CN112723054A - Robot-based freight transportation method and device and intelligent equipment - Google Patents
Robot-based freight transportation method and device and intelligent equipment Download PDFInfo
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- CN112723054A CN112723054A CN202110037770.3A CN202110037770A CN112723054A CN 112723054 A CN112723054 A CN 112723054A CN 202110037770 A CN202110037770 A CN 202110037770A CN 112723054 A CN112723054 A CN 112723054A
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- target floor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
- B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3415—Control system configuration and the data transmission or communication within the control system
- B66B1/3446—Data transmission or communication within the control system
- B66B1/3461—Data transmission or communication within the control system between the elevator control system and remote or mobile stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/10—Details with respect to the type of call input
- B66B2201/103—Destination call input before entering the elevator car
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/40—Details of the change of control mode
- B66B2201/403—Details of the change of control mode by real-time traffic data
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/40—Details of the change of control mode
- B66B2201/46—Switches or switchgear
- B66B2201/4607—Call registering systems
- B66B2201/4638—Wherein the call is registered without making physical contact with the elevator system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/40—Details of the change of control mode
- B66B2201/46—Switches or switchgear
- B66B2201/4607—Call registering systems
- B66B2201/4676—Call registering systems for checking authorization of the passengers
Abstract
The application is suitable for the technical field of robots, and provides a freight transportation method, a device and intelligent equipment based on a robot, and the method comprises the following steps: the robot acquires transportation map information, wherein the transportation map information comprises freight elevator position information and a target floor of goods transported by the robot; the robot acquires the current position information of the cargo accompanying personnel and estimates the arrival time of the cargo accompanying personnel to the target floor according to the current position information of the cargo accompanying personnel; the robot determines a target stop area of the robot on the target floor according to the arrival time; and the robot plans a path with the target parking area according to the freight elevator position information and moves to the target parking area according to the planned path. This application can realize nimble freight, improves freight efficiency.
Description
Technical Field
The application relates to the technical field of robots, in particular to a freight transportation method and device based on a robot and intelligent equipment.
Background
Some large manufacturing companies have frequent material ingress and egress, requiring warehouse logistics. At present, in floor warehouse logistics, goods need to be transported through an elevator. And in some enterprises with strict management, the goods elevator does not allow people to go upstairs along with the elevator, and under the normal condition, the nearby of the goods elevator can be provided with stairs or a person-used elevator, so that the goods can be conveniently used by the people following the elevator.
However, in the case where an abnormality occurs in a human elevator, there may occur a case where after the goods arrive at the destination floor by the freight elevator, the goods arrive at another floor with the elevator or stay for a long time to occupy the elevator due to no human operation for a long time. In theory, the following person can catch up from the stairs, but the person is physically wasted, and if the person is on a high floor, the speed of the following person getting up to the stairs is difficult to catch up with the speed of the elevator. The inability of the delivery vehicle and the person to reach the designated floor at the same time creates an obstacle to subsequent deliveries.
In summary, the existing freight transportation method has poor flexibility, not only consumes physical strength of personnel, but also has low freight transportation efficiency.
Disclosure of Invention
The embodiment of the application provides a robot-based freight transportation method, a robot-based freight transportation device and intelligent equipment, and can solve the problems of personnel physical strength consumption, low freight transportation efficiency and poor flexibility in the prior art.
In a first aspect, an embodiment of the present application provides a robot-based freight transportation method, including:
the robot acquires transportation map information, wherein the transportation map information comprises freight elevator position information and a target floor of goods transported by the robot;
the robot acquires the current position information of the cargo accompanying personnel and estimates the arrival time of the cargo accompanying personnel to the target floor according to the current position information of the cargo accompanying personnel;
the robot determines a target stop area of the robot on the target floor according to the arrival time;
and the robot plans a path with the target parking area according to the freight elevator position information and moves to the target parking area according to the planned path.
In a possible implementation manner of the first aspect, before the robot acquires transportation map information, the method includes:
the robot acquires and scans the two-dimensional code image and establishes connection with the server according to the scanning result;
based on the connection, the robot sends a goods order record to the server, so that the server performs identity authentication on the robot according to the goods order record and sends transportation map information to the robot after the identity authentication is passed;
the robot acquiring transportation map information specifically comprises:
and the robot receives the transportation map information sent by the server.
