling equipment has changed. At this time, the calibration weight coefficient can be reset to the preset initial weight coefficient.

[0184] S3023. Determine the target calibration coefficient based on the actual moving distance, theoretical moving distance, reference calibration coefficient, and calibration weight coefficient.

[0185] In some embodiments, determining the target calibration coefficient based on the actual travel distance, the theoretical travel distance, the reference calibration coefficient, and the calibration weight coefficient may include: determining the distance ratio between the theoretical travel distance and the actual travel distance, and determining the target calibration coefficient based on the distance ratio, the calibration weight coefficient, and the reference calibration coefficient.

[0186] In some embodiments, the distance ratio refers to the ratio between the theoretical distance traveled and the actual distance traveled.

[0187] For example, the distance ratio can be obtained by using the theoretical distance to the actual distance; alternatively, the theoretical distance can be used as the numerator and the actual distance as the denominator to obtain the corresponding formula, and this formula can be used as the distance ratio.

[0188] In some embodiments, a target calibration coefficient can be determined based on a reference calibration coefficient, a theoretical travel distance, an actual travel distance, and a calibration weight coefficient, wherein the target calibration coefficient is related to the reference calibration coefficient and the calibration weight coefficient.

[0189] The target calibration coefficient can be determined using Formula 1:

[0190] X new =XX*(1-M / N)*Y formula 1

[0191] Among them, X new X represents the target calibration coefficient, M represents the reference calibration coefficient, N represents the theoretical movement distance, and Y represents the actual movement distance.

[0192] For example, after obtaining the distance ratio M / N, the first difference between 1 and M / N is determined; then the difference is multiplied by the calibration weight coefficient to obtain the corresponding product; then the target calibration coefficient is obtained by subtracting the product between the reference calibration coefficient and the reference calibration coefficient.

[0193] S303. Based on the target calibration coefficient, calibrate the wheel diameter to be calibrated corresponding to the traveling wheel of the handling equipment to obtain the equivalent wheel diameter.

[0194] In some embodiments, the equivalent wheel diameter is the wheel diameter of the handling equipment after wheel diameter calibration.

[0195] In some embodiments, calibrating the wheel diameter to be calibrated based on the target calibration coefficient to obtain the equivalent wheel diameter corresponding to the driving wheel includes: multiplying the target calibration coefficient by the wheel diameter to be calibrated to obtain the equivalent wheel diameter corresponding to the driving wheel.

[0196] For example, after obtaining the target calibration coefficient by executing S301-S302, the product between the target calibration coefficient and the wheel diameter to be calibrated can be determined as the equivalent wheel diameter at the second moment. That is, if the target calibration coefficient has been determined, the equivalent wheel diameter can be calculated by equivalent wheel diameter = wheel diameter to be calibrated * wheel diameter calibration coefficient.

[0197] It is understood that the embodiments of this application can dynamically correct the wheel diameter of the transport equipment's wheels during the process of the transport equipment traveling along the travel path, thereby reducing the position estimation deviation of the transport equipment caused by tire deformation and improving the position estimation accuracy of the transport equipment.

[0198] To improve the accuracy of the actual travel distance obtained, the wheel diameter calibration method for handling equipment provided in this application embodiment may further include: compensating the initial wheel diameter corresponding to the traveling wheel of the handling equipment based on the wheel diameter compensation coefficient to obtain the wheel diameter to be calibrated.

[0199] In some embodiments, the initial wheel diameter refers to the theoretical wheel diameter before the tire is subjected to ideal conditions (e.g., no load, no deformation, standard tire pressure). The wheel diameter compensation factor is a parameter used to correct the initial wheel diameter. This wheel diameter compensation factor is related to the operating status information of the handling equipment.

[0200] For example, the wheel diameter compensation coefficient can be multiplied by the initial wheel diameter to obtain the product between the wheel diameter compensation coefficient and the initial wheel diameter, and this product can be determined as the wheel diameter to be calibrated. That is, the wheel diameter to be calibrated can be calculated as wheel diameter to be calibrated = wheel diameter compensation coefficient * initial wheel diameter, or it can be calculated as wheel diameter to be calibrated = (1 + wheel diameter compensation coefficient) * initial wheel diameter. The embodiments of this application do not limit this.

