CN113534801A

CN113534801A - Article carrying method, robot, electronic device, and readable storage medium

Info

Publication number: CN113534801A
Application number: CN202110798272.0A
Authority: CN
Inventors: 陈庆; 俞晓静; 黄香
Original assignee: Industrial and Commercial Bank of China Ltd ICBC
Current assignee: Industrial and Commercial Bank of China Ltd ICBC
Priority date: 2021-07-14
Filing date: 2021-07-14
Publication date: 2021-10-22

Abstract

The disclosure provides an article carrying method, which can be used in the technical field of warehouse logistics, the financial field or other fields. The article carrying method includes: acquiring the size information and the ground clearance information of each article in the article loading process; carrying the object to the side of the target container according to the navigation information; acquiring target container information through edge identification processing; and lifting the object to the target height according to the target container information. The present disclosure also provides an article handling robot, an electronic device, and a computer-readable storage medium.

Description

Article carrying method, robot, electronic device, and readable storage medium

Technical Field

The present disclosure relates to the field of warehouse logistics technology, and more particularly, to an article handling method, a robot, an electronic device, and a readable storage medium.

Background

In recent years, intelligent robot technology is continuously developed, and particularly, an intelligent inspection robot is applied to daily inspection of a data center machine room, however, a robot in charge of carrying articles is difficult to meet actual working requirements, for example, a plurality of machine room modules are arranged in a data center machine room building, a machine cabinet is arranged in each machine room module, and a server is arranged in each machine cabinet; in addition, a warehouse and a pre-installation area are arranged in the data center machine room building, and containers or cabinets are arranged in the warehouse and the pre-installation area. Data centers also typically have landings and bays. When equipment is newly arrived, the outer package of the server equipment needs to be dismantled in a dismounting room, then the server equipment is conveyed to a warehouse, a pre-installation area or a machine room by a small trolley, the newly arrived server equipment is placed in a container or a cabinet by operation and maintenance personnel, and the operation and maintenance personnel need to pay a large amount of physical labor in the whole process.

In the course of implementing the disclosed concept, the inventor finds that at least the following problems exist in the related art, for example, the weight of one server is more than 50 kg, and the manual lifting of the server by the operation and maintenance personnel is not only laborious and unsafe. The server is transported to a warehouse and a machine room of a destination from the disassembly and assembly room, and then manually lifted and placed in a container and a cabinet, which all needs to consume manpower. On the other hand, the scale of the data center is getting bigger and bigger, the newly built data center is mostly located in two-three line cities and remote areas, operation and maintenance personnel are lacked, and the requirements on operation and maintenance automation and intellectualization are getting higher and higher.

Disclosure of Invention

In view of the above, the present disclosure provides an article handling method, a robot, an electronic device and a readable storage medium.

One aspect of the present disclosure provides an article handling method, including: acquiring the size information and the ground clearance information of each article in the article loading process; carrying the object to the side of the target container according to the navigation information; acquiring target container information through edge identification processing; and lifting the object to the target height according to the target container information.

According to the embodiment of the present disclosure, obtaining target container information through edge identification processing includes: shooting image information of a target container; and carrying out edge identification processing on the image information by using an edge detection operator to obtain the article placement state information and the article image edge information in the target container.

According to the embodiment of the disclosure, the edge recognition processing of the image information by using the edge detection operator to obtain the article placement state information and the article image edge information in the target container comprises: converting the image information of the target container from a color image into a gray image; carrying out Gaussian blur noise removal on the gray level image; calculating the gray gradient amplitudes of the gray image in the horizontal, vertical and diagonal directions; and carrying out non-maximum suppression processing on the gray gradient amplitude value, and extracting an article image edge with an accurate point width.

According to an embodiment of the present disclosure, the size information of each article is detected by the infrared sensor array strip.

According to an embodiment of the present disclosure, the transporting of the item to the target container according to the navigation information includes: loading a path diagram of an article carrying place as navigation information; shooting the environment in the article conveying direction; and obtaining environment data of a carrying place through real-time laser scanning to compare the environment similarity, thereby realizing accurate positioning navigation and avoidance of obstacles and carrying the articles to the side of a target container.

Another aspect of the present disclosure provides an article handling robot including: chassis, robot body, and the lift unit.