In a possible implementation manner of the first aspect, the transportation map information includes information about a position of a person using an elevator, and the estimating an arrival time of the cargo follower at the target floor according to the current position information of the cargo follower includes:
acquiring the running speed of an elevator for people and the moving speed of the cargo accompanying personnel;
determining a first time length according to the current position information of the goods accompanying person, the position information of the elevator for the person and the moving speed, wherein the first time length is the time required for the goods accompanying person to move from the current position to the elevator for the person;
determining a second time length according to the running speed of the elevator for the person and the target floor, wherein the second time length is the time required by the elevator for the person to run from the floor where the goods accompanying person is currently located to the target floor;
and estimating the arrival time of the cargo accompanying personnel to the target floor according to the first time length and the second time length.
In a possible implementation manner of the first aspect, the transportation map information includes stair position information, and the estimating, according to the current position information of the cargo follower, an arrival time of the cargo follower at the target floor includes:
acquiring the moving speed of the cargo accompanying personnel;
determining a third time length according to the current position information of the cargo accompanying person, the stair position information and the moving speed, wherein the third time length is the time required by the cargo accompanying person to move from the current position to the target floor;
and estimating the arrival time of the cargo accompanying personnel to the target floor according to the third time length.
In a possible implementation manner of the first aspect, the determining, by the robot, the target stop area of the robot at the target floor according to the arrival time includes:
if the time difference between the arrival time of the cargo accompanying person and the arrival time of the robot at the target floor is within a first preset time threshold range, determining a freight elevator entrance area of the target floor as a target stop area;
and if the time difference between the arrival time of the cargo accompanying personnel and the arrival time of the robot at the target floor is within a second preset time threshold range, determining a target parking area according to the transportation map information.
In a possible implementation manner of the first aspect, the determining a target stop area according to the transportation map information includes:
the robot determines that the area identification in the target floor corresponds to the area which can be stopped according to the area identification of each area of the target floor;
and the robot determines the area capable of parking as a target parking area.
In a possible implementation manner of the first aspect, after determining that the freight elevator hall area of the target floor is the target stop area if the time difference between the arrival time of the freight follower and the arrival time of the robot at the target floor is within a first preset time threshold, the method further includes:
when the time that the robot stops at the freight elevator entrance area of the target floor reaches a preset limited stop time threshold value and the freight accompanying personnel does not arrive at the target floor, the robot acquires the current running state of the elevator for people;
the robot judges whether the elevator for the person runs abnormally or not according to the current running state of the elevator for the person;
and if the elevator for the person runs abnormally, the robot determines a new target parking area according to the transportation map information.
In a possible implementation manner of the first aspect, the moving to the target parking area according to the planned path includes:
the robot moves to the target floor by the freight elevator;
after the robot reaches the target floor, adjusting the moving speed of the robot according to the arrival time of the cargo accompanying personnel;
and the robot moves to the target parking area at the adjusted moving speed according to the planned path.
In a second aspect, an embodiment of the present application provides a robot-based freight device, including:
the system comprises an information acquisition unit, a control unit and a control unit, wherein the information acquisition unit is used for acquiring transportation map information by a robot, and the transportation map information comprises freight elevator position information and a target floor of goods transported by the robot;
the time estimation unit is used for acquiring the current position information of the cargo accompanying personnel by the robot and estimating the arrival time of the cargo accompanying personnel to the target floor according to the current position information of the cargo accompanying personnel;
a landing area determining unit, configured to determine, by the robot, a target landing area of the robot on the target floor according to the arrival time;
and the freight moving unit is used for planning a path with the target parking area according to the freight elevator position information and moving the robot to the target parking area according to the planned path.
In a third aspect, an embodiment of the present application provides an intelligent device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor, when executing the computer program, implements the robot-based freight transportation method according to the first aspect.
In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the robot-based freight transportation method according to the first aspect.
In a fifth aspect, embodiments of the present application provide a computer program product, which, when run on a smart device, causes the smart device to perform the robot-based freight transportation method according to the first aspect.
