CN116331769A

CN116331769A - Goods receiving method and carrying method

Info

Publication number: CN116331769A
Application number: CN202310146268.5A
Authority: CN
Inventors: 叶婵君
Original assignee: Beijing Jizhijia Technology Co Ltd
Current assignee: Beijing Jizhijia Technology Co Ltd
Priority date: 2023-02-14
Filing date: 2023-02-14
Publication date: 2023-06-27

Abstract

The embodiment of the application provides a goods receiving method and a goods carrying method, when a first carrying robot (any carrying robot in goods carrying equipment) is required to receive goods from the goods carrying equipment, a control terminal controls the first carrying robot to travel to a target position at a first travel speed, meanwhile, when a sensor senses that the first carrying robot travels to the target position, a trigger message is sent to the control terminal, and the control terminal sends a control instruction to a butt joint conveying line based on the trigger message so as to instruct the butt joint conveying line to convey the goods to the first carrying robot in the travel process of the first travel speed according to a second travel speed. According to the goods receiving method, when the transfer robot receives goods from the butt-joint conveying line, the transfer robot does not need to undergo the processes of decelerating, stopping, waiting for receiving goods and accelerating to leave, and can always run at a preset speed, receive goods and deliver goods, so that the purpose of improving the goods receiving efficiency of the transfer robot is achieved.

Description

Goods receiving method and carrying method

Technical Field

The embodiment of the application relates to the technical field of robot control, in particular to a goods receiving method and a carrying method.

Background

At present, in the process that a transfer robot receives goods from a goods conveying device and conveys the goods to a specified unloading position, the transfer robot needs to decelerate before the transfer robot runs to the specified goods receiving position, the transfer robot stops at the specified goods receiving position after the running speed of the transfer robot is reduced to zero, and after the goods are conveyed to a goods receiving platform of the transfer robot by a butt joint conveying line positioned at the tail end in the goods conveying device, the transfer robot is accelerated to a preset speed from a static state and then leaves the goods receiving position to an unloading address for unloading.

The transfer robot receives goods through the goods receiving mode, and the processes of decelerating, stopping, waiting for receiving goods and accelerating leaving are included, so that the goods receiving time of the transfer robot is longer, and the goods receiving efficiency of the transfer robot is affected.

Disclosure of Invention

The embodiment of the application provides a goods receiving method and a carrying method, wherein a first carrying robot finishes goods receiving operation from a butt joint conveying line in the running process at a first running speed, does not need to be subjected to the processes of decelerating, stopping, waiting for goods receiving and accelerating to leave, and can improve the goods receiving efficiency of the first carrying robot.

In a first aspect, an embodiment of the present application provides a cargo receiving method, which is applied to a control terminal, where the control terminal is respectively in communication connection with a cargo conveying device and a cargo handling device, the cargo conveying device includes a multi-section conveying line, and a sensor is disposed on a butt joint conveying line located at an extreme end of the multi-section conveying line or on a periphery of the butt joint conveying line, and the method includes:

When a first transfer robot is required to transfer goods, determining a first running speed and a running strategy of the first transfer robot, and triggering the first transfer robot to run according to the running speed and the running strategy, wherein the first transfer robot is any transfer robot in the goods transfer equipment;

receiving triggering information sent by the sensor, and sending the triggering information to the control terminal by the sensor when the sensor senses that the first transfer robot runs to a target position;

and responding to the trigger information, sending a control instruction to the butt joint conveying line so that the butt joint conveying line executes a target action according to the control instruction, wherein the target action is transmitted by the butt joint conveying line according to a second running speed, so that the first transfer robot can transmit the goods on the butt joint conveying line to the first transfer robot in the running process of the first transfer robot at the first running speed.

In a second aspect, an embodiment of the present application provides a handling method, where the handling robot is communicatively connected to a control terminal, the control terminal is connected to a cargo conveying device, the cargo conveying device includes a multi-segment conveying line, and a sensor is disposed on a butt joint conveying line located at an extreme end of the multi-segment conveying line or on a periphery of the butt joint conveying line, and the method includes:

When the butt joint conveying line conveys goods at a first speed according to a control instruction transmitted by the control terminal, the butt joint conveying line runs at the first speed;

and receiving the goods conveyed on the butt-joint conveying line when the conveying robot runs to the detection area of the sensor.

The embodiment of the application provides a goods receiving method and a carrying method, wherein a control terminal is respectively in communication connection with a plurality of carrying robots in goods conveying equipment and the goods conveying equipment, the goods conveying equipment comprises a plurality of sections of conveying lines, and sensors are arranged on a butt joint conveying line positioned at the tail end or on the periphery of the butt joint conveying line in the plurality of sections of conveying lines. When the first transfer robot (any transfer robot in the cargo transfer equipment) is required to receive cargoes from the cargo transfer equipment, the control terminal controls the first transfer robot to travel to the target position at the first travel speed, meanwhile, when the sensor senses that the first transfer robot travels to the target position, a trigger message is sent to the control terminal, and the control terminal sends a control instruction to the butt joint conveying line based on the trigger message so as to instruct the butt joint conveying line to convey cargoes to the first transfer robot in the travel process of the first travel speed according to the second travel speed. According to the goods receiving method, when the transfer robot receives goods from the butt-joint conveying line, the transfer robot does not need to undergo the processes of decelerating, stopping, waiting for receiving goods and accelerating to leave, and can always run at a preset speed, receive goods and deliver goods, so that the purpose of improving the goods receiving efficiency of the transfer robot is achieved.

Drawings

FIG. 1 is an application scenario diagram of a cargo receiving method according to an exemplary embodiment of the present application;

fig. 2 is a schematic diagram of an internal structure of a terminal device according to an exemplary embodiment of the present application;

FIG. 3 is a block diagram of a software architecture of a control terminal according to an exemplary embodiment of the present application;

FIG. 4 is an elevation view of a multi-segment conveyor line shown in accordance with an exemplary embodiment of the present application;

FIG. 5 is a top view of a multi-segment conveyor line shown in an exemplary embodiment of the present application;

FIG. 6 is a schematic illustration of the shape of a multi-segment conveyor line according to an exemplary embodiment of the present application;

FIG. 7 is an application scenario diagram of another cargo receiving method according to an exemplary embodiment of the present application;

fig. 8 is a schematic structural view of a transfer robot according to an exemplary embodiment of the present application;

fig. 9 is a schematic structural view of a chassis of a transfer robot according to an exemplary embodiment of the present application;

FIG. 10 is a flow chart of a method of receiving goods according to an exemplary embodiment of the present application;

FIG. 11 is a flow chart of a method of receiving goods according to an exemplary embodiment of the present application;

FIG. 12 is a schematic view of a scenario in which a transfer robot picks up cargo, according to an exemplary embodiment of the present application;

Fig. 13 is a schematic view of a transfer robot traveling from below a cargo transferring device according to an exemplary embodiment of the present application;

fig. 14 is a schematic view of a transfer robot traveling from the side of the cargo transferring device according to an exemplary embodiment of the present application;

fig. 15 is a schematic structural view of a control terminal of a robot according to an exemplary embodiment of the present application;

fig. 16 is a schematic view showing an internal structure of a transfer robot according to an exemplary embodiment of the present application.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the embodiments of the present application. Rather, they are merely examples of apparatus and methods consistent with aspects of embodiments of the present application as detailed in the accompanying claims.

The terminology used in the embodiments of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the embodiments of the application. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.

It should be understood that although the terms first, second, third, etc. may be used in embodiments of the present application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, the first information may also be referred to as second information, and similarly, the second information may also be referred to as first information, without departing from the scope of embodiments of the present application. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "responsive to a determination", depending on the context.

The terminology used in the embodiments of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the embodiments of the application. Unless defined otherwise, technical or scientific terms used in the embodiments of the present application should be given the ordinary meaning as understood by one of ordinary skill in the art to which the embodiments of the present application belong. The terms "first," "second," and the like in the description and in the claims, are not used for any order, quantity, or importance, but are used for distinguishing between different elements. Likewise, the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one. "plurality" or "plurality" means two or more.

The word "comprising" or "comprises", and the like, means that elements or items appearing before "comprising" or "comprising" are encompassed by the element or item recited after "comprising" or "comprising" and equivalents thereof, and that other elements or items are not excluded. The terms "communication connection" or "connected" and the like are not limited to physical or mechanical communication connections, but may include electrical communication connections, whether direct or indirect.

Before the technical scheme of the embodiment of the application is described, an application scenario of the embodiment of the application is described with reference to the accompanying drawings.