A chassis provided with a movable wheel set; the robot body is arranged on one side of the chassis, the robot body can acquire the dimension information and the ground clearance information of each article in the article loading process and acquire target container information through edge recognition processing, and the robot body is provided with a first guide rail; and a lifting unit for loading and lifting the article; a lifting unit comprising: the lifting guide rail part is arranged on the first guide rail and used for lifting along the robot body through the first guide rail, and the lifting guide rail part is provided with a second guide rail; the equipment bracket is used for loading articles, is arranged on the second guide rail and is used for lifting along the lifting guide rail part through the second guide rail; the article carrying robot can carry the article to the target container side according to the navigation information and move the article to the target height through the lifting unit.

According to this disclosed embodiment, be provided with high definition digtal camera on the robot body, high definition digtal camera includes: the front-end camera is arranged at the front end of the robot body and is used for shooting the environment in the traveling direction of the robot; and the side cameras are arranged on two sides of the robot body and are used for shooting complete images of containers shot by the containers so as to obtain the placement state information and the image information of the articles.

According to the embodiment of the disclosure, the robot body is provided with a touch operation unit for a user to interact with the robot.

According to the embodiment of the disclosure, the article carrying robot is provided with the laser equipment, and can obtain environment scanning data of a carrying place through real-time laser scanning and compare the environment similarity, so that positioning navigation and avoidance of obstacles are realized.

According to an embodiment of the present disclosure, the article handling robot further includes an infrared sensor provided in the form of an array bar for detecting size information of each article.

Another aspect of the present disclosure provides an electronic device including: one or more processors; memory to store one or more instructions, wherein the one or more instructions, when executed by the one or more processors, cause the one or more processors to implement a method as described above.

Another aspect of the present disclosure provides a computer-readable storage medium storing computer-executable instructions for implementing the method as described above when executed.

Another aspect of the disclosure provides a computer program product comprising computer executable instructions for implementing the method as described above when executed.

According to the embodiment of the disclosure, the size information and the ground clearance information of each article are acquired in the article loading process; carrying the object to a target container according to the navigation information; acquiring target container information through edge identification processing; and the technical means of lifting the object to the target height according to the target container information, so that the technical problems of low automation and intelligence level of object carrying or maintenance (such as equipment operation and maintenance of a data center), high human input and the like are at least partially solved, the automation and intelligence level of object carrying and maintenance is improved, and the technical effect of greatly reducing the human input is achieved.

Drawings

The above and other objects, features and advantages of the present disclosure will become more apparent from the following description of embodiments of the present disclosure with reference to the accompanying drawings, in which:

fig. 1 schematically illustrates an application scenario of an article handling method and a robot according to an embodiment of the present disclosure;

FIG. 2 schematically illustrates a flow chart of an article handling method according to an embodiment of the disclosure;

FIG. 3 schematically shows a flow chart for obtaining target container information by an edge identification process according to an embodiment of the disclosure;

fig. 4 schematically illustrates a block diagram of an article handling robot according to an embodiment of the present disclosure;

FIG. 5 schematically illustrates a block diagram of another angle of an article handling robot according to an embodiment of the present disclosure;

fig. 6 schematically illustrates a block diagram of a computer system suitable for implementing an article handling robot in accordance with an embodiment of the present disclosure.

Detailed Description

Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. It should be understood that the description is illustrative only and is not intended to limit the scope of the present disclosure. In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the disclosure. It may be evident, however, that one or more embodiments may be practiced without these specific details. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present disclosure.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The terms "comprises," "comprising," and the like, as used herein, specify the presence of stated features, steps, operations, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, or components.

All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. It is noted that the terms used herein should be interpreted as having a meaning that is consistent with the context of this specification and should not be interpreted in an idealized or overly formal sense.

Where a convention analogous to "at least one of A, B and C, etc." is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., "a system having at least one of A, B and C" would include but not be limited to systems that have a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.). Where a convention analogous to "A, B or at least one of C, etc." is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., "a system having at least one of A, B or C" would include but not be limited to systems that have a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.).

The embodiment of the disclosure provides an article carrying method and an article carrying robot.

Fig. 1 schematically illustrates a scenario in which an article handling method may be applied according to an embodiment of the present disclosure. It should be noted that fig. 1 is only an example of a scenario in which the embodiments of the present disclosure may be applied to help those skilled in the art understand the technical content of the present disclosure, but does not mean that the embodiments of the present disclosure may not be used in other devices, environments or scenarios. It should be noted that the article carrying method and the article carrying robot provided by the embodiment of the present disclosure may be used in the related fields of the warehouse logistics technology field and the financial field, and may also be used in other fields outside the financial field.