In the embodiment of the application, transportation map information is acquired through a robot, the transportation map information comprises freight elevator position information and a target floor of goods transported by the robot, then current position information of goods accompanying personnel is acquired, arrival time of the goods accompanying personnel at the target floor is estimated according to the current position information of the goods accompanying personnel, the robot determines a target stop area of the robot at the target floor according to the arrival time, and finally the robot performs path planning according to the freight elevator position information and the target stop area and moves to the target stop area according to a planned path, so that flexible goods transportation can be realized. The robot is used for carrying the elevator to transport goods by itself, so that the physical strength of accompanying personnel is saved, and the goods transporting efficiency can be greatly improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a flowchart of an implementation of a robot-based shipping method according to an embodiment of the present disclosure;
fig. 2 is a specific implementation flow of authentication performed by a server on a robot in a robot-based freight transportation method according to an embodiment of the present application;
fig. 3 is a flowchart of an implementation of a robot estimating an arrival time of the cargo follower at the target floor in the robot-based freight transportation method according to the embodiment of the present application;
fig. 4 is another specific implementation flow of the robot estimating the arrival time of the cargo accompanying person to the target floor in the robot-based freight transportation method provided in the embodiment of the present application;
fig. 5 is a flowchart illustrating a specific implementation of step S103 in the robot-based freight method according to the embodiment of the present application;
fig. 6 is a flowchart of an implementation of the method for transporting goods based on a robot according to the present application, in which the robot moves to the target parking area according to a planned route;
fig. 7 is a block diagram of a robot-based transportation apparatus according to an embodiment of the present disclosure;
fig. 8 is a schematic diagram of an intelligent device provided in an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
The robot-based freight method provided by the embodiment of the application can be applied to an intelligent freight robot.
Fig. 1 shows an implementation process of a robot-based freight transportation method provided by an embodiment of the present application, where the method process includes steps S101 to S104. The specific realization principle of each step is as follows:
s101: the robot acquires transportation map information, wherein the transportation map information comprises freight elevator position information and a target floor of goods transported by the robot.
Since the material of some large manufacturing companies (first-party companies) is very frequently accessed, there are strict restrictions on the use and management of storage floors for the purpose of strict management, for example, different areas such as a goods parking area, a left-right side passage, etc. are planned by means of marked lines or stickers. In the embodiment of the present application, the transportation map information includes a digital map that describes in detail elevator position information, specific dimensions of floors, and area planning information.
In the embodiment of the application, the robot determines the target floor of the transported goods by acquiring the corresponding transportation map information. The target floors of the transportation map information acquired by the robots transporting different cargos may be different.
In some possible embodiments, the transportation map information corresponds to a type or a number of the goods transported by the robot.
In this embodiment, the robot may obtain the corresponding transportation map information from the first company in a wired or wireless manner.
As a possible embodiment of the present application, before the step S101 in which the robot acquires the transportation map information, the company a needs to authenticate the identity of the robot, and after the authentication of the robot is legal, the transportation map information corresponding to the robot is given to the robot. Fig. 2 shows a specific implementation process of the server performing identity authentication on the robot in the robot-based freight transportation method provided in the embodiment of the present application, which is detailed as follows:
a1: and the robot acquires and scans the two-dimensional code image and establishes connection with the server according to the scanning result.
In the embodiment of the application, a two-dimensional code image is arranged in a warehouse designated area of a first company and is used for the robot to establish communication connection with a server of the first company. The robot acquires and scans the two-dimensional code image set in the designated area of the warehouse and establishes connection with the server according to the scanning result.
In some embodiments, the two-dimensional code image is a two-dimensional code image that is replaced periodically.
A2: based on the connection, the robot sends a goods order record to the server, so that the server performs identity authentication on the robot according to the goods order record, and sends transportation map information to the robot after the identity authentication is passed.
In the embodiment of the application, the robot sends the goods order record to the server of the first company, and the server of the first company verifies the validity of the goods order record, so that the identity of the robot is authenticated.
In some embodiments, the server verifies whether the order time of the goods order record is within a valid time, and if the order time is within the valid time, the goods order record is determined to be valid, and the identity authentication of the robot is passed. And the server sends the transportation map information to the robot. And the robot receives the transportation map information sent by the server.
In some possible embodiments, the server transmits transportation map information corresponding to the goods order record to the robot.
In the embodiment of the application, the robot establishes remote connection with the server by scanning the two-dimensional code image, so that the connection efficiency and the connection safety of the robot and the server can be improved. And a wireless communication environment does not need to be arranged in a warehouse to communicate with the robot, so that the cost can be reduced. The access path is changed in a mode of replacing the two-dimensional code, and compared with a fixed access path, the possibility of being attacked by an external network can be reduced. Meanwhile, a special wired environment is not required to be provided by a warehouse, so that congestion, verification delay and the like caused when a plurality of robots need to be connected with a server are avoided.