[0201] In some embodiments, the wheel diameter compensation coefficient can be determined based on the tire hardness of the handling equipment and / or the handling state corresponding to the handling equipment.

[0202] In some embodiments, determining the wheel diameter compensation coefficient based on the tire hardness of the handling equipment and / or the handling state corresponding to the handling equipment includes: when the tire hardness is less than or equal to a preset hardness threshold and the handling state is determined to be a loaded state, determining a third preset value as the wheel diameter compensation coefficient; when the tire hardness is greater than the preset hardness threshold, or when the handling state is determined to be an unloaded state, determining a fourth preset value as the wheel diameter compensation coefficient; wherein the third preset value is greater than the fourth preset value.

[0203] In some embodiments, the preset hardness threshold, the third preset value, and the fourth preset value are all preset within the processing device of the control device and / or the handling equipment. The preset hardness threshold, the third preset value, and the fourth preset value can be set according to actual needs. This application does not limit this. Specifically, the greater the tire hardness, the less prone the tire is to deformation, the smaller the tire compensation coefficient, and the smaller the wheel diameter to be calibrated; conversely, the lower the tire hardness, the more prone the tire is to deformation, the larger the tire compensation coefficient, and the larger the wheel diameter to be calibrated.

[0204] For example, since the third preset value is greater than the fourth preset value, when the tire hardness is less than or equal to the preset hardness threshold and the handling state is determined to be a loaded state, it means that the tires of the traveling wheels of the handling equipment are prone to deformation. In this case, the third preset value can be determined as the wheel diameter compensation coefficient. Thus, the wheel diameter to be calibrated is larger, which can avoid the handling equipment having residual speed when moving to the target position (e.g., the start or end of the target path segment), affecting the actual moving distance obtained by the handling equipment. When the tire hardness is greater than the preset hardness threshold or the handling state is determined to be an unloaded state, it means that the tires of the traveling wheels of the handling equipment are not prone to deformation. In this case, the fourth preset value can be determined as the wheel diameter compensation coefficient. Thus, the wheel diameter to be calibrated is smaller, which can avoid the handling equipment slowing down in advance, causing the handling equipment to move to the target position (e.g., the start or end of the target path segment) at a small speed, affecting the working efficiency of the handling equipment.

[0205] It is understood that the embodiments of this application compensate the initial wheel diameter based on the wheel diameter compensation coefficient to obtain the wheel diameter to be calibrated, and then calibrate the wheel diameter to be calibrated. This can avoid the residual speed of the handling equipment when it moves to the beginning or end of the target path segment, which would affect the acquisition of the actual moving distance of the handling equipment.

[0206] In some embodiments, in certain application scenarios, the actual load weight of the handling equipment can be determined by sensors (e.g., load cells). After determining the actual load weight, travel distance (length of the travel path), ground friction coefficient, and tire wear of the handling equipment, these parameters can be input into a pre-constructed mathematical model. The mathematical model then yields the tire deformation of the handling model, and the wheel diameter of the handling equipment is calibrated based on the current tire deformation. Specifically, the relationship between the tire deformation, travel distance, ground friction coefficient, tire wear, and load weight can be determined using experimental fixtures. Then, based on the determined relationship between the tire deformation, travel distance, ground friction coefficient, tire wear, and load weight, a mathematical model is constructed and trained. The input data of this mathematical model can be the actual load weight, travel distance, ground friction coefficient, and tire wear of the handling equipment, and the output data can be the tire deformation of the handling equipment.

[0207] For example, because the actual travel distance of the transport equipment is less than its theoretical travel distance when the tires deform, the transport equipment will move to the end of the travel path at a lower speed, thus reducing its efficiency. Furthermore, since the actual travel distance and calibration weight coefficient of the transport equipment can only be determined when it reaches the end of the target path segment, when the travel path includes multiple segments, if the transport equipment travels along the first segment, the tire deformation can be calculated using a mathematical model based on the pressure value detected by the pressure sensor on the transport equipment (i.e., the actual load weight), and the wheel diameter can be corrected accordingly. If the transport equipment travels along other segments, the wheel diameter correction can be completed by executing steps S301-S303. If the travel path includes a single segment, the tire deformation can be calculated using a mathematical model based on the pressure value detected by the pressure sensor on the transport equipment (i.e., the actual load weight), and the wheel diameter can be corrected accordingly.