Referring to fig. 1, fig. 1 is an application scenario diagram of a cargo receiving method provided in an embodiment of the present application. 100 in fig. 1 is a control terminal, 200 is a cargo conveyance apparatus, and 300 is a cargo conveyance apparatus.

As shown in fig. 2, the control terminal 100 may be, for example, an independent server, a server cluster, an upper computer, a desktop computer, a tablet, a notebook, or the like. The control terminal 100 may include an external memory interface 120, an internal memory 121, a universal serial bus (universal serial bus, USB) interface 130, a charge management module 140, a power management module 141, a battery 142, an antenna 1, an antenna 2, a mobile communication module 150, a wireless communication module 160, an audio module 170, a speaker 170A, a receiver 170B, a microphone 170C, an earphone interface 170D, a sensor module 180, keys 190, a motor 191, an indicator 192, a camera 193, a display 194, and a subscriber identity module (subscriber identification module, SIM) card interface 195, etc. The sensor module 180 may include a pressure sensor 180A, a gyro sensor 180B, an air pressure sensor 180C, a magnetic sensor 180D, an acceleration sensor 180E, a distance sensor 180F, a proximity sensor 180G, a fingerprint sensor 180H, a temperature sensor 180J, a touch sensor 180K, an ambient light sensor 180L, a bone conduction sensor 180M, and the like.

It is to be understood that the structure illustrated in the embodiment of the present application does not constitute a specific limitation on the control terminal 100. In other embodiments of the present application, the control terminal 100 may include more or less components than illustrated, or certain components may be combined, or certain components may be split, or different arrangements of components. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

The processor 110 may include one or more processing units, such as: the processor 110 may include an application processor (application processor, AP), a modem processor, a graphics processor (graphics processing unit, GPU), an image signal processor (image signal processor, ISP), a controller, a memory, a video codec, a digital signal processor (digital signal processor, DSP), a baseband processor, and/or a neural network processor (neural-network processing unit, NPU), etc. Wherein the different processing units may be separate devices or may be integrated in one or more processors.

A memory may also be provided in the processor for storing instructions and data. In some embodiments, the memory in the processor is a cache memory. The memory may hold instructions or data that the processor has just used or recycled, and may be called directly from the memory. Repeated access is avoided, waiting time of the processor is reduced, and accordingly goods receiving efficiency can be improved.

The internal memory 121 of the control terminal 100 may be used to store computer-executable program code including instructions. The processor 110 executes various functional applications and data processing of the control terminal 100 by executing instructions stored in the internal memory 121. The internal memory 121 may include a storage program area and a storage data area. The storage program area may store an operating system, an application program required for at least one function, and the like. The storage data area may store data created during use of the control terminal 100 (e.g., the number of transfer robots, parameters of the transfer robots, a course of the transfer robots, etc.), and the like. In addition, the internal memory 121 may include a high-speed random access memory, and may further include a nonvolatile memory such as at least one magnetic disk storage device, a flash memory device, a universal flash memory (universal flash storage, UFS), and the like.

The control terminal 100 implements display functions through a GPU, a display screen 194, an application processor, and the like. The GPU is a microprocessor that is connected to the display 194 and the application processor. The GPU is used to perform mathematical and geometric calculations. The processor 110 may include one or more GPUs that execute program instructions to control the cargo conveyance apparatus to convey cargo and the cargo handling apparatus to travel to a target location for pickup.

The display screen 194 is used for displaying images, videos, or the like. The display 194 includes a display panel. The display panel may employ a liquid crystal display (liquid crystal display, LCD), an organic light-emitting diode (OLED), an active-matrix organic light-emitting diode (AMOLED) or an active-matrix organic light-emitting diode (matrix organic light emitting diode), a flexible light-emitting diode (flex), a mini, a Micro led, a Micro-OLED, a quantum dot light-emitting diode (quantum dot light emitting diodes, QLED), or the like. In some embodiments, the control terminal 100 may include 1 or N display screens 194, N being a positive integer greater than 1.

The touch sensor 180K, also referred to as a "touch panel". The touch sensor 180K may be disposed on the display screen 194, and the touch sensor 180K and the display screen 194 form a touch screen, which is also called a "touch screen". The touch sensor 180K is for detecting a touch operation acting thereon or thereabout. The touch sensor may communicate the detected touch operation to the application processor to determine the touch event type. Visual output related to touch operations may be provided through the display 194. In other embodiments, the touch sensor 180K may be disposed on the surface of the control terminal 100 at a different location than the display 194.

The software system of the control terminal 100 may employ a layered architecture, an event driven architecture, a micro-core architecture, a micro-service architecture, or a cloud architecture. In this embodiment, taking an Android system with a layered architecture as an example, a software structure of the control terminal 100 is illustrated.

Fig. 3 is a software configuration block diagram of the control terminal 100 of the embodiment of the present application. The layered architecture divides the software into several layers, each with distinct roles and branches. The layers communicate with each other through a software interface. In some embodiments, the Android system is divided into four layers, from top to bottom, an application layer, an application framework layer, an Zhuoyun row (Android run) and system libraries, and a kernel layer, respectively.

The application layer may include a series of application packages. Continuing with FIG. 3, the application package may include an input method APP. In addition, the application package may include APP for camera, gallery, calendar, phone call, WLAN, bluetooth, music, video, map, navigation, short message, etc.

The application framework layer provides an application programming interface (application programming interface, API) and programming framework for application programs of the application layer. The application framework layer includes a number of predefined functions.

As further shown in fig. 3, in an embodiment of the present application, the application framework layer may include an input method management service (input method manager service, IMMS), an input method service (input method service, IMS), and temporary (temp) file management.

In the embodiment of the application, temporary file management is used for establishing and managing the temporary file of the input method. The IMM, IMMs and IMS form a data transmission channel (hereinafter referred to as a data channel) through which the input method APP can perform data transmission with other modules, including but not limited to data transmission with temporary file management.

In some embodiments, not shown, the application framework layer may also include a window manager, a content provider, a view system, a phone manager, a resource manager, a notification manager, and the like. The runtime (runtime) includes core libraries and virtual machines. Android runtime (Android run) is responsible for scheduling and management of the Android system.

The core library consists of two parts: one part is a function which needs to be called by java language, and the other part is a core library of android.

The application layer and the application framework layer run in a virtual machine. The virtual machine executes java files of the application program layer and the application program framework layer as binary files. The virtual machine is used for executing the functions of object life cycle management, stack management, thread management, security and exception management, garbage collection and the like.

The system library may include a plurality of functional modules. For example: surface manager (surface manager), media library (media library), three-dimensional graphics processing library (e.g., open GLES), two-dimensional graphics engine (e.g., SGL), etc.

The kernel layer is a layer between hardware and software. The inner core layer at least comprises display drive, camera drive, audio drive, sensor drive and the like.

As shown in fig. 4, the cargo transferring apparatus 200 includes a transfer line, which may be a complete section, or may be multiple sections connected to each other, and if the cargo transferring apparatus 200 includes multiple sections of transfer lines, the multiple sections of transfer lines may be transfer lines having the same structure but different lengths, or may be transfer lines having the same structure and the same length, which is not limited in this application. An exemplary explanation will be made below with respect to a cargo conveyance apparatus 200 including a plurality of conveyor lines, one of which is a plurality of conveyor lines.

As further shown in fig. 4, the conveyor line comprises a load carrying portion 201 and a support portion 202, the load carrying portion 201 being arranged on the support portion 202, the support portion 202 being adapted to support the load carrying portion 201, the load carrying portion 201 being adapted to transfer the load to a next location (e.g. on a transfer robot). As shown in fig. 5, which is a top view of the conveyor line of fig. 5, the cargo carrying portion 201 may be square or rectangular in shape, including a conveying portion, a transmission assembly, and a processor. The transmission part is a transmission belt, the transmission component is a motor and a transmission roller, and the processor is a singlechip, an MCU chip and the like. The conveying belt is sleeved on the transmission roller, and the motor drives the conveying roller to rotate under the condition of being electrified, so that the conveying belt is circularly rotated, goods connected to the head of the conveying belt are conveyed to the tail of the conveying belt, and further conveyed to the next conveying line or the conveying robot. The transmission rollers may be stacked to be disposed on the sides of the conveyor belt, each conveyor line includes at least a pair of transmission rollers, and a connecting rod is disposed between the symmetrically disposed transmission rollers, and a connecting rod may be disposed between different connecting rods, so as to form a skeleton of the cargo carrying portion 201. The dimension of the cargo carrying portion 201 is, for example, 2m in length, 0.8m in width, and 0.3m in thickness.