S102: the robot acquires the current position information of the goods accompanying personnel, and estimates the arrival time of the goods accompanying personnel at the target floor according to the current position information of the goods accompanying personnel.
In a possible implementation mode, the robot is in communication connection with the mobile device of the goods accompanying person, the mobile device of the goods accompanying person is located in real time and feeds back the location information to the robot, and the robot acquires the current location information of the goods accompanying person based on the communication connection.
In another possible implementation manner, the robot prestores face images of the cargo followers, the robot is in communication connection with a plurality of cameras of a company A, the robot acquires images shot by the plurality of cameras, performs face recognition on the images, and determines position information of the cargo followers according to position information of the cameras corresponding to the images of the cargo followers.
As a possible implementation manner of the present application, the transportation map information includes information on a position of a person using an elevator, and the cargo accompanying person takes the person using the elevator to go to the target floor. Fig. 3 shows a specific implementation process of the robot estimating the arrival time of the cargo follower at the target floor in the robot-based freight transportation method according to the embodiment of the present application, which is detailed as follows:
b1: and acquiring the running speed of the elevator for people and the moving speed of the cargo accompanying personnel.
In some embodiments, the operation speed of the elevator is fixed, and the operation speed of the elevator may be prestored in the server. The robot obtains the running speed of the elevator through the server. The moving speed of the goods accompanying personnel is the historical average moving speed of the goods accompanying personnel. And the robot acquires the historical average moving speed through the server.
In some embodiments, the robot calculates the moving speed of the cargo follower according to the video picture by acquiring the video of the movement of the cargo follower shot by the camera.
B2: and determining a first time length according to the current position information of the goods accompanying person, the position information of the elevator for the person and the moving speed, wherein the first time length is the time required for the goods accompanying person to move from the current position to the elevator for the person.
In the embodiment of the application, a first moving distance is determined according to the current position information of the cargo accompanying person and the position information of the elevator for people, and then a first time length is determined according to the first distance and the moving speed.
B3: and determining a second time length according to the running speed of the elevator for the person and the target floor, wherein the second time length is the time required by the elevator for the person to run from the floor where the goods accompanying person is currently located to the target floor.
B4: and estimating the arrival time of the cargo accompanying personnel to the target floor according to the first time length and the second time length.
As a possible implementation manner of the present application, the transportation map information includes stair position information, and the cargo accompanying person climbs the stairs to the target floor. Fig. 4 shows another specific implementation process of the robot estimating the arrival time of the cargo follower at the target floor in the robot-based freight transportation method provided in the embodiment of the present application, which is detailed as follows:
c1: and acquiring the moving speed of the cargo accompanying personnel. The obtaining of the moving speed is described in detail with reference to B1, and is not described herein.
C2: and determining a third time length according to the current position information of the cargo accompanying person, the stair position information and the moving speed, wherein the third time length is the time required by the cargo accompanying person to move from the current position to the target floor.
In the embodiment of the application, a second moving distance is determined according to the current position information of the cargo accompanying personnel and the position information of the stairs, and a third time length is determined according to the second distance and the moving speed.
C3: and estimating the arrival time of the cargo accompanying personnel to the target floor according to the third time length.
S103: and the robot determines a target stop area of the robot on the target floor according to the arrival time.
Due to the fact that enterprise management is strict, the robot is allowed to wait for the goods accompanying personnel for a long time without much space and time, and the robot is prevented from influencing the passing of other personnel. As a possible implementation manner of the present application, as shown in fig. 5, the step S103 specifically includes:
d1: and if the time difference between the arrival time of the cargo accompanying person and the arrival time of the robot at the target floor is within a first preset time threshold range, determining that the freight elevator entrance area of the target floor is a target stop area.
In the embodiment of the application, if the estimated arrival time of the goods accompanying personnel is quite close to the arrival time of the robot at the target floor, the robot stops at the freight elevator entrance area of the target floor to wait for the goods accompanying personnel.
D2: and if the time difference between the arrival time of the cargo accompanying personnel and the arrival time of the robot at the target floor is within a second preset time threshold range, determining a target parking area according to the transportation map information.