As shown in FIG. 1, the scenario according to this embodiment includes an article handling robot 100, two containers A-1, A-2, and different articles Q1, Q2, Q3. A user may interact with the article handling robot 100 through a network using a terminal device to receive or send a message or the like; the user can also interact with the robot directly through the interactive device or the interactive interface arranged on the robot. The terminal device may be various electronic devices having a display screen and supporting web browsing, including but not limited to smart phones, tablet computers, laptop portable computers, desktop computers, and the like.

It should be noted that the article carrying method provided by the embodiment of the present disclosure may be generally performed by an article carrying robot. The article transfer robot 100 may be an article transfer device, and is configured to carry and transfer an article, and simultaneously, may analyze and perform other processing on data such as a received user instruction, and complete the user instruction; or feeding back the data collected in the process of finishing the user instruction to the terminal equipment.

For example, the user may store a navigation map for performing navigation related to an article handling method, container information, and a corresponding application program in any one of the terminal devices (for example, in a mobile phone, but not limited thereto), or in the robot 100. Then, the user may send an instruction to the robot 100 through the terminal device for executing the article transportation method provided by the embodiment of the present disclosure, or directly store a navigation map, container information, and a corresponding application program for executing navigation related to the article transportation method in the robot 100, and the user directly interacts with the robot through an interactive device or an interactive interface provided on the robot to issue a task instruction, so that the robot 100 executes the article transportation method provided by the embodiment of the present disclosure, for example, may travel to a different target container along a path R1 or R2.

Fig. 2 schematically illustrates a flow chart of an article handling method according to an embodiment of the disclosure.

As shown in fig. 2, the method includes operations S201 to S204.

In operation S201, size information and ground clearance information of each article are acquired during the article loading process.

According to the embodiment of the disclosure, because the sizes of the articles to be carried are different sometimes, containers suitable for placing different articles are also different, for example, containers suitable for placing large articles are large in size and high in bearing capacity; the container suitable for placing small articles can be small in size, light in bearing, more in partition for placing articles and compact in arrangement. Therefore, it is necessary to acquire the size information of the article to be carried and the information of the height of the article from the ground in a convenient manner before or during the carrying of the article. For example, in the case where a transport apparatus (described by taking the robot 100 as an example) according to the embodiment of the present disclosure loads an article to be transported (for example, a device such as a server or a mainframe in a data center room), size information, ground clearance information, and the like of the article to be transported can be measured by a size measuring device provided in the robot during loading, and thus an appropriate container seat target container can be selected by a terminal device or the robot itself.

In operation S202, the article is transported to a target container according to the navigation information.

According to the embodiment of the present disclosure, in order to reduce the labor intensity of the user, the travel route of the transfer robot 100 can be controlled by the navigation information and the corresponding application stored in the terminal device or the robot 100, so that the nearest route is selected to the side of the target container. The carrying robot can also automatically convey the new arrival server to a warehouse or a pre-installation area and reach a designated container or a cabinet in the warehouse, a machine room or the pre-installation area.

In operation S203, target container information is acquired through edge identification processing.

According to the embodiment of the disclosure, the container or the cabinet can be shot by the high-definition camera to obtain an image, then the complete image is identified to obtain the image data of at least one device in the cabinet, and the image data of each device can further include the image information of the status light of the device panel, which can reflect the running status characteristics of each device. Optionally, for example, in the embodiment of the present disclosure, an edge detection operator is used to perform edge identification processing on the complete image, so as to obtain image data of at least one device in the cabinet. Common edge detection operators may include, for example, first order differential operators: roberts, Sobel, Prewitt; second order differential operator: laplacian, Log/Marr; the non-differential edge detection operator Canny, etc. By carrying out edge identification on the image, information such as vacant positions on the cabinet or container can be obtained, and the vacant positions are provided for operation and maintenance personnel on site to select the target position on which the server is to be put on the shelf. When the image information is subjected to edge identification processing, the article placement state information and the article image edge information in the target container can be obtained, and for example, the edge lines of the rack frame and the installed server in the rack can be identified.

The method of fig. 2 is further described with reference to fig. 3 in conjunction with specific embodiments.

FIG. 3 schematically shows a flow chart for obtaining target container information by an edge identification process according to an embodiment of the disclosure.

As shown in FIG. 3, obtaining target container information through the edge identification process includes operations S301-S304.

In operation S301: and converting the image information of the target container from a color image into a gray image.