The processor is configured to receive an instruction from the control terminal 100 to control the click start or stop, and may adjust the speed of the motor according to the instruction from the control terminal 100, and may perform other operations according to the control terminal 100, which is not limited in this application.

In another embodiment, the cargo carrying part 201 may further be provided with a transmission roller at the head, a transmission roller is provided on the butt-joint conveying line at the end, a whole section of conveying belt is sleeved on two transmission rollers, and the two transmission rollers are respectively connected with two motors, and a processor is also provided. The cargo carrying portion 201 may also have other forms, which are not limited in this application.

As further shown in fig. 4, the support 202 includes an upper base, a lower base, and a first support bar, which may be an integral piece or a connection piece. The material of the supporting portion 202 is, for example, iron, alloy, steel, or the like, and the present application is not limited thereto, as long as the supporting portion 201 can be supported. The upper bottom of the supporting portion 202 is connected with the framework of the cargo carrying portion 201, and the connection may be welding, riveting, clamping, etc., which is not limited in this application. If the conveyor line is multi-segmented, each conveyor line segment includes at least one support 202. The diameter of the first supporting rod of the supporting portion 202 is, for example, 0.1m, and the height of the supporting portion 202 is, for example, 1.2m.

As shown in fig. 6, fig. 6 shows that the conveyor line may have a linear shape, a curved shape, an L-shape, a U-shape, or the like, and the conveyor line may be provided with a suitable shape according to different environments, which is not limited in this application.

The cargo transferring apparatus 200 includes a multi-stage transfer line, and the structures of the multi-stage transfer line may be the same. Here, for convenience of description, the transfer line located at the end of the multi-stage transfer line may be referred to as a docking transfer line, and each transfer robot receives goods from the docking transfer line. The sensor is disposed on the docking conveyor line or at the periphery of the docking conveyor line, wherein if the sensor is disposed on the docking conveyor line, the sensor may be disposed on the cargo carrying portion 201 of the docking conveyor line or may be disposed on the supporting portion 202 of the docking conveyor line, which is not limited in this application.

As shown in fig. 7, the upper stage of the cargo transferring apparatus 200 may be the cargo handling apparatus 400, and after the cargo handling apparatus 400 performs sorting, packaging, packing, etc. of the cargo, the cargo is transferred to the cargo transferring apparatus 200 to be transferred to the transfer robot by the cargo transferring apparatus 200, and transferred to a designated location such as a target unloading point, a manual delivery point, etc. by the transfer robot.

As shown in fig. 8, fig. 8 is a schematic structural view of a transfer robot including a pallet 301, a support structure 302, and a chassis 303. The size of the pallet 301 may be determined according to the need, the size of the load to be received, etc., for example, the pallet 301 has a length of 0.5m, a width of 0.3m, and a thickness of 0.1m.

The support structure 302 is, for example, a second support rod, where the number of the second support rods includes at least one, and may also be multiple, which is not limited in this application. When the support structure 302 comprises a second support bar, the support bar has a diameter of, for example, 0.1m. If the support structure 302 includes a plurality of support rods, the diameter of the plurality of second support rods is, for example, 0.02m. The height of the second support bar is for example 1.2m. The upper end surface of the support rod may be connected to the pallet 301 by welding, fastening, bolting, riveting, or the like. The lower end face of the supporting rod can be connected with the chassis 303 through welding, clamping, bolting, riveting and other connecting modes, and the connecting mode of each part is not limited in the application, so long as the normal operation of each device can be met.

The second support bar may include a telescopic structure such as a scissor fork structure, a pulley lift structure, a cylinder lift structure, etc. The telescopic structure can adjust the height of the second support rod as required, so that the first transfer robot is suitable for more goods receiving scenes. Meanwhile, the first carrying robot can change the height of the first carrying robot through a telescopic structure when the goods placement height changes so as to unload the goods to the appointed positions with different heights.

As shown in fig. 9, the chassis 303 includes a chassis body 3031 and a movable roller 3032, and the chassis body 3031 has a structure such as a rectangular parallelepiped, a square, a prism, or the like. The number of the movable rollers 3032 may be at least one, but may be plural. The movable roller 3032 is disposed at the bottom of the chassis body 3031, and may be connected with the chassis body 3031 by welding, clamping, bolting, riveting, and the like.

The chassis body 3031 includes a housing, the interior of which is a hollow structure, and the interior of which is provided with components such as a processor, a driving assembly, a receiver, a transmitter, a speed sensor, an angle sensor, a distance sensor, etc. The chassis body may communicate with other devices (e.g., cargo conveyance devices) via the receiver, transmitter; the driving component is electrically connected with the movable roller and can drive the movable roller to move under the control of an instruction sent by the processor; the speed sensor, the angle sensor and the distance sensor are respectively and electrically connected with the processor.

Wherein the receiver is used for receiving instructions of the control terminal 100, the goods conveying equipment 200, other equipment and the like; the transmitter is used for transmitting the data (such as the speed, the rotation angle, the driving distance, etc. of the transfer robot) processed by the processor to the control terminal 100 or other devices; the processor is used for processing various data of the transfer robot, and controlling other components to execute corresponding operations according to the instructions after processing various instructions received by the receiver, for example, controlling the driving component to drive the movable roller to roll. The speed sensor is used for collecting the speed of the transfer robot, the angle sensor is used for collecting the deflection angle of the transfer robot, and the distance sensor is used for collecting the driving distance of the transfer robot.

In one embodiment, as shown in fig. 10, fig. 10 is a schematic diagram illustrating a cargo receiving method according to an embodiment of the present application, where the cargo receiving method is applied to the control terminal 100 shown in fig. 1, and the cargo receiving method includes the following steps:

step S1001, when the first transfer robot is required to transfer the cargo, determining a first travel speed and a travel strategy of the first transfer robot, and triggering the first transfer robot to travel according to the first travel speed and the travel strategy, where the first transfer robot is any one transfer robot in the cargo transferring apparatus 300;

the cargo handling apparatus 300 includes a plurality of handling robots, and for convenience of description, a cargo receiving method provided in the present application will be described by taking any one of the plurality of handling robots (named first handling robot) as an example.

When the first transfer robot is required to transfer the cargo, the cargo handling apparatus 400 may be configured to transfer the cargo when the cargo handling apparatus 200 is started up, and the like.

The first travel speed of the first transfer robot may be a fixed travel speed, that is, the travel speed of the first transfer robot is a fixed first travel speed throughout the travel from the current position to the start end of the transfer line, from the start end of the transfer line to the receiving position, from the receiving position to the target unloading point, and from the target unloading point back to the start end of the transfer line.

Or the first transfer robot runs from the current position to the starting end of the conveying line, runs from the starting end of the conveying line to the receiving position, runs from the receiving position to the manual delivery point and returns to the starting end of the conveying line from the manual delivery point, and the running speeds of the first transfer robot and the receiving position are all fixed first running speeds.

Or the first transfer robot runs from the current position to the starting end of the conveying line, runs from the starting end of the conveying line to the receiving position and returns to the starting end of the conveying line from the receiving position, and the running speed of the first transfer robot is a fixed first running speed.

The first travel speed may also include a plurality of speeds, which may be speeds at which the first transfer robot travels different routes. For example, the first travel speed includes a first speed at which the first transfer robot travels from the current position to the pickup position and a second speed at which the first transfer robot travels from the pickup position to the target unloading point, the manual dispensing point, or the start end of the transfer line. The plurality of speeds may be different from each other, or may be equal to each other, which is not limited in this application.

The travel strategy is used to define a travel route of the first transfer robot, for example, the first transfer robot travels from below the transfer line, travels from a side of the transfer line, travels at an angle to the transfer line, or the like, which is not limited in this application. The travel strategy of the first transfer robot may be determined from data such as the height and width of the transfer line and the height and width of the first transfer robot. In one embodiment, the present application may determine the first travel speed by several methods:

first, the first running speed is a fixed speed and is the same as the second running speed, and the determination may be performed as shown in fig. 11:

step S1101, acquiring a second running speed;

wherein, the control terminal 100 may transmit the acquisition message to the processor of the cargo transferring apparatus 200 through the network, and the cargo transferring apparatus 200 transmits the second traveling speed to the control terminal 100 through the network according to the acquisition message. The control terminal 100 may also be configured to obtain the second travel speed of the cargo transferring device 200 from the corresponding memory. The present application is not limited thereto.

In step S1102, the second travel speed is set as the first travel speed.