[0208] Understandably, combining the wheel diameter correction method using S301-S303 with the wheel diameter correction method using a mathematical model can further improve the position estimation accuracy of the handling equipment and the movement accuracy of the handling equipment.

[0209] Based on the same inventive concept, this application also provides a wheel diameter calibration device for implementing the aforementioned wheel diameter calibration method for handling equipment. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more control module embodiments provided below can be found in the limitations of the wheel diameter calibration method for handling equipment described above, and will not be repeated here. Specifically, Figure 8 This is a schematic diagram of the structure of a wheel diameter calibration device for a handling equipment according to an embodiment of this application. Figure 8 As shown, the wheel diameter calibration device 80 for the conveying equipment includes:

[0210] The acquisition module 801 is configured to: acquire the actual travel distance of the conveying device according to the target path segment in the travel path; wherein the travel path includes at least one path segment, and the at least one path segment includes the target path segment;

[0211] The determining module 802 is configured to: determine the target calibration coefficient corresponding to the handling equipment based on the actual moving distance, the operating status information, and the theoretical moving distance; wherein, the operating status information includes at least one of the tire hardness of the handling equipment, the task information corresponding to the handling equipment, and the handling status corresponding to the handling equipment;

[0212] The calibration module 803 is configured to calibrate the wheel diameter to be calibrated corresponding to the traveling wheel of the conveying equipment based on the target calibration coefficient, so as to obtain the equivalent wheel diameter.

[0213] In some embodiments, the acquisition module 801 is further configured to: acquire the last frame image corresponding to the first identification code collected by the transport device at a first moment; wherein, the first moment refers to the moment when the transport device leaves the first point and the first identification code is collected for the last time; the first identification code is set at the first point, and the first point is the starting point of the target path segment; acquire the first frame image corresponding to the second identification code collected by the transport device at a second moment; wherein, the second moment refers to the moment when the transport device arrives at the second point and the second identification code is collected for the first time; the second identification code is set at the second point, and the second point is the ending point of the target path segment;

[0214] The determining module 802 is further configured to: determine a first actual position corresponding to the transport device based on the last frame image, and determine a second actual position corresponding to the transport device based on the first frame image; and determine the actual moving distance based on the second actual position and the first actual position.

[0215] In some embodiments, the determining module 802 is further configured to: determine a first distance between the first identifier and the transport device in the last frame image, and determine the first actual position based on the position information of the first identifier in the global coordinate system and the first distance; determine a second distance between the second identifier and the transport device in the first frame image, and determine the second actual position based on the position information of the second identifier in the global coordinate system and the second distance.

[0216] In some embodiments, the acquisition module 801 is further configured to: acquire the third actual position of the transport device determined by the transport device at a third time; wherein the third time is the time when the transport device arrives at the starting point of the target path segment within a first preset distance range; and acquire the fourth actual position of the transport device determined by the transport device at a fourth time; wherein the fourth time is the time when the transport device arrives at the ending point of the target path segment within a second preset distance range.

[0217] The determining module 802 is further configured to: determine the actual movement distance based on the fourth actual position and the third actual position.

[0218] In some embodiments, the determining module 802 is further configured to: determine a reference calibration coefficient corresponding to the transport equipment based on the tire hardness of the transport equipment and / or the task information corresponding to the transport equipment; determine a calibration weight coefficient corresponding to the target path segment based on the number of wheel diameter calibrations of the transport equipment; and determine the target calibration coefficient based on the actual travel distance, the theoretical travel distance, the reference calibration coefficient, and the calibration weight coefficient.

[0219] In some embodiments, the determining module 802 is further configured to: determine a first preset value as the reference calibration coefficient when the tire hardness is less than or equal to a preset hardness threshold and the task information is returning the target object, or when the tire hardness is greater than the preset hardness threshold; and determine a second preset value as the reference calibration coefficient when the tire hardness is less than or equal to the preset hardness threshold and the task information is acquiring the target object; wherein the first preset value is less than the second preset value.