According to the embodiment of the present disclosure, the image information is collected in real time, and may be collected in real time by an image collecting device of the transfer robot 100 itself, or may be collected in real time by an image collecting device disposed in a container or other place beside the container, and then sent to the transfer robot 100 or a terminal device for processing.

In operation S302: and performing Gaussian blur noise removal on the gray level image.

According to the embodiment of the present disclosure, the noise for removing the grayscale image may be performed in a gaussian blur manner, or may be performed in other manners, such as a mean filtering manner, a median filtering manner, a wiener filtering manner, and the like, which is not limited in the present disclosure.

In operation S303: the gray gradient magnitudes in the horizontal, vertical and diagonal directions of the gray image are calculated.

According to the embodiment of the disclosure, the server, the container for placing the server and the partition in the container are basically in a rectangular structure, and the gray gradient amplitudes of the gray image in different directions can be calculated according to actual conditions when the server is used for placing articles in other shapes or when the container is used for partitioning containers in different shapes.

In operation S304: and carrying out non-maximum suppression processing on the gray gradient amplitude, and extracting an article image edge with an accurate point width.

According to the embodiment of the present disclosure, in order to achieve more accurate extraction of the edge of the article image, the edge of the article image of one accurate dot (pixel) width may be finally extracted.

In operation S204, the item is lifted to a target height according to the target container information.

According to the embodiment of the present disclosure, for example, in a data center, there are two main ways of carrying servers, and the servers are installed in a cabinet (container), one is to install a fixed partition or a bracket in the cabinet, and the servers are placed on the partition or the bracket, and this installation method is currently used less. The other is to install guide rails on both sides of the server, and fix and clamp the guide rails to the pillars on both sides of the cabinet, which is mostly adopted in the industry at present. At present, servers are different, guide rails of the servers are not standardized, guide rail shapes and installation modes of different brands and models are different, and installation and disassembly actions of the guide rails are complex, so that when the servers are put on and taken off the shelf, the robot 100 can assist in lifting the servers to a target height, and the guide rail installation actions of the putting on the shelf and the guide rail disassembly actions of the putting off the shelf can be completed by operation and maintenance personnel.

It should be noted that, unless explicitly stated that there is an execution sequence between different operations or there is an execution sequence between different operations in technical implementation, the execution sequence between multiple operations may not be sequential, or multiple operations may be executed simultaneously in the flowchart in this disclosure.

Fig. 4 schematically shows a block diagram of an article handling robot according to an embodiment of the present disclosure. Fig. 5 schematically illustrates a block diagram of another angle of an article handling robot according to an embodiment of the present disclosure.

As shown in conjunction with fig. 4 and 5, the article handling robot 100 includes a chassis 110; a robot body 120; and a lifting unit 130.

According to the embodiment of the present disclosure, the chassis 110 is provided with a moving wheel set 111; according to the actual conditions of the transfer robot 100, the goods to be transferred, and the transfer site, the wheel set 111 may be a directional wheel set, a universal wheel set, or a wheel set used in cooperation with a rail, and is not limited thereto.

According to the embodiment of the present disclosure, the robot body 120 is disposed at one side of the chassis 110, the robot body 120 can obtain size information and ground clearance information of each article during an article loading process, and obtain target container information through edge recognition processing, and the robot body 120 is provided with a first guide rail (not shown in the figure).

According to this disclosed embodiment, be provided with high definition digtal camera 121 on the robot body 120, high definition digtal camera 121 includes: a front end camera 121a provided at the front end of the robot body 120 and configured to photograph an environment in the traveling direction of the transfer robot 100; and side cameras 121b disposed on both sides of the robot body 120 for photographing containers to take complete images of the containers, thereby obtaining the placement state information of the articles and the image information of the articles. A plurality of high-definition cameras on the robot body 120, which can photograph and identify the surrounding environment, for example, the camera 121a at the front end of the robot body 120 can photograph and identify the environment; the high-definition cameras 121b on the two sides of the robot body 120 can photograph the cabinet or the container to obtain images of the cabinet or the container and the server placed on the cabinet or the container, so that the edges of the images can be identified, a vacancy on the cabinet or the container can be obtained, and the vacancy is provided for operation and maintenance personnel on site to select a target position where the server is to be put on shelf.

According to the embodiment of the present disclosure, the robot body 120 is provided with a touch operation unit 122 for a user to interact with the transfer robot 100. For example, navigation information is displayed on the touch operation unit 122, and the transfer robot 100 can travel to the destination area by itself along the optimal route after the user can select the destination.

According to an embodiment of the present disclosure, the lifting unit 130 includes: the rail part 131 and the equipment bracket 132 are lifted.