In the embodiment of the application, if the estimated arrival time of the cargo accompanying personnel is far later than the arrival time of the robot at the target floor, in order to avoid influencing the traveling of other personnel, the robot determines the target parking area according to the transportation map information.
As a possible implementation manner of the present application, the transportation map information includes area identifiers of areas of a target floor, and the robot determines, according to the area identifiers of the areas of the target floor, that the area identifier in the target floor corresponds to a stoppable area; and the robot determines the area capable of parking as a target parking area.
In the work flow of a manufacturing enterprise, a delivery person (i.e., a cargo accompanying person) may need to hand over with a receiving person at the end of the delivery flow, for example, when various matters need to be explained in the above, or when the number of receiving persons is too large and the receiving person at this time needs to be clear, the delivery person needs to hand over with the cargo. Even if the storage space of a large-sized enterprise is large, the parking position of the robot must be strictly defined because the robot is not allowed to stay in front of the freight elevator for a long time due to frequent use of the elevator and the purpose of strict management. Through the embodiment of the application, the parking position of the robot can be determined according to the specific accompanying state, and the goods delivery efficiency is improved.
As a possible embodiment of the present invention, after determining that the freight elevator port area of the target floor is the target stop area if the time difference between the arrival time of the cargo follower and the arrival time of the robot at the target floor is within a first preset time threshold range, when the time for the robot to stop at the freight elevator port area of the target floor reaches a preset limited stop time threshold and the cargo follower does not arrive at the target floor, the robot acquires the current operation state of the human elevator, determines whether the human elevator is abnormally operated according to the current operation state of the human elevator, and determines a new target stop area according to the transportation map information if the human elevator is abnormally operated.
In the embodiment of the application, when the time that the robot stops in the freight elevator entrance area reaches the preset limited stop time threshold, if the cargo accompanying personnel does not arrive, in order to avoid the robot from waiting in the freight elevator entrance area for a long time and influencing the passing of other personnel, the robot judges whether the elevator for the person is abnormal according to the running state of the elevator for the person riding by the accompanying personnel. And if the elevator for people runs abnormally, the robot determines a new target parking area according to the transportation map information.
In some embodiments, when the elevator runs abnormally by a person, after the robot determines a new target stop area according to the transportation map information, the robot transmits stop area update information to the mobile device of the cargo follower, wherein the stop area update information includes position information of the new target stop area, so that the cargo follower can learn the position of the cargo in time.
In some embodiments, the robot obtains the current operation state of the elevator for the person through the server. In other embodiments, the robot communicates directly with the human elevator to obtain the current operating state of the human elevator.
In some possible embodiments, the operation state includes an ascending speed, the robot determines whether the ascending speed of the human elevator is abnormal, and if the ascending speed of the human elevator is abnormal, the robot determines that the human elevator is abnormal.
In some possible embodiments, the operation state includes floor residence time, and the robot determines whether the floor residence time of the elevator for the person is abnormal, and determines that the elevator for the person is abnormal if the floor residence time of the elevator for the person on a certain floor exceeds a preset floor residence time threshold. In some embodiments, when the distance between the freight elevator and the human elevator is within a predetermined distance range, that is, when the freight elevator and the human elevator are close to each other, the robot may determine the floor staying time of the human elevator by photographing a floor display screen image of the human elevator and based on floor information displayed in the floor display screen image.
S104: and the robot plans a path with the target parking area according to the freight elevator position information and moves to the target parking area according to the planned path.
As a possible implementation manner of the present application, as shown in fig. 6, the step of moving to the target parking area according to the planned path specifically includes:
e1: the robot is moved to the target floor by the freight elevator.
In one embodiment, the robot determines the current floor by acquiring an indicator light image in the freight elevator or receiving a prompt signal output by the freight elevator, and when the elevator reaches the target floor, the robot moves out of the freight elevator.
E2: and after the robot reaches the target floor, adjusting the moving speed of the robot according to the arrival time of the goods accompanying personnel, so that the time difference between the time when the robot moves to the target parking area and the arrival time of the goods accompanying personnel is within a preset difference range.
E3: and the robot moves to the target parking area at the adjusted moving speed according to the planned path.
In the embodiment of the application, in order to avoid the robot from staying for a long time, the moving speed of the robot is correspondingly adjusted according to the arrival time of the goods accompanying personnel, so that the robot and the goods accompanying personnel arrive in a similar time as much as possible.