[0220] In some embodiments, the determining module 802 is further configured to: determine the preset initial weight coefficient as the calibration weight coefficient when the number of wheel diameter calibrations is less than a preset number threshold; and reduce the initial weight coefficient successively based on a preset weight reduction value to obtain the calibration weight coefficient when the number of wheel diameter calibrations is greater than or equal to the preset number threshold.

[0221] In some embodiments, the determining module 802 is further configured to: reset the calibration weight coefficient to the preset initial weight coefficient when the handling state corresponding to the handling equipment changes from a loaded state to an unloaded state, or from an unloaded state to a loaded state.

[0222] In some embodiments, the determining module 802 is further configured to: determine the distance ratio between the theoretical travel distance and the actual travel distance; and determine the target calibration coefficient based on the distance ratio, the calibration weight coefficient, and the reference calibration coefficient.

[0223] In some embodiments, the determining module 802 is further configured to: determine the target calibration coefficient using the following formula:

[0224] X new =XX*(1-M / N)*Y

[0225] Among them, X new X represents the target calibration coefficient, M represents the reference calibration coefficient, N represents the theoretical movement distance, and Y represents the actual movement distance.

[0226] In some embodiments, the determining module 802 is further configured to: multiply the target calibration coefficient by the wheel diameter to be calibrated to obtain the equivalent wheel diameter corresponding to the driving wheel.

[0227] In some embodiments, the wheel diameter calibration device 80 for handling equipment provided in this application further includes a compensation module, configured to: compensate the initial wheel diameter corresponding to the traveling wheel of the handling equipment based on a wheel diameter compensation coefficient to obtain the wheel diameter to be calibrated; wherein the wheel diameter compensation coefficient is related to the operating status information of the handling equipment.

[0228] In some embodiments, the determining module 802 is further configured to: determine the wheel diameter compensation coefficient based on the tire hardness of the transport equipment and / or the transport state corresponding to the transport equipment.

[0229] In some embodiments, the determining module 802 is further configured to: determine a third preset value as the wheel diameter compensation coefficient when the tire hardness is less than or equal to a preset hardness threshold and the handling state is determined to be a loaded state; and determine a fourth preset value as the wheel diameter compensation coefficient when the tire hardness is greater than the preset hardness threshold or the handling state is determined to be an unloaded state; wherein the third preset value is greater than the fourth preset value.

[0230] In some embodiments, the determining module 802 is further configured to: when a pressure sensor is provided on the conveying device, acquire the pressure value output by the pressure sensor, and determine the conveying state as a load state when the pressure value is greater than or equal to a preset pressure threshold; when a lifting mechanism is provided on the conveying device, acquire the position information of the lifting mechanism, and determine the conveying state as a load state when the position information indicates that the height of the lifting mechanism is higher than a preset height threshold.

[0231] For details regarding the specific limitations and beneficial effects of wheel diameter calibration devices for handling equipment, please refer to the limitations of wheel diameter calibration methods for handling equipment mentioned above, which will not be repeated here.

[0232] like Figure 9The diagram shown illustrates the internal structure of a robot according to this embodiment. This robot, also known as a handling device, includes a processor, memory, communication interface, display screen, and input device connected via a system bus. The robot's processor provides computational and control capabilities. The robot's memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The robot's communication interface is used for wired or wireless communication with external terminals. Wireless communication can be achieved through Wi-Fi, carrier networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a wheel diameter calibration method for the handling device. The robot's display screen can be an electronic display screen, an LCD screen, or an e-ink display screen. The robot's input device can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the robot's shell, or an external keyboard, touchpad, or mouse.

[0233] like Figure 10 The diagram shown is a schematic representation of the internal structure of an electronic device provided in this embodiment. This electronic device can be a server. It includes a processor, memory, and a network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The database stores height parameters and 3D map data. The network interface communicates with external terminals via a network connection. When executed by the processor, the computer program implements a wheel diameter calibration method for transport equipment.

[0234] Those skilled in the art will understand that Figure 9 and Figure 10 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the robots and electronic devices to which the present application is applied. Specific robots and electronic devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0235] In a specific implementation, this application provides an electronic device, including a processor and a memory, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, it implements the steps of the method in any of the above embodiments.

[0236] In a specific implementation, embodiments of this application provide a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the method in any of the above embodiments.