As shown in fig. 4 and 5, a lifting guide part 131 is disposed on the first guide rail, and configured to be lifted along the robot body 120 via the first guide rail, and the lifting guide part is provided with a second guide rail 131 a; and an equipment bracket 132 for loading an article, which is disposed on the second guide rail 131a, and is configured to be lifted and lowered along the lifting guide rail part 131 by the second guide rail 131 a.

In one aspect, the lifting rail part 131 may be electrically lifted on the first rail on the robot body 120; on the other hand, the equipment bracket 132 may be electrically lifted on the second rail 131a on the lifting rail part 131, thereby realizing two-stage lifting. An electric device and a pulley block for providing a lifting power are installed inside the robot body 120 and the lifting rail part 131. The unit of height of a rack or server is measured by the industry as U (1U-1.75 inches-4.445 centimeters). The lifting guide rail part is provided with two infrared sensor groups (not shown in the figure) in an array form, a plurality of infrared sensors are arranged in the vertical direction (perpendicular to the ground or the plane of the equipment bracket) of each infrared sensor group, and the distance between every two infrared sensors is 1U. When the server is placed on the equipment carrier 132, the infrared sensor may detect that the signal is blocked. Thus, the control end of the transfer robot 100 can obtain the height (U number) of the equipment placed on the equipment rack 132; the number of servers to be placed and the height U of each server can also be obtained according to the sensing time. Thus, in conjunction with the height of the equipment rack 132 from the ground, the height of each server on the equipment rack 132 from the ground is obtained. When calculating the target elevation height of the equipment rack 132, the elevation height of the equipment rack 132 is obtained according to the height of the container or cabinet that the uppermost server on the equipment rack 132 needs to reach, and then according to the current height of the uppermost server on the rack. So that the article transfer robot 100 can transfer the article to the target container side according to the navigation information and move the article to the target height by the elevating unit 130.

According to the embodiment of the disclosure, the transfer robot 100 is provided with the laser device 112, in the embodiment, the laser device 112 is disposed at the center of the edge of the chassis 110 and at four corners of the rectangular chassis 110, and the laser device 112 may also be disposed on the robot body 120 or on the lifting guide rail portion 131, which is not limited in the disclosure; the laser device 112 can be arranged to scan and obtain environmental data scanning data of a carrying place in real time, so that environmental similarity comparison is performed, positioning navigation and avoidance of obstacles are achieved, for example, the laser device 112 is arranged on the lifting guide rail part 131, when the carrying robot 100 passes through a limited height device in the place, the laser device 112 arranged on the lifting guide rail part 131 can detect the limited height device in advance, and the carrying robot 100 adjusts displacement of the lifting guide rail part 131, so that collision of the limited height device with the carrying robot 100 or articles loaded on the carrying robot 100 is avoided. Since the transfer robot 100 is provided with the laser device 112 and is equipped with the indoor autonomous navigation software, the transfer robot 100 has functions of environment mapping, autonomous route selection, obstacle avoidance, and load carrying. The core of the transfer robot 100 is a two-dimensional laser positioning technology, also called SLAM (simultaneous positioning and mapping) algorithm, which can draw a map in real time, and perform environment similarity comparison on data obtained by real-time laser scanning to realize positioning and navigation. In addition, the avoidance range of the barrier can be effectively adjusted by manually adjusting laser induction parameters, and accidental collision is prevented. A bumper is installed at the lower portion of the transfer robot 100, and the transfer robot 100 may be triggered to suddenly stop after a foreign object collides with the bumper. The battery system of the transfer robot 100 has functions of battery level detection, temperature detection, auto-return charging, and the like.

According to the embodiment of the present disclosure, the transfer robot 100 plans a path according to an instruction, autonomously navigates, passes through an electric fire door in a machine room building, and links with an elevator in the machine room building to reach a target warehouse, a machine room, and a pre-installation area. And linking the warehouse door, the machine room door and the pre-installation area door, opening the electric fire-fighting door in the area, entering the area, and reaching the front of a target goods shelf container or machine cabinet.