As a possible implementation manner of the present application, after the robot completes the shipping order, the server of the company a sends updated transportation map information to the server.
In the embodiment of the application, transportation map information is acquired through a robot, the transportation map information comprises freight elevator position information and a target floor of goods transported by the robot, then current position information of goods accompanying personnel is acquired, arrival time of the goods accompanying personnel at the target floor is estimated according to the current position information of the goods accompanying personnel, the robot determines a target stop area of the robot at the target floor according to the arrival time, and finally the robot performs path planning according to the freight elevator position information and the target stop area and moves to the target stop area according to a planned path, so that flexible goods transportation can be realized. The robot is used for carrying the elevator to transport goods by itself, so that the physical strength of accompanying personnel is saved, and the goods transporting efficiency can be greatly improved.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Fig. 7 shows a block diagram of a robot-based transportation apparatus according to an embodiment of the present application, which corresponds to the robot-based transportation method according to the above embodiment, and only the parts related to the embodiment of the present application are shown for convenience of description.
Referring to fig. 7, the robot-based cargo transport apparatus includes: an information acquisition unit 71, a time estimation unit 72, a parking area determination unit 73, a shipment moving unit 74, wherein:
the information acquisition unit 71 is used for the robot to acquire transportation map information, wherein the transportation map information comprises freight elevator position information and a target floor of goods transported by the robot;
the time estimation unit 72 is used for acquiring the current position information of the cargo accompanying personnel by the robot and estimating the arrival time of the cargo accompanying personnel at the target floor according to the current position information of the cargo accompanying personnel;
a landing area determining unit 73, configured to determine, by the robot, a target landing area of the robot on the target floor according to the arrival time;
and the freight moving unit 74 is used for planning a path with the target parking area according to the freight elevator position information and moving the robot to the target parking area according to the planned path.
In a possible embodiment, the robot-based cargo transportation apparatus further includes:
the image scanning unit is used for acquiring and scanning the two-dimensional code image by the robot and establishing connection with the server according to a scanning result;
the identity authentication unit is used for sending the goods order record to the server by the robot based on the connection, so that the server performs identity authentication on the robot according to the goods order record and sends transportation map information to the robot after the identity authentication is passed;
the information obtaining unit 71 is specifically configured to receive, by the robot, the transportation map information sent by the server.
In one possible embodiment, the transportation map information includes information on a position of an elevator for a person, and the time estimation unit 72 includes:
the first speed acquisition module is used for acquiring the running speed of an elevator for people and the moving speed of the cargo accompanying personnel;
the first time length determining module is used for determining a first time length according to the current position information of the goods accompanying personnel, the position information of the elevator for people and the moving speed, wherein the first time length is the time required for the goods accompanying personnel to move from the current position to the elevator for people;
the second time duration determining module is used for determining second time duration according to the running speed of the elevator for the person and the target floor, wherein the second time duration is the time required by the elevator for the person to run from the floor where the goods accompanying person is located to the target floor;
and the first time estimation module is used for estimating the arrival time of the goods accompanying personnel at the target floor according to the first time length and the second time length.
In a possible embodiment, the transportation map information includes stair position information, and the time estimation unit 72 includes:
the second speed acquisition module is used for acquiring the moving speed of the cargo accompanying personnel;
a third time length determining module, configured to determine a third time length according to the current location information of the cargo follower, the stair location information, and the moving speed, where the third time length is a time required for the cargo follower to move from the current location to the target floor;
and the second time estimation module is used for estimating the arrival time of the cargo accompanying personnel at the target floor according to the third time length.
In a possible embodiment, the above-mentioned parking area determination unit 73 includes:
the first area determining module is used for determining that the freight elevator entrance area of the target floor is a target stopping area if the time difference between the arrival time of the freight accompanying person and the arrival time of the robot at the target floor is within a first preset time threshold range;
and the second area determining module is used for determining a target parking area according to the transportation map information if the time difference between the arrival time of the cargo accompanying personnel and the arrival time of the robot at the target floor is within a second preset time threshold range.
In a possible implementation manner, the transportation map information includes area identifiers of areas of the target floor, and the second area determining module is specifically configured to:
the robot determines that the area identification in the target floor corresponds to the area which can be stopped according to the area identification of each area of the target floor;
and the robot determines the area capable of parking as a target parking area.