[0237] In a specific implementation, this application provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the method in any of the above embodiments.

[0238] In a specific implementation, this application provides a computer program that, when executed by a processor, implements the steps of the method in any of the above embodiments.

[0239] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in this application may include at least one of relational databases and non-relational databases. Non-relational databases may include, but are not limited to, blockchain-based distributed databases, etc. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, data processing logic devices based on quantitative computation, etc., etc., and are not limited to these.

[0240] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0241] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for calibrating the wheel diameter of a handling equipment, characterized in that, The method includes: The actual distance traveled by the transport equipment along the target path segment in the travel path is obtained; wherein the travel path includes at least one path segment, and the at least one path segment includes the target path segment; Based on the actual travel distance, as well as the operating status information and the theoretical travel distance, the target calibration coefficient corresponding to the handling equipment is determined; wherein, the operating status information includes at least one of the following: the tire hardness of the handling equipment, the task information corresponding to the handling equipment, and the handling status corresponding to the handling equipment; Based on the target calibration coefficient, the wheel diameter to be calibrated corresponding to the traveling wheel of the conveying equipment is calibrated to obtain the equivalent wheel diameter.

2. The method according to claim 1, characterized in that, The acquisition of the actual travel distance of the conveying device along the target path segment includes: The last frame image corresponding to the first identification code collected by the handling equipment at the first moment is obtained; wherein, the first moment refers to the moment when the handling equipment leaves the first point and the first identification code is collected for the last time; the first identification code is set at the first point, and the first point is the starting point of the target path segment; The first frame image corresponding to the second identification code collected by the transport equipment at a second moment is obtained; wherein, the second moment refers to the moment when the transport equipment arrives at the second point and collects the second identification code for the first time; the second identification code is set at the second point, and the second point is the end point of the target path segment; Based on the last frame image, the first actual position corresponding to the handling equipment is determined, and based on the first frame image, the second actual position corresponding to the handling equipment is determined. The actual movement distance is determined based on the second actual position and the first actual position.

3. The method according to claim 2, characterized in that, The step of determining the first actual position of the handling equipment based on the last frame image, and determining the second actual position of the handling equipment based on the first frame image, includes: Determine the first distance between the first identifier and the transport device in the last frame image, and determine the first actual position based on the position information of the first identifier in the global coordinate system and the first distance; Determine the second distance between the second identifier code and the transport device in the first frame image, and determine the second actual position based on the position information of the second identifier code in the global coordinate system and the second distance.

4. The method according to claim 1, characterized in that, The acquisition of the actual travel distance of the conveying device along the target path segment includes: The third actual position of the transport equipment is determined at a third time; wherein, the third time is the time when the transport equipment arrives at the starting point of the target path segment within a first preset distance range; The fourth actual position of the transport equipment is determined at the fourth moment; wherein, the fourth moment is the moment when the transport equipment reaches the end of the target path segment within the second preset distance range; The actual movement distance is determined based on the fourth actual position and the third actual position.

5. The method according to claim 1, characterized in that, The determination of the target calibration coefficient corresponding to the handling equipment based on the actual movement distance, operating status information, and theoretical movement distance includes: Based on the tire hardness of the transport equipment and / or the task information corresponding to the transport equipment, determine the reference calibration coefficient corresponding to the transport equipment; Based on the number of wheel diameter calibrations of the transport equipment, determine the calibration weight coefficient corresponding to the target path segment; The target calibration coefficient is determined based on the actual movement distance, the theoretical movement distance, the reference calibration coefficient, and the calibration weight coefficient.

6. The method according to claim 5, characterized in that, The determination of the reference calibration coefficient corresponding to the handling equipment based on the tire hardness of the handling equipment and / or the task information corresponding to the handling equipment includes: When the tire hardness is less than or equal to a preset hardness threshold and the task information is the return of the target object, or when the tire hardness is greater than the preset hardness threshold, the first preset value is determined as the reference calibration coefficient. When the tire hardness is less than or equal to a preset hardness threshold and the task information is to acquire a target object, the second preset value is determined as the reference calibration coefficient; wherein, the first preset value is less than the second preset value.