According to the embodiment of the present disclosure, for example, in a scenario where the transfer robot 100 is applied to a data service center, a group of new arrival servers (5 servers) need to be transported from an equipment assembly and disassembly room to the front of a cabinet with a cabinet number a-1 in a machine room a; lifting 3 servers to a target vacancy, unloading the 3 servers by operation and maintenance personnel, and placing the servers in the positions; then, the transfer robot 100 autonomously moves to the front of the a-2 cabinet, lifts the remaining 2 servers to a target vacant position, and is sequentially unloaded and placed in position by operation and maintenance personnel. The transfer robot 100 returns to the equipment disassembly and assembly room to receive the next task. In the equipment assembly and disassembly room, the operation and maintenance personnel sequentially place 5 servers on the equipment bracket 132 of the intelligent transportation and upper and lower integrated transfer robot 100. During the placing process, the infrared sensor on the lifting guide rail part 131 senses the U height of each server, and the transfer robot 100 records (for example, by the transfer robot 100 itself or application software in the terminal device) the U height of each server from bottom to top; the height from the ground of each server on the equipment rack 132 can be calculated from the height from the ground of the equipment rack 132 and the placement of the servers on the equipment rack 132 (U height per unit). The operation and maintenance personnel do the following operations on the touch operation unit 122 of the robot body 120: selecting a target machine room; selecting a first target cabinet A-1 on a two-dimensional plan of a machine room, and selecting 3 equipment to be placed in the A-1; selecting a second target cabinet A-2, and selecting 2 equipment to be placed in the A-2; returning the selected transfer robot 100 to the equipment assembly and disassembly room (or a charging pile of the transfer robot 100, etc.) after completing the task; if the control end of the transfer robot 100 can obtain a vacant space for each cabinet, in this step, a vacant space for placing a server is directly selected from the spaces a-1 and a-2; if the management is not fine enough and the vacancy information cannot be directly stored, the transfer robot 100 obtains vacancies for selection of operation and maintenance personnel in the machine room through image recognition. The operation and maintenance personnel can start the task by clicking. The transfer robot 100 autonomously navigates and moves, autonomously takes a freight elevator, autonomously opens an electric fire door of an approach passage, and autonomously opens an electric fire door of a machine room A; the transfer robot 100 autonomously navigates and moves to the front of the a-1 cabinet; the transfer robot 100 sends out an audible and visual prompt to prompt the operation and maintenance personnel waiting in the machine room to complete the auxiliary action before the transfer robot 100. When the operation and maintenance personnel reach the periphery of the transfer robot 100, the lifting task is selected to be started on the robot body 120 through touching the operation unit 122; the high-definition camera 121b on the side face of the robot body 120 shoots the A-1 cabinet, edge detection is carried out on the image according to the shot image, and the edge of equipment installed in the cabinet is detected, so that a vacancy in the A-1 cabinet is obtained; at this step, if the control end of the transfer robot 100 has obtained the installation situation of the equipment in the cabinet, that is, the vacant space in the a-1 cabinet is known, the vacant space is directly given for the operation and maintenance personnel to select without image recognition. In this step, if the control end of the transfer robot 100 is known for the vacancy information in the cabinet and also for the height of the vacancy, the article is directly lifted to the target height; and if the vacancy information is obtained by image edge recognition on the site of the machine room, obtaining the ground clearance of each vacancy according to the proportional relation of the shot images. Sequentially selecting target positions of 3 servers to be placed in the A-1 cabinet in tasks by operation and maintenance personnel; at the same time, the unique identification code (serial number or asset code) of the server is bound to the target location. The binding mode comprises two modes, one mode is that the unique identification code of the server is manually input, and the other mode is that a code scanning gun is used; after the selection is finished, starting a lifting task; the transfer robot 100 calculates the height of the equipment bracket 132 to be lifted according to the height of the equipment bracket 132 from the top server and the height of the target vacant site; the control end of the transfer robot 100 controls the equipment bracket 132 to be automatically lifted to a target height; the operation and maintenance personnel place the uppermost server of the equipment bracket 132 into the target vacancy of the cabinet A-1; the transfer robot 100 calculates the displacement amount of the equipment carrier 132 moving to the next target position, and continues to place the subsequent 2 servers; the equipment bracket 132 of the transfer robot 100 is restored to the initial position, and the rest 2 servers are continuously placed before the cabinet A-2 is autonomously navigated; and completing the lifting and auxiliary positioning of 5 servers. And storing or uploading the placement position list of the 5 servers of the task to a configuration management system of the data center. The transfer robot 100 autonomously navigates back to the equipment-mounting/dismounting room according to a preset or on-site received command, and receives the next task. The intelligent conveying and upper and lower frame multifunctional transfer robot of the data center conveys the server equipment from the equipment assembly and disassembly room to a warehouse and a machine room; before the robot reaches a target container or a cabinet, according to a preset target position or through image recognition, a vacancy is obtained, the equipment bracket is lifted to a target height, and operation and maintenance personnel can conveniently place the server to the target position. The method improves the automation and intelligence level of the operation and maintenance of the data center equipment, and greatly reduces the labor input of the operation and maintenance.