In a possible implementation, the parking area determining unit 73 further includes:
the elevator state acquisition module is used for acquiring the current running state of the elevator for people when the time that the robot stops at the freight elevator entrance area of the target floor reaches a preset limited stop time threshold and the freight accompanying people do not arrive at the target floor;
the abnormity judgment module is used for judging whether the elevator for the person runs abnormally or not by the robot according to the current running state of the elevator for the person;
and the parking area updating module is used for determining a new target parking area by the robot according to the transportation map information if the elevator for people runs abnormally.
In one possible embodiment, the freight moving unit 74 includes:
a first moving module for the robot to move to the target floor through the freight elevator;
the speed adjusting module is used for adjusting the moving speed of the robot according to the arrival time of the cargo accompanying personnel after the robot arrives at the target floor;
and the second moving module is used for moving the robot to the target parking area at the adjusted moving speed according to the planned path.
In the embodiment of the application, transportation map information is acquired through a robot, the transportation map information comprises freight elevator position information and a target floor of goods transported by the robot, then current position information of goods accompanying personnel is acquired, arrival time of the goods accompanying personnel at the target floor is estimated according to the current position information of the goods accompanying personnel, the robot determines a target stop area of the robot at the target floor according to the arrival time, and finally the robot performs path planning according to the freight elevator position information and the target stop area and moves to the target stop area according to a planned path, so that flexible goods transportation can be realized. The robot is used for carrying the elevator to transport goods by itself, so that the physical strength of accompanying personnel is saved, and the goods transporting efficiency can be greatly improved.
It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.
Embodiments of the present application further provide a computer-readable storage medium, which stores a computer program, and the computer program, when executed by a processor, implements the steps of any one of the robot-based freight methods shown in fig. 1 to 6.
An embodiment of the present application further provides an intelligent device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program to implement the steps of any one of the robot-based freight transportation methods shown in fig. 1 to 6.
Embodiments of the present application further provide a computer program product, which when run on a server, causes the server to execute the steps of implementing any one of the robot-based freight methods as shown in fig. 1 to 6.
Fig. 8 is a schematic diagram of an intelligent device provided in an embodiment of the present application. As shown in fig. 8, the smart device 8 of this embodiment includes: a processor 80, a memory 81 and a computer program 82 stored in said memory 81 and executable on said processor 80. The processor 80, when executing the computer program 82, implements the steps in each of the robot-based shipping method embodiments described above, such as steps S101-S104 shown in fig. 1. Alternatively, the processor 80, when executing the computer program 82, implements the functions of the modules/units in the above-described device embodiments, such as the functions of the units 71 to 74 shown in fig. 7.
Illustratively, the computer program 82 may be partitioned into one or more modules/units that are stored in the memory 81 and executed by the processor 80 to accomplish the present application. The one or more modules/units may be a series of computer-readable instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 82 in the smart device 8.
The intelligent device 8 may be an intelligent freight robot. The smart device 8 may include, but is not limited to, a processor 80, a memory 81. Those skilled in the art will appreciate that fig. 8 is merely an example of a smart device 8 and does not constitute a limitation of the smart device 8 and may include more or less components than those shown, or combine certain components, or different components, for example, the smart device 8 may also include input-output devices, network access devices, buses, etc.
The Processor 80 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 81 may be an internal storage unit of the intelligent device 8, such as a hard disk or a memory of the intelligent device 8. The memory 81 may also be an external storage device of the Smart device 8, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, provided on the Smart device 8. Further, the memory 81 may also include both an internal storage unit and an external storage device of the smart device 8. The memory 81 is used for storing the computer programs and other programs and data required by the smart device. The memory 81 may also be used to temporarily store data that has been output or is to be output.
It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to an apparatus/terminal device, recording medium, computer Memory, Read-Only Memory (ROM), Random-Access Memory (RAM), electrical carrier wave signals, telecommunications signals, and software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A robot-based shipping method, comprising:
the robot acquires transportation map information, wherein the transportation map information comprises freight elevator position information and a target floor of goods transported by the robot;
the robot acquires the current position information of the cargo accompanying personnel and estimates the arrival time of the cargo accompanying personnel to the target floor according to the current position information of the cargo accompanying personnel;
the robot determines a target stop area of the robot on the target floor according to the arrival time;
and the robot plans a path with the target parking area according to the freight elevator position information and moves to the target parking area according to the planned path.