The control terminal 100 may acquire the second travel speed, and then may set the second travel speed as the first travel speed of the first transfer robot. Further, the control terminal 100 may send the first travel speed to the processor of the first transfer robot, so that the processor controls the first robot to travel at the first travel speed.

Second, the first travel speed and the second travel speed are different speeds, and may be determined according to the following steps:

the first travel speed is determined based on the length of the goods on the conveying line to be conveyed, the distance between the first transfer robot and the starting end of the conveying line, the distance between the goods receiving position and the preset position, and the goods receiving information of the first transfer robot.

The length of the goods on the conveying line to be conveyed, namely the length of the whole conveying line; the distance between the first transfer robot and the start end of the transfer line, that is, the distance between the position where the first transfer robot is located and the start end of the transfer line when the first transfer robot is required to transfer goods. The pickup position is a position where the first transfer robot can pick up a load from the butt-joint conveying line, and the position is, for example, a position where the first transfer robot travels to a position where the upper end surface of the pickup pallet 301 and the upper end surface of the load carrying portion 201 of the butt-joint conveying line are at the same horizontal plane. The preset positions are determined according to the receiving information of the first transfer robot, and different receiving information corresponds to different preset positions, for example, when the receiving information is the first receiving information, the preset positions are target unloading points; when the receiving information is the second receiving information, the preset position is an artificial delivery point, etc., which will be described in detail in the following, and will not be described in detail here.

Here, when the transfer robots in the cargo handling apparatus 300 are required to transfer the cargo, all the transfer robots in the cargo handling apparatus 300 are manually moved or some of the transfer robots in the cargo handling apparatus 300 are moved, and in order to avoid collision or the like of the transfer robots during the cargo transfer, the transfer robots may be moved at predetermined distances, and the positions of the transfer robots at the beginning of the cargo receiving are different. The control terminal 100 or the transfer robot may acquire the position coordinates of each transfer robot by a device (for example, a position sensor) for positioning provided in the transfer robot, thereby further acquiring the distance between the transfer robot and the start end of the transfer line. The transfer robots are different in delivery positions, so that the distances between the transfer robots and the starting ends of the conveying lines are different.

The first travel speed of the first transfer robot may be determined by the control terminal 100 according to the data and then transmitted to the first transfer robot; the first transfer robot may be determined based on the above data, and the present application is not limited thereto.

The control terminal 100 or the first transfer robot may determine one first travel speed based on all the data, or may determine a plurality of different speeds based on the partial data, which is not limited in this application.

In one embodiment, the control terminal 100 or the first transfer robot may determine the first speed and the second speed by the above data, specifically:

step S1201, determining a first speed based on a length of the goods on the conveying line to be conveyed and a distance between the first transfer robot and a start end of the conveying line, so that the first transfer robot travels from a current position to a receiving position according to the first speed;

the first speed is a speed at which the first transfer robot travels from the initial delivery position (i.e., the current position) to the pickup position.

In another embodiment, the first speed may include a first sub-speed and a second sub-speed, wherein the first sub-speed refers to a traveling speed of the first transfer robot from the current position to the beginning of the transfer line, and the second sub-speed refers to a speed of the first transfer robot from the beginning of the transfer line to the pickup position. The first sub-speed and the second sub-speed may be determined as follows:

If the distance between the first transfer robot and the starting end of the conveying line is greater than or equal to a first threshold value, determining that the running speed of the first transfer robot from the current position to the starting end of the conveying line is a first sub-speed;

if the length of the goods to be conveyed on the goods conveying equipment is smaller than or equal to a second threshold value, determining the second running speed as a second sub-speed of the first transfer robot running from the starting end of the conveying line to the goods receiving position, wherein the first sub-speed is larger than the second sub-speed.

The first threshold and the second threshold may be determined according to data such as a traveling speed, a traveling route, a traveling time period, and the like of the first transfer robot for historically transferring the cargo. The first threshold is for example 5 meters and the second threshold is for example 2 meters. The first sub-speed and the second sub-speed may be determined according to a travel speed of the first transfer robot for historically transferring the goods, which is not particularly limited herein.

The method may include determining that a travel speed of the first transfer robot from a current position to a start end of the transfer line is a first sub-speed when a distance between the first transfer robot and the start end of the transfer line is equal to or greater than a first threshold. And when the length of the goods to be conveyed on the goods conveying equipment is smaller than or equal to a second threshold value, determining a second sub-speed of the first conveying robot from the starting end of the conveying line to the goods receiving position to be a second driving speed. The first sub-speed is larger than the second sub-speed, so that the first transfer robot can quickly reach the starting end of the conveying line, the receiving efficiency of the first transfer robot is improved, and in addition, the condition of resource waste caused by long-time stopping of a plurality of transfer robots in one area can be avoided. On the other hand, after the transfer robot goes to the beginning end of transfer chain, through the speed that is less than first sub-speed and go, the orderly queuing that control each transfer robot that can be better receives goods, simultaneously also for better with the transfer chain through the cooperation of second speed conveying goods that goes, the successful goods that receive from the butt joint transfer chain that is more smooth.

In another embodiment, the control terminal 100 or the first transfer robot may further determine that the traveling speed of the first transfer robot from the current position to the start end of the transfer line is another speed different from the first sub-speed when the distance between the first transfer robot and the real end of the transfer line is less than the first threshold, which is not limited in this application.

In still another embodiment, the control terminal 100 or the first transfer robot may further determine that the second sub-speed of the first transfer robot from the start end of the transfer line to the receiving position is another speed different from the second running speed when the length of the goods to be transferred on the goods transferring apparatus is greater than the second threshold value, which is not limited herein.

Step S1202, determining a second speed based on the distance between the receiving position and the preset position and the receiving information of the first transfer robot, so that the first transfer robot travels from the receiving position to the preset position according to the second speed, and the first speed is greater than or equal to the second speed.

The first traveling speed further includes a second speed, and the second speed is equal to or less than the first speed. The control terminal 100 or the first transfer robot may determine the second speed according to the distance between the pickup position and the preset position and the pickup information of the first transfer robot. The preset position is a position corresponding to the receiving information of the first receiving robot, that is, when the receiving information of the first transfer robot is the first information, the preset position is a target receiving point; when the receiving information of the first transfer robot is the second information, the preset position is the starting end of the conveying line; when the receiving information of the first transfer robot is third information, the preset position is an artificial putting point. The first information is used for representing that the first transfer robot receives goods from the butt joint conveying line and the received goods meet the receiving requirements. The second information is used for representing that the first transfer robot fails to receive goods. The third information is used for representing information that the first transfer robot receives goods successfully but the goods do not meet the receiving requirements.

Then, the first transfer robot may travel at different travel speeds from the receiving position to a different preset position.

In one embodiment, as shown in fig. 12, if the preset position is the target unloading point, the traveling speed of the first transfer robot from the receiving position to the target unloading point may be determined by the following method:

if the receiving information of the first transfer robot is first information, determining the preset position as a target unloading point, wherein the first information is information representing that the first transfer robot receives the goods successfully and the goods meet the receiving requirement;

the first information is information that the first transfer robot receives goods successfully and the goods meet the receiving requirements. The successful pickup indicates that the first transfer robot successfully picked up the load from the docking conveyor line. The receiving requirements include, for example, a bar code corresponding to the goods, the appearance of the goods meeting the packing requirements, a corresponding information corresponding to the goods packaging, etc., which are not limited in this application, and after the first transfer robot receives the goods, the first transfer robot may scan the goods through a scanner disposed on the first transfer robot, and determine whether the first transfer robot receives the goods successfully or not and whether the goods meets the receiving requirements or not according to the scanned image. The image acquisition device arranged in the environment where the first transfer robot operates may also be used to acquire an image of the first transfer robot after the first transfer robot travels to the receiving position, and transmit the image to the first transfer robot or the control terminal 100 and other devices, so as to determine whether the first transfer robot receives the goods successfully or not and whether the goods meet the receiving requirement or not, which is not limited in this application.

When the first transfer robot or the control terminal 100 determines that the receiving information of the first transfer robot is the first information, the preset position is further determined to be the target unloading point. The target unloading point is the position where the first transfer robot unloads the goods and temporarily stores the goods, and the goods at the target unloading point belong to the goods meeting the receiving requirements. Further, the goods can be shipped directly or transported to the next designated location according to a process.

And if the distance between the receiving position and the target unloading point is greater than or equal to a third threshold value, determining that the running speed of the first transfer robot from the receiving position to the target unloading point is a third sub-speed.