It should be noted that the article handling robot in the embodiment of the present disclosure corresponds to the article handling method in the embodiment of the present disclosure, and the description of the article handling robot may also specifically refer to the data processing method, which is not described herein again.

Fig. 6 schematically illustrates a block diagram of a computer system of an article handling robot adapted to implement the above described method according to an embodiment of the present disclosure. The computer system illustrated in FIG. 6 is only one example and should not impose any limitations on the scope of use or functionality of embodiments of the disclosure.

As shown in fig. 6, a computer system 400 of an article handling robot according to an embodiment of the present disclosure includes a processor 401 that can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM)402 or a program loaded from a storage section 408 into a Random Access Memory (RAM) 403. Processor 401 may include, for example, a general purpose microprocessor (e.g., a CPU), an instruction set processor and/or associated chipset, and/or a special purpose microprocessor (e.g., an Application Specific Integrated Circuit (ASIC)), among others. The processor 401 may also include onboard memory for caching purposes. Processor 401 may include a single processing unit or multiple processing units for performing the different actions of the method flows in accordance with embodiments of the present disclosure.

In the RAM 403, various programs and data necessary for the operation of the system 400 are stored. The processor 401, ROM 402 and RAM 403 are connected to each other by a bus 404. The processor 401 performs various operations of the method flows according to the embodiments of the present disclosure by executing programs in the ROM 402 and/or the RAM 403. Note that the programs may also be stored in one or more memories other than the ROM 402 and RAM 403. The processor 401 may also perform various operations of the method flows according to embodiments of the present disclosure by executing programs stored in the one or more memories.

According to an embodiment of the present disclosure, system 400 may also include an input/output (I/O) interface 405, input/output (I/O) interface 405 also connected to bus 404. The system 400 may also include one or more of the following components connected to the I/O interface 405: an input section 406 including a keyboard, a mouse, and the like; an output section 407 including a display device such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage section 408 including a hard disk and the like; and a communication section 409 including a network interface card such as a LAN card, a modem, or the like. The communication section 409 performs communication processing via a network such as the internet. A driver 410 is also connected to the I/O interface 405 as needed. A removable medium 411 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 410 as necessary, so that a computer program read out therefrom is mounted into the storage section 408 as necessary.

According to embodiments of the present disclosure, method flows according to embodiments of the present disclosure may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable storage medium, the computer program containing program code for performing the method illustrated by the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 409, and/or installed from the removable medium 411. The computer program, when executed by the processor 401, performs the above-described functions defined in the system of the embodiments of the present disclosure. The systems, devices, apparatuses, modules, units, etc. described above may be implemented by computer program modules according to embodiments of the present disclosure.

The present disclosure also provides a computer-readable storage medium, which may be contained in the apparatus/device/system described in the above embodiments; or may exist separately and not be assembled into the device/apparatus/system. The computer-readable storage medium carries one or more programs which, when executed, implement the method according to an embodiment of the disclosure.

According to an embodiment of the present disclosure, the computer-readable storage medium may be a non-volatile computer-readable storage medium. Examples may include, but are not limited to: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

For example, according to embodiments of the present disclosure, a computer-readable storage medium may include ROM 402 and/or RAM 403 and/or one or more memories other than ROM 402 and RAM 403 described above.

Embodiments of the present disclosure also include a computer program product comprising a computer program containing program code for performing the method provided by the embodiments of the present disclosure, when the computer program product is run on an electronic device, the program code being adapted to cause the electronic device to carry out the method of article handling provided by the embodiments of the present disclosure.

The computer program, when executed by the processor 401, performs the above-described functions defined in the system/apparatus of the embodiments of the present disclosure. The systems, apparatuses, modules, units, etc. described above may be implemented by computer program modules according to embodiments of the present disclosure.

In one embodiment, the computer program may be hosted on a tangible storage medium such as an optical storage device, a magnetic storage device, or the like. In another embodiment, the computer program may also be transmitted, distributed in the form of a signal on a network medium, downloaded and installed through the communication section 409, and/or installed from the removable medium 411. The computer program containing program code may be transmitted using any suitable network medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.