2. The method of claim 1, prior to the robot acquiring transportation map information, comprising:
the robot acquires and scans the two-dimensional code image and establishes connection with the server according to the scanning result;
based on the connection, the robot sends a goods order record to the server, so that the server performs identity authentication on the robot according to the goods order record and sends transportation map information to the robot after the identity authentication is passed;
the robot acquiring transportation map information specifically comprises:
and the robot receives the transportation map information sent by the server.
3. The method of claim 1, wherein the transportation map information includes human elevator location information, and wherein estimating the arrival time of the cargo follower at the target floor based on the current location information of the cargo follower comprises:
acquiring the running speed of an elevator for people and the moving speed of the cargo accompanying personnel;
determining a first time length according to the current position information of the goods accompanying person, the position information of the elevator for the person and the moving speed, wherein the first time length is the time required for the goods accompanying person to move from the current position to the elevator for the person;
determining a second time length according to the running speed of the elevator for the person and the target floor, wherein the second time length is the time required by the elevator for the person to run from the floor where the goods accompanying person is currently located to the target floor;
and estimating the arrival time of the cargo accompanying personnel to the target floor according to the first time length and the second time length.
4. The method of claim 1, wherein the transportation map information includes stair location information, and wherein estimating an arrival time of the cargo follower at the target floor based on current location information of the cargo follower comprises:
acquiring the moving speed of the cargo accompanying personnel;
determining a third time length according to the current position information of the cargo accompanying person, the stair position information and the moving speed, wherein the third time length is the time required by the cargo accompanying person to move from the current position to the target floor;
and estimating the arrival time of the cargo accompanying personnel to the target floor according to the third time length.
5. The method of claim 1, wherein the robot determines the target landing area of the robot at the target floor based on the arrival time, comprising:
if the time difference between the arrival time of the cargo accompanying person and the arrival time of the robot at the target floor is within a first preset time threshold range, determining a freight elevator entrance area of the target floor as a target stop area;
and if the time difference between the arrival time of the cargo accompanying personnel and the arrival time of the robot at the target floor is within a second preset time threshold range, determining a target parking area according to the transportation map information.
6. The method of claim 5, wherein the transportation map information includes area identifications of areas of the target floor, and wherein determining the target landing area from the transportation map information includes:
the robot determines that the area identification in the target floor corresponds to the area which can be stopped according to the area identification of each area of the target floor;
and the robot determines the area capable of parking as a target parking area.
7. The method of any of claims 5, wherein after determining the freight elevator opening area of the target floor as the target landing area if the time difference between the arrival time of the cargo follower and the arrival time of the robot at the target floor is within a first preset time threshold, further comprising:
when the time that the robot stops at the freight elevator entrance area of the target floor reaches a preset limited stop time threshold value and the freight accompanying personnel does not arrive at the target floor, the robot acquires the current running state of the elevator for people;
the robot judges whether the elevator for the person runs abnormally or not according to the current running state of the elevator for the person;
and if the elevator for the person runs abnormally, the robot determines a new target parking area according to the transportation map information.
8. The method of any one of claims 1 to 7, wherein moving to the target docking area according to the planned path comprises:
the robot moves to the target floor by the freight elevator;
after the robot reaches the target floor, adjusting the moving speed of the robot according to the arrival time of the cargo accompanying personnel;
and the robot moves to the target parking area at the adjusted moving speed according to the planned path.
9. A robot-based cargo conveyance, comprising:
the system comprises an information acquisition unit, a control unit and a control unit, wherein the information acquisition unit is used for acquiring transportation map information by a robot, and the transportation map information comprises freight elevator position information and a target floor of goods transported by the robot;
the time estimation unit is used for acquiring the current position information of the cargo accompanying personnel by the robot and estimating the arrival time of the cargo accompanying personnel to the target floor according to the current position information of the cargo accompanying personnel;
a landing area determining unit, configured to determine, by the robot, a target landing area of the robot on the target floor according to the arrival time;
and the freight moving unit is used for planning a path with the target parking area according to the freight elevator position information and moving the robot to the target parking area according to the planned path.
10. A smart device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor when executing the computer program implements the robot-based freight method according to any one of claims 1 to 8.
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