When the preset position is determined to be the target unloading point, the traveling speed (i.e., the third speed) of the first transfer robot from the receiving position to the target unloading point may be determined according to a comparison result of the distance between the receiving position and the target unloading point and the third threshold. The third threshold value may likewise be determined from the historical travel record of the first transfer robot, the third threshold value being, for example, 10 meters. The third sub-speed may also be determined according to the speed at which the first transfer robot travels during the historic transfer of the cargo, and is not particularly limited herein. The method may include determining that a travel speed of the first transfer robot from the pickup position to the target unloading point is a third sub-speed when a distance between the pickup position and the target unloading point is equal to or greater than a third threshold. The third sub-speed may be a speed greater than the second sub-speed, may be a speed greater than the first sub-speed, or may be a speed equal to the first sub-speed, which is not limited in this application. Therefore, the first transfer robot can quickly go to the target unloading point for unloading, so that the delivery efficiency of the first transfer robot is improved.

In another embodiment, when the distance between the receiving position and the target unloading point is smaller than the third threshold value, the traveling speed of the first transfer robot from the receiving position to the target unloading point may be determined to be another speed different from the third sub-speed, which is not limited in this application. So that the running speed of the first transfer robot can be flexibly determined according to different running routes of the first transfer robot, and the first transfer robot can pick up and deliver goods faster and smoother.

In another embodiment, as further shown in fig. 12, if the preset position is the beginning end of the conveying line, the following method may be used to determine the traveling speed of the first conveying robot from the receiving position to the beginning end of the conveying line:

if the receiving information of the first transfer robot is second information, determining the preset position as the starting end of the conveying line, and the second information is used for representing that the receiving of the first transfer robot fails;

if the distance between the goods receiving position and the starting end of the conveying line is larger than or equal to a fourth threshold value, determining that the running speed of the first conveying robot from the goods receiving position to the starting end of the conveying line is a fourth sub-speed.

The control terminal 100 or the first transfer robot may further obtain the receiving information by using the above method, and if it is determined that the receiving information is the information that the first transfer robot fails to receive the goods, it may determine that the preset position to which the first transfer robot needs to go is the start end of the conveying line, so that the first transfer robot queues up for receiving the goods again.

Then, the control terminal 100 or the first transfer robot may determine a travel speed (i.e., a fourth sub-speed) of the first transfer robot from the pick-up location to the start end of the transfer line according to a ratio of a distance between the pick-up location and the start end of the transfer line to a fourth threshold value. And determining the traveling speed of the first transfer robot from the goods receiving position to the starting end of the conveying line to be a fourth sub-speed when the distance between the goods receiving position and the starting end of the conveying line is greater than or equal to a fourth threshold value. The fourth threshold value may likewise be determined from the historical travel record of the first transfer robot, the fourth threshold value being, for example, 20 meters. The fourth sub-speed may also be determined according to the speed at which the first transfer robot travels during the historic transfer of the cargo, and is not particularly limited herein. The fourth sub-speed may be a speed greater than the third sub-speed, may be a speed greater than the first sub-speed, may be a speed equal to the first sub-speed, and may be a speed equal to the third sub-speed, which is not limited in this application. Therefore, the first transfer robot can quickly return to the starting point to be queued for receiving goods again, and the receiving efficiency of the first transfer robot is improved.

In another embodiment, when the distance between the pick-up location and the start end of the conveyor line is smaller than the fourth threshold value, the travel speed of the first transfer robot from the pick-up location to the start end of the conveyor line may be determined to be another speed different from the fourth sub-speed, which is not limited in this application. So that the running speed of the first transfer robot can be flexibly determined according to different running routes of the first transfer robot, and the first transfer robot can pick up and deliver goods faster and smoother.

In another embodiment, as shown in fig. 12, if the preset position is the manual delivery point, the following method may be used to determine the traveling speed of the first transfer robot from the receiving position to the manual delivery point:

if the goods receiving information of the first transfer robot is third information, determining the preset position as a manual delivery point, wherein the third information is information representing that the goods receiving of the first transfer robot is successful but the goods do not meet the goods receiving requirement;

and if the distance between the goods receiving position and the manual delivery point is greater than or equal to a fifth threshold value, determining that the running speed of the first transfer robot from the goods receiving position to the manual delivery point is a fifth sub-speed.

The control terminal 100 or the first transfer robot may further obtain the cargo receiving information by using the above method, if it is determined that the cargo receiving information is information that the first transfer robot receives the cargo successfully but the cargo does not meet the cargo receiving requirement, it may be determined that the preset position to which the first transfer robot needs to go is an artificial delivery point, so that the first transfer robot can place the cargo with a problem and the cargo meeting the cargo receiving requirement in a different manner, so that the integrity is facilitated to inspect and repair the cargo with a problem, and the processing efficiency of the cargo is improved. A manual delivery point is a location of another temporary problematic item that is distinct from the target discharge point.

Then, the control terminal 100 or the first transfer robot may determine a travel speed (i.e., a fifth sub-speed) of the first transfer robot from the pickup location to the manual delivery point according to a ratio of a distance between the pickup location and the manual delivery point to a fifth threshold value. And determining the running speed of the first transfer robot from the goods receiving position to the manual delivery point to be a fifth sub-speed under the condition that the distance between the goods receiving position and the manual delivery point is larger than or equal to a fifth threshold value. The fifth threshold value may likewise be determined from the historical travel record of the first transfer robot, the fifth threshold value being, for example, 25 meters. The fifth sub-speed may be determined according to a speed at which the first transfer robot travels during the historic transfer of the cargo, and is not particularly limited herein. The fifth sub-speed may be a speed greater than the third sub-speed, may be a speed greater than the first sub-speed, may be a speed equal to the third sub-speed, may be a speed greater than the fourth sub-speed, and the like, which is not limited in this application. Therefore, the first transfer robot can quickly go to the manual delivery point for unloading, so that the delivery efficiency of the first transfer robot is improved.

In another embodiment, when the distance between the receiving location and the manual delivery point is smaller than the fifth threshold, the traveling speed of the first transfer robot from the receiving location to the manual delivery point may be determined to be another speed different from the fifth sub-speed, which is not limited in this application. So that the running speed of the first transfer robot can be flexibly determined according to different running routes of the first transfer robot, and the first transfer robot can pick up and deliver goods faster and smoother.

In one embodiment, an alternative method embodiment for determining shipping information is provided, the method comprising the steps of:

the control terminal 100 may acquire image information including the first transfer robot after transmitting a control instruction to the docking transfer line;

determining whether the first transfer robot receives the goods successfully or not according to the image information;

if the goods are received successfully, determining whether the goods meet the receiving requirement;

if the goods receiving fails, determining the goods receiving information as second information;

if the goods meet the goods receiving requirement, determining the goods receiving information as first information;

and if the goods do not meet the goods receiving requirement, determining the goods receiving information as third information.

The image information may be acquired by the image acquisition device on the first transfer robot, or may be acquired by an image acquisition device (such as a video camera, a camera, etc.) disposed in a movement range of the first transfer robot, which is not limited in this application.

After the control terminal 100 acquires the image including the first transfer robot, the image may be processed by image segmentation, image separation, image comparison, and other processing methods, and a processing result is obtained, and when the processing result is that the first transfer robot receives the goods successfully and the goods meets the receiving requirement, the receiving information is determined to be the first information; when the processing result is that the first transfer robot fails to receive goods, determining the goods receiving information as second information; and when the processing result is that the first transfer robot receives the goods successfully but the goods do not meet the receiving requirement, determining the receiving information as third information. For example, the control terminal 100 may store a trained neural network model, input an image of the goods into the neural network model, and determine the type of the goods receiving information according to the output result of the neural network model.

Here, it should be noted that, in general, the route of the first transfer robot for transporting the goods is preset, so the control terminal 100 or the first transfer robot may be preset with the first sub-speed, the second sub-speed, the third sub-speed, the fourth sub-speed, and the fifth sub-speed in advance and stored in the corresponding memory addresses. When the first transfer robot is started, the first transfer robot only needs to determine the position of the first transfer robot and then determines the running speed of the first transfer robot according to the requirements; alternatively, the control terminal 100 may determine that the first transfer robot has reached the predetermined position, and then, may transmit a corresponding command to control the first transfer robot to travel at the travel speed indicated in the command, which is not limited in this application.