In accordance with embodiments of the present disclosure, program code for executing computer programs provided by embodiments of the present disclosure may be written in any combination of one or more programming languages, and in particular, these computer programs may be implemented using high level procedural and/or object oriented programming languages, and/or assembly/machine languages. The programming language includes, but is not limited to, programming languages such as Java, C + +, python, the "C" language, or the like. The program code may execute entirely on the user computing device, partly on the user device, partly on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., through the internet using an internet service provider).

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. Those skilled in the art will appreciate that various combinations and/or combinations of features recited in the various embodiments and/or claims of the present disclosure can be made, even if such combinations or combinations are not expressly recited in the present disclosure. In particular, various combinations and/or combinations of the features recited in the various embodiments and/or claims of the present disclosure may be made without departing from the spirit or teaching of the present disclosure. All such combinations and/or associations are within the scope of the present disclosure.

The embodiments of the present disclosure have been described above. However, these examples are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Although the embodiments are described separately above, this does not mean that the measures in the embodiments cannot be used in advantageous combination. The scope of the disclosure is defined by the appended claims and equivalents thereof. Various alternatives and modifications can be devised by those skilled in the art without departing from the scope of the present disclosure, and such alternatives and modifications are intended to be within the scope of the present disclosure.

Claims

1. An article handling method comprising:

acquiring the size information and the ground clearance information of each article in the article loading process;

carrying the object to a target container according to the navigation information;

acquiring target container information through edge identification processing; and

and lifting the article to a target height according to the target container information.

2. The article handling method of claim 1, the obtaining target container information by edge identification processing, comprising:

shooting image information of the target container; and

and carrying out edge identification processing on the image information by using an edge detection operator to obtain the article placement state information and the article image edge information in the target container.

3. The article conveying method according to claim 2, wherein the performing edge recognition processing on the image information by using an edge detection operator to obtain article placement state information and article image edge information in the target container comprises:

converting the image information of the target container from a color image into a gray image;

performing Gaussian blur noise removal on the gray level image;

calculating the gray gradient amplitudes of the gray image in the horizontal, vertical and diagonal directions; and

and carrying out non-maximum suppression processing on the gray gradient amplitude, and extracting an article image edge with an accurate point width.

4. The article handling method according to claim 1, wherein the size information of each article is detected by an infrared sensor array bar.

5. The article handling method of claim 1, the handling the article to a target container side according to the navigation information comprising:

loading a path diagram of an article carrying place as navigation information;

shooting the environment in the article conveying direction; and

and obtaining environmental data of a carrying place through real-time laser scanning to compare the environmental similarity, thereby realizing accurate positioning navigation and avoidance of obstacles and carrying the objects to a target container.

6. An article handling robot comprising:

a chassis provided with a movable wheel set;

the robot body is arranged on one side of the chassis, the robot body can acquire the size information and the ground clearance information of each article in the article loading process and acquire target container information through edge recognition processing, and the robot body is provided with a first guide rail; and

a lifting unit for loading and lifting the article; the lifting unit comprises:

the lifting guide rail part is arranged on the first guide rail and used for lifting along the robot body through the first guide rail, and the lifting guide rail part is provided with a second guide rail; and

the equipment bracket is used for loading articles, is arranged on the second guide rail and is used for ascending and descending along the lifting guide rail part through the second guide rail;

the article carrying robot can carry an article to a target container according to the navigation information and move the article to a target height through the lifting unit.

7. The article handling robot of claim 6, the robot body having a high definition camera disposed thereon, the high definition camera comprising:

the front-end camera is arranged at the front end of the robot body and is used for shooting the environment in the traveling direction of the robot; and

the side cameras are arranged on two sides of the robot body and used for shooting containers to shoot complete images of the containers, and therefore the placement state information and the image information of the articles are obtained.

8. The article handling robot of claim 6, the robot body having a touch-operated unit disposed thereon for user interaction with the robot.

9. The article carrying robot as claimed in claim 6, wherein the laser device is provided to scan the environment of the carrying site in real time, so as to compare the similarity of the environment and realize positioning navigation and avoidance of obstacles.

10. The article handling robot of claim 6, further comprising an infrared sensor arranged in the form of an array bar for detecting dimensional information of each article.

11. An electronic device, comprising:

one or more processors;

a memory to store one or more instructions that,

wherein the one or more instructions, when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-5.

12. A computer readable storage medium having stored thereon executable instructions which, when executed by a processor, cause the processor to carry out the method of any one of claims 1 to 5.

13. A computer program product comprising computer executable instructions for implementing the method of any one of claims 1 to 5 when executed.