7. The method according to claim 6, characterized in that, The step of determining the calibration weight coefficient corresponding to the target path segment based on the number of wheel diameter calibrations of the conveying equipment includes: If the number of wheel diameter calibrations is less than a preset threshold, the preset initial weighting coefficient is determined as the calibration weighting coefficient. If the number of wheel diameter calibrations is greater than or equal to a preset threshold, the initial weight coefficient is successively reduced based on a preset weight reduction value to obtain the calibration weight coefficient.

8. The method according to claim 7, characterized in that, The method further includes: When the handling state corresponding to the handling equipment changes from a loaded state to an unloaded state, or from an unloaded state to a loaded state, the calibration weight coefficient is reset to the preset initial weight coefficient.

9. The method according to any one of claims 5-8, characterized in that, Determining the target calibration coefficient based on the actual travel distance, the theoretical travel distance, the reference calibration coefficient, and the calibration weight coefficient includes: Determine the distance ratio between the theoretical distance traveled and the actual distance traveled; The target calibration coefficient is determined based on the distance ratio, the calibration weight coefficient, and the reference calibration coefficient.

10. The method according to claim 9, characterized in that, The target calibration coefficient is determined using the following formula: X new =X-X*(1-M / N)*Y Among them, X new X represents the target calibration coefficient, M represents the reference calibration coefficient, N represents the theoretical movement distance, and Y represents the actual movement distance.

11. The method according to claim 1, characterized in that, The step of calibrating the wheel diameter to be calibrated based on the target calibration coefficient to obtain the equivalent wheel diameter corresponding to the driving wheel includes: The target calibration coefficient is multiplied by the wheel diameter to be calibrated to obtain the equivalent wheel diameter corresponding to the traveling wheel.

12. The method according to claim 1, characterized in that, The method further includes: The initial wheel diameter corresponding to the traveling wheel of the conveying equipment is compensated based on the wheel diameter compensation coefficient to obtain the wheel diameter to be calibrated; wherein, the wheel diameter compensation coefficient is related to the operating status information of the conveying equipment.

13. The method according to claim 11, characterized in that, The method further includes: The wheel diameter compensation coefficient is determined based on the tire hardness of the transport equipment and / or the transport state corresponding to the transport equipment.

14. The method according to claim 13, characterized in that, Determining the wheel diameter compensation coefficient based on the tire hardness of the transport equipment and / or the transport state corresponding to the transport equipment includes: When the tire hardness is less than or equal to a preset hardness threshold and the handling state is determined to be a load state, the third preset value is determined as the wheel diameter compensation coefficient. When the tire hardness is greater than the preset hardness threshold, or when the transport state is determined to be an unloaded state, the fourth preset value is determined as the wheel diameter compensation coefficient; wherein, the third preset value is greater than the fourth preset value.

15. The method according to claim 14, characterized in that, Determining the transport state as a load state includes: When a pressure sensor is installed on the conveying equipment, the pressure value output by the pressure sensor is obtained, and if the pressure value is greater than or equal to a preset pressure threshold, the conveying state is determined to be a load state. When the conveying equipment is equipped with a lifting mechanism, the position and orientation information of the lifting mechanism is acquired. If the position and orientation information indicates that the height of the lifting mechanism is higher than a preset height threshold, the conveying state is determined to be a load state.

16. A wheel diameter calibration device for conveying equipment, characterized in that, The device includes: The acquisition module is configured to: acquire the actual distance traveled by the conveying device along the target path segment in the travel path; wherein the travel path includes at least one path segment, and the at least one path segment includes the target path segment; The determination module is configured to: determine the target calibration coefficient corresponding to the handling equipment based on the actual movement distance, the operating status information, and the theoretical movement distance; wherein, the operating status information includes at least one of the tire hardness of the handling equipment, the task information corresponding to the handling equipment, and the handling status corresponding to the handling equipment; The calibration module is configured to calibrate the wheel diameter to be calibrated corresponding to the traveling wheel of the conveying equipment based on the target calibration coefficient, so as to obtain the equivalent wheel diameter.

17. An electronic device, characterized in that, The method includes a memory and a processor, the memory storing a computer program, characterized in that the processor executes the computer program to implement the steps of the method according to any one of claims 1 to 15.

18. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 15.

19. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the steps of the method according to any one of claims 1 to 15.

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