After the control terminal 100 or the first transfer robot determines the first travel speed of the first transfer robot according to the above method, it is further necessary to continuously determine a travel strategy of the first transfer robot, which may be determined according to the following method:

determining a driving strategy of the first transfer robot according to the height difference between the first transfer robot and the conveying line;

when the height of the conveying line is larger than that of the first conveying robot, the driving strategy is that the first conveying robot drives from below the conveying line according to the driving direction which is the same as the conveying direction of the conveying line;

when the height of the conveying line is equal to the height of the first conveying robot, the driving strategy is that the first conveying robot drives from the outer side of the conveying line according to a driving direction different from the conveying direction of the conveying line.

The control terminal 100 may preset a driving policy for factors such as an environment, a receiving point, and a discharging point, etc., where each transfer robot transfers the goods, where the driving policy includes a driving route and a driving direction of the first transfer robot. The travel route is a plan in which the cargo handling device 300 travels along a preset route from a start point to an end point. The driving policy may include one or a plurality of driving policies according to a plurality of destinations through which the first transfer robot passes in the course of receiving and delivering the goods, which is not limited in this application.

For example, the control terminal 100 may be provided with a first driving strategy for the first transfer robot to travel from the current position to the start end of the transfer line; a second driving strategy is set for the first transfer robot to drive from the initial end of the conveying line to the goods receiving position; a third driving strategy is set for the first transfer robot to drive from the goods receiving position to the target unloading point; a fourth driving strategy is set for the first transfer robot to drive from the goods receiving position of the conveying line to the manual delivery point; a fifth driving strategy is arranged for the first transfer robot to drive from the goods receiving position to the starting end of the conveying line; a sixth driving strategy is set for the first transfer robot to drive from the target unloading point to the initial end of the conveying line; a seventh travel strategy or the like is provided for the first transfer robot traveling from the manual delivery point to the start end of the transfer line, and is not specifically described herein.

Here, the first transfer robot may travel only according to the partial travel strategy during the transfer of the load due to the limitation of the first transfer robot load receiving information.

In addition, among the plurality of travel strategies set by the control terminal 100 or the first transfer robot, it is possible to determine the travel route of the first transfer robot in accordance with the straight-line distance between the two points and travel in accordance with the travel direction from the start point to the end point. The travel route of the first transfer robot may be determined according to other factors, which are not limited in this application. The application sets up shape driving strategy for first transfer robot and can guarantee that each transfer robot goes on carrying of goods according to unified route is orderly, reduces the circumstances such as collision in each transfer robot travel process to improve each transfer robot's transport efficiency.

Here, the control terminal 100 may store the determined travel policy in the corresponding memory address, and when the control terminal 100 determines that the transfer robot is required to transfer the goods, may acquire the travel policy from the corresponding memory address and send the travel policy and the first travel speed to each transfer robot, so that each transfer robot carries the goods according to the travel policy and the first travel speed, thereby ensuring that each transfer robot can smoothly transfer the goods from the docking and conveying line without stopping, and achieving the purpose of improving the efficiency of transferring the goods by each transfer robot.

In one embodiment, in the cargo receiving method provided in the present application, the control terminal 100 may set the following two driving strategies for the first transfer robot from the start end of the conveying line to the cargo receiving position:

first kind: as shown in figure 13 of the drawings,

when the height of the conveying line is greater than that of the first conveying robot, the driving strategy is that the first conveying robot drives from below the cargo conveying device according to the driving direction which is the same as the conveying direction of the cargo conveying device.

Wherein, owing to be provided with the clearance between the supporting part 202 of transfer chain, if the up end of transfer chain transmission goods is greater than the height of first transfer robot's pallet up end distance ground, for more being convenient for first transfer robot receives goods from the butt joint conveying line, this application embodiment can set up following driving strategy: the first transfer robot is instructed to travel from the gap between the support portions 202 of the conveyor line (i.e., below the lower end surface of the conveyor line). It should be noted here that the upper end face of the conveyor line is higher than the upper end face of the first transfer robot by a value within a preset range, for example, 0.01m to 0.05m. The numerical value is set within the preset range, so that the condition that the first transfer robot cannot send the goods to the butt joint conveying line smoothly to receive the goods due to the large difference of the height of the numerical value and the first transfer robot can be avoided.

When the first transfer robot travels from below the conveyor line, the traveling direction of the first transfer robot may be set to be the same as the direction in which the conveyor line conveys the goods. I.e. the first travel speed is in the same direction as the second travel speed.

When the control terminal 100 determines the driving policy of the first transfer robot, the driving policy may be sent to the first transfer robot, and the first transfer robot, after receiving the driving policy sent by the control terminal 100, travels from the start end of the transfer line to the receiving position according to the driving policy in combination with the first driving speed.

The height of the multi-section conveyor line is 1.3m, and the height of the first transfer robot is 1.2m. Because of the spacing between the support structures 302 of the multi-stage conveyor lines, the first transfer robot can pass under the lower end surfaces of the multi-stage conveyor lines and reach the travel destination.

Second kind: as shown in figure 14 of the drawings,

when the height of the conveying first is equal to the height of the first conveying robot, the driving strategy is that the first conveying robot drives from the outer side of the goods conveying equipment according to the driving direction different from the conveying direction of the goods conveying equipment.

When the height of the upper end surface of the conveyor line from the ground is equal to the height of the pallet of the first transfer robot from the ground, the first transfer robot cannot travel from the gap between the support portions 202 of the conveyor line. The first transfer robot may travel along the conveyor line from the outside of the multi-stage conveyor line, or travel along a travel path perpendicular to the multi-stage conveyor line, or travel along a travel path at a predetermined angle to the conveyor line, which is not limited in this application.

When the first transfer robot travels from the outside of the transfer line, the traveling direction of the first transfer robot may be set to be perpendicular to the direction in which the transfer line transfers the goods or at a preset angle. I.e. the first travel speed is in a different direction than the second travel speed.

In another embodiment, if the first transfer robot travels along the outside of the conveyor line, the traveling direction of the first transfer robot may be the same as the direction in which the conveyor line conveys the load, that is, the direction of the first traveling speed is the same as the direction of the second traveling speed.

The height of the conveyor line is 1.3m, and the height of the first transfer robot is 1.3m. The first transfer robot may travel along a travel route from a position away from the transfer line to a pickup position in a travel method perpendicular to the transfer line.

In another embodiment, the control terminal 100 may trigger the first transfer robot to travel according to the first travel speed and the travel strategy by sending a first instruction to the first transfer robot.

In still another embodiment, the first instruction includes a first sub-instruction and a second sub-instruction, and the control terminal 100 may send the first sub-instruction to the first transfer robot to instruct the first transfer robot to travel from the current position to the start end of the transfer line according to the first self-speed if the distance between the first transfer robot and the start end of the transfer line is equal to or greater than a first threshold.

The control terminal 100 may send a second sub-command to the first transfer robot when the first transfer robot travels to the start end of the transfer line and the length of the goods to be transferred on the goods conveying device is less than or equal to a second threshold, so that the first transfer robot travels from the start end of the transfer line to the receiving position according to the second sub-speed.

The first instruction further includes a third sub-instruction, a fourth sub-instruction, and a fifth sub-instruction, and sending the first instruction to the first transfer robot includes:

the control terminal 100 may send a third sub-instruction to the first transfer robot when the first transfer robot runs to the receiving position to receive the goods successfully and the goods meet the receiving requirement, so that the first transfer robot runs from the receiving position to the target unloading point to unload according to the third sub-speed;

The control terminal 100 may send a fourth sub-command to the first transfer robot when the first transfer robot travels to the receiving location and the receiving fails, so that the first transfer robot travels from the receiving location to the starting end of the transfer line according to the fourth sub-speed to re-queue the receiving;

the control terminal 100 may send a fifth sub-command to the first transfer robot to cause the first transfer robot to travel from the receiving location to the manual delivery point for unloading according to the fifth sub-speed when the first transfer robot travels to the receiving location and receives the goods successfully but the goods does not meet the receiving requirement.

Here, each sub-command may be a travel speed and a travel policy of the first transfer robot, so that the first transfer robot can travel according to the travel speed and the travel policy corresponding to the sub-command after receiving the sub-command.

In another embodiment, the first instruction may further include only one instruction, and after determining the first driving speed and the driving strategy of the first transfer robot, the first instruction is sent to the first transfer robot, so that the first transfer robot can drive according to the first driving speed and the driving strategy, where the first instruction may include one driving speed and the driving strategy, and may also include a plurality of driving speeds and driving strategies, and the application is not limited to this. Therefore, multiple interactions between the instruction sender and the instruction receiver can be avoided, and waste of network resources is caused.

In one embodiment, the first travel speed further comprises a third speed:

after the first transfer robot runs from the goods receiving position to the target unloading point according to the third sub-speed and the unloading is completed, determining the distance between the target unloading point and the starting end of the conveying line;

and if the distance between the target unloading point and the starting end of the conveying line is greater than or equal to a sixth threshold value, determining that the running speed of the first conveying robot from the target unloading point to the starting end of the conveying line is a third speed, wherein the third speed is greater than or equal to the second speed.

When the first transfer robot transfers the goods to the target unloading point, the goods still need to be continuously transferred from the conveying line, so that the first transfer robot needs to return to the starting end of the conveying line after unloading the goods to the target unloading point, and the first transfer robot can continue to travel according to the current speed or travel according to the third speed determined again. When the first transfer robot needs to travel from the target unloading point to the start end of the transfer line according to the third speed, the control terminal 100 or the first transfer robot may determine the third speed according to a ratio between a distance between the target unloading point and the start end of the transfer line and a sixth threshold. The third speed may be equal to or greater than the second speed, and the first transfer robot travels from the target unloading point to the start end of the conveying line through the third speed, so that the first transfer robot can quickly reenter the start end of the conveying line to receive goods, thereby achieving the purpose of improving the receiving efficiency.

Then, when the first transfer robot successfully unloads at the target unloading point, a sixth sub-command sent by the control terminal 100 may be received, where the sixth sub-command carries a third speed, so that the first transfer robot travels from the target unloading point to the start end of the conveying line through the third speed according to the instruction of the sixth sub-command.

In another embodiment, after the first transfer robot is successfully unloaded at the target unloading point, the control terminal 100 may not send any instruction to make the first transfer robot continue to travel according to the current speed.

In yet another embodiment, the first travel speed further includes a fourth speed:

after the first transfer robot runs from the goods receiving position to the manual delivery point for unloading according to the fifth sub-speed, determining the distance between the manual delivery point and the starting end of the conveying line;

if the distance between the manual delivery point and the starting end of the conveying line is greater than or equal to a seventh threshold value, determining that the running speed of the first conveying robot from the manual delivery point to the starting end of the conveying line is a fourth speed, and the fourth speed is greater than or equal to a second speed.

When the first transfer robot transfers the goods to the manual delivery point, the first transfer robot still needs to continue to transfer the goods from the conveying line, so that the first transfer robot needs to return to the starting end of the conveying line after unloading the goods to the manual delivery point, and the first transfer robot can continue to travel according to the current speed or travel according to the redetermined fourth speed. When the first transfer robot needs to travel from the manual delivery point to the start end of the transfer line according to the fourth speed, the control terminal 100 or the first transfer robot may determine the fourth speed according to a ratio between a distance between the manual delivery point and the start end of the transfer line and a seventh threshold. The fourth speed can be equal to or greater than the second speed, and the first transfer robot can quickly reenter the starting end of the conveying line to receive goods through the fourth speed from the manual delivery point to the starting end of the conveying line, so that the purpose of improving the goods receiving efficiency is achieved.

Then, when the first transfer robot is successfully unloaded at the manual delivery point, the seventh sub-instruction sent by the control terminal 100 may be received, where the seventh sub-instruction carries a fourth speed, so that the first transfer robot travels from the manual delivery point to the start end of the conveying line through the fourth speed according to the instruction of the seventh sub-instruction.

In another embodiment, after the first transfer robot is successfully unloaded at the manual delivery point, the control terminal 100 may not send any instruction to make the first transfer robot continue to travel according to the current speed.

In another embodiment, the cargo handling device further comprises a second handling robot, the method further comprising:

after the first transfer robot travels for a preset period of time, a second instruction is sent to the second transfer robot, and the second instruction is used for instructing the second transfer robot to receive and send goods according to the first travel speed and the travel strategy.

The cargo handling device 300 may include a plurality of handling robots, and the plurality of handling robots may be the same handling robots or different handling robots. The plurality of transfer robots may travel from below or outside the conveyor line in sequence. For convenience of description, a first transfer robot put in may be referred to as a first transfer robot, a second transfer robot put in may be referred to as a second transfer robot, and so on.

In order to orderly carry the goods by a plurality of carrying robots, the plurality of carrying robots are prevented from colliding during the traveling process. The control terminal 100 may continue to transmit the first command to the first transfer robot after transmitting the first travel speed and the travel policy to each transfer robot, and instruct the first transfer robot to travel at the first travel speed in accordance with the travel policy by the first command.

After the first transfer robot travels for the preset period of time, the control terminal 100 may continue to send a second instruction to the second transfer robot, and instruct the second transfer robot to travel at the first travel speed according to the travel policy through the second instruction. Here, the first travel speed of the second transfer robot and the first travel speed of the first transfer robot may be different.

The preset time period is, for example, 20s, 10s, 5s, 3s, etc., and may be determined according to historical experimental data, which is not particularly limited herein.

In another embodiment, the cargo handling device 300 further includes a third handling robot, and the control terminal 100 may continue to send a third instruction to the third handling robot after the second handling robot travels for a preset period of time, and instruct the third handling robot to travel at the first travel speed according to the travel strategy through the third instruction. And so on until all the transfer robots in the cargo transferring apparatus 300 are completely released, i.e. in a receiving state.

Step S1002, receiving trigger information sent by a sensor, when the sensor senses that the first transfer robot is traveling to a target position, the sensor sends the trigger information to the control terminal 100, the target position is any one of a plurality of positions where the sensor can sense the first transfer robot,

wherein, butt joint transfer chain is the transfer chain at the end among the transfer chain. The sensor can be an infrared sensor, a distance sensor, a sound sensor and the like; the sensor may be disposed on a side of the goods carrying portion 201 of the butt-joint conveying line far away from the forefront conveying line, or may be disposed at a center of a bottom of the goods carrying portion 201 of the butt-joint conveying line, or may be disposed on the supporting portion 202 of the butt-joint conveying line, or may be disposed on a periphery of the butt-joint conveying line, which is not limited in this application. As long as each transfer robot can be sensed to travel to the target position. As further shown in fig. 12, the target position may be a position at a predetermined distance from the butt-joint conveying line, a position which matches the length and width of the butt-joint conveying line and is convenient for receiving goods, or a position preset by the control terminal 100, which is not limited in this application. Because the first transfer robot can travel to the receiving position through different travel strategies, the sensor can sense the first transfer robot when the first transfer robot travels to a plurality of different positions, and then the target position can be any one of the positions where the sensor can sense the first transfer robot, and further, can be the position where the first transfer robot is located when the sensor senses the first transfer robot at the earliest.

When the sensor senses that the first transfer robot runs to the target position, the sensor generates trigger information and sends the trigger information to the control terminal 100, so that the control terminal 100 sends a control instruction to the butt joint conveying line according to the trigger information to instruct the butt joint conveying line to transfer cargoes to the first transfer robot according to the first speed.

Here, the docking conveyor line may be in the process of conveying the cargo at the second travel speed according to the control command of the control terminal 100, and conveying the cargo to the first transfer robot at the second travel speed, wherein the second travel speed may be the same as the first travel speed, may be any one of the first travel speeds, or may be a different speed from the first travel speed, which is not limited in this application, as long as the docking conveyor line is capable of conveying the cargo to the first transfer robot.

In addition, the control terminal 100 may send a pause instruction to the docking conveyor line when the transfer robot does not travel to the target position and the docking conveyor line has stored the goods, so that the docking conveyor line waits for the control terminal 100 to send the control instruction and then transfers the goods to the first transfer robot. Correspondingly, the control terminal 100 may send a pause instruction to other conveying lines to instruct the other conveying lines to enter a waiting state, so as to avoid that excessive goods are stored on the multi-section conveying lines to affect the receiving.

And step S1003, responding to the trigger information, and sending a control instruction to the butt joint conveying line so that the butt joint conveying line executes a target action according to the control instruction, wherein the target action is that the butt joint conveying line conveys cargoes according to a second running speed, so that the cargoes on the butt joint conveying line are conveyed to the first conveying robot in the process that the first conveying robot runs at the first running speed.

Based on the above description, after receiving the trigger information sent by the sensor, the control terminal 100 may send a control instruction to the docking conveyor line, so that the docking conveyor line may transfer the goods according to the second running speed, so that the first transfer robot may transfer the goods on the docking conveyor line to the first transfer robot during the running process of the first transfer robot at the first running speed.

The docking conveyor line may be configured to continuously transfer the goods to the first transfer robot at the second travel speed according to the control command when the docking conveyor line is in the working state; when the butt joint conveying line is still in a static state, after entering a transmission state according to a control instruction, goods are conveyed to the first transfer robot according to the second running speed, and the butt joint conveying line is not limited in this application.

For the cargo receiving method of the present application, a corresponding carrying method is further provided, where the carrying method is applied to the carrying robot in fig. 1, and the relationship between the carrying robot and the control terminal 100 and the cargo conveying device 200 is described above, and is not described herein, and the carrying method includes the following steps:

when the docking conveyor line conveys goods at the second travel speed according to the control instruction transmitted by the control terminal 100, the transfer robot travels at the first travel speed;

wherein the transfer robot is any one of the transfer robots in the cargo transferring apparatus 300; the butt joint conveying line is the conveying line at the tail end in the goods conveying equipment 200; the control terminal 100 will send the determined driving strategy and the first driving speed to the respective transfer robots before launching the transfer robots in the cargo transferring device 300. The driving strategy comprises driving routes and driving directions of the transfer robots. The second traveling speed may be determined according to parameters such as the speed at which the cargo transferring apparatus 200 transfers the cargo, the number, size, weight, etc., and then the cargo transferring apparatus 30 performs the cargo transferring according to the first traveling speed and the traveling strategy.

Then, during the travel of the first transfer robot at the first travel speed, the multi-stage transfer line of the cargo transferring apparatus 200 may transfer the cargo at the second travel speed according to the control instruction of the control terminal 100.

When the transfer robot travels to the detection area of the sensor disposed on the butt-joint conveying line during the travel of the transfer robot at the first travel speed, the transfer robot may be detected by the sensor and generate a trigger message and send the trigger message to the control terminal 100, where the control terminal 100 sends a control instruction to the butt-joint conveying line according to the trigger message, so that the transfer robot can just receive the goods conveyed by the butt-joint conveying line during the travel of the transfer robot at the first travel speed.

In another implementation, the method further comprises:

receiving a first instruction sent by the control terminal 100, wherein the first instruction carries a first running speed and a running strategy;

and receiving goods according to the first running speed and the running strategy.

In another embodiment, the first instruction includes a first sub-instruction, receiving the first instruction includes:

receiving a first sub-instruction sent by the control terminal 100, wherein the first sub-instruction carries a first sub-speed;

and driving from the current position to the beginning end of the conveying line according to the first sub-speed.

In another embodiment, the first instruction further includes a second sub-instruction, receiving the first instruction, including:

Receiving a second sub-instruction sent by the control terminal 100, wherein the second sub-instruction carries a second sub-speed;

and driving from the starting end of the conveying line to the receiving position according to the second sub-speed.

In another embodiment, the first instruction includes a third sub-instruction, receiving the first instruction, including:

receiving a third sub-instruction sent by the control terminal 100, wherein the third sub-instruction carries a third sub-speed;

and unloading from the receiving position to the target unloading point according to the third sub-speed.

In another embodiment, the first instruction includes a fourth sub-instruction, receiving the first instruction, including:

receiving a fourth sub-instruction sent by the control terminal 100, wherein the fourth sub-instruction carries a fourth sub-speed;

and (5) according to the fourth sub-speed, driving the vehicle from the goods receiving position to the starting end of the conveying line to receive goods in a queuing manner again.

In another embodiment, the first instruction includes a fifth sub-instruction, receiving the first instruction includes:

receiving a fifth sub-instruction sent by the control terminal 100, wherein the fifth sub-instruction carries a fifth sub-speed;

and according to the fifth sub-speed, the vehicle runs from the goods receiving position to the manual delivery point for unloading.

In one embodiment, further comprising:

receiving acquisition information sent by the control terminal 100;

the acquired image information is transmitted to the control terminal 100 according to the acquired information.

In another embodiment, the method further comprises:

after the unloading is completed from the goods receiving position to the target unloading point according to the third sub-speed, receiving a sixth sub-instruction sent by the control terminal 100, wherein the sixth sub-instruction carries the third speed;

and driving from the target unloading point to the starting end of the conveying line at a third speed according to a sixth command.

In yet another embodiment, further comprising:

after the fifth sub-speed runs from the goods receiving position to the manual delivery point for unloading, a seventh sub-instruction sent by the control terminal 100 is received, wherein the seventh sub-instruction carries a fourth speed;

and driving from the manual delivery point to the starting end of the conveying line at a fourth speed according to the seventh instruction.

It should be understood that, although the steps in the flowcharts related to the above embodiments are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.

Based on the same inventive concept, the embodiments of the present application also provide a control terminal 100 for implementing the above-mentioned related aspects. The implementation of the solution provided by the control terminal 100 is similar to that described in the above method, so the specific limitation in one or more embodiments of the control terminal 100 provided below may refer to the limitation of the receiving method hereinabove, and will not be repeated herein.

In one embodiment, as shown in fig. 15, there is provided a control terminal 100, the control terminal 100 including: a determination module 1501, a receiving module 1502 and a transmitting module 1503,

a determining module 1501, configured to determine, when the first transfer robot is required to transfer the cargo, a first travel speed and a travel strategy of the first transfer robot, and trigger the first transfer robot to travel according to the first travel speed and the travel strategy, where the first transfer robot is any one transfer robot in the cargo transferring apparatus;

a receiving module 1502, configured to receive trigger information sent by a sensor, where the sensor sends the trigger information to the control terminal 100 when the sensor senses that the first transfer robot travels to a target position, and the target position is any one of a plurality of positions where the sensor can sense the first transfer robot;

And the sending module 1503 is configured to send a control instruction to the butt-joint conveying line in response to the trigger information, so that the butt-joint conveying line performs a target action according to the control instruction, and the target action is that the butt-joint conveying line conveys at a second driving speed, so that in a process that the first transfer robot drives at the first driving speed, the goods on the butt-joint conveying line are conveyed to the first transfer robot.

In another embodiment, there is provided a transfer robot including: the receiving module is configured to receive the received signal,

and a receiving module for receiving the goods transferred on the butt-joint transfer line when the transfer robot travels to the detection area of the sensor, wherein the transfer robot travels at a first speed when the butt-joint transfer line transfers the goods at the first speed according to the control instruction transmitted by the control terminal 100.

The above-described control terminal 100 and each module in the transfer robot may be implemented in whole or in part by software, hardware, and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.

In one embodiment, as shown in fig. 16, fig. 16 is an internal structural schematic diagram of a transfer robot including a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the transfer robot is adapted to provide computing and control capabilities. The memory of the transfer robot includes a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the transfer robot stores the travel policy, instructions, and pickup information transmitted from the control terminal 100. The network interface of the transfer robot is used for communicating with an external terminal through network connection. The computer program, when executed by the processor, implements the handling method described above.

It will be appreciated by those skilled in the art that the structure shown in fig. 16 is merely a block diagram of a portion of the structure associated with the present application and is not limiting of the computer device to which the present application is applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.

In addition, the present embodiment also provides a computer readable storage medium having a computer program stored thereon, which when executed by a processor, implements the cargo receiving method of any of the above embodiments.

In addition, the present embodiment also provides a computer program product, including a computer program, which when executed by a processor implements the receiving method of any of the above embodiments.

It is easy to understand that, based on several embodiments provided in the embodiments of the present application, a person skilled in the art may combine, split, reorganize, etc. the embodiments of the present application to obtain other embodiments, where none of these embodiments is beyond the protection scope of the embodiments of the present application.

The foregoing detailed description of the embodiments of the present application has further described the objects, technical solutions and advantageous effects thereof, and it should be understood that the foregoing is merely a specific implementation of the embodiments of the present application, and is not intended to limit the scope of the embodiments of the present application, and any modifications, equivalent substitutions, improvements, etc. made on the basis of the technical solutions of the embodiments of the present application should be included in the scope of the embodiments of the present application.

Claims

1. A method of receiving goods, characterized by being applied to a control terminal, the control terminal is respectively in communication connection with a goods conveying device and a goods handling device, the goods conveying device comprises a conveying line, and a sensor is arranged on a butt joint conveying line positioned at the tail end or on the periphery of the butt joint conveying line in the conveying line, the method comprises:

when a first transfer robot is required to transfer goods, determining a first running speed and a running strategy of the first transfer robot, and triggering the first transfer robot to run according to the first running speed and the running strategy, wherein the first transfer robot is any transfer robot in the goods transfer equipment;

receiving triggering information sent by the sensor, wherein the sensor sends the triggering information to the control terminal when the sensor senses that the first transfer robot runs to a target position, and the target position is any one of a plurality of positions where the sensor can sense the first transfer robot;

2. The method of claim 1, wherein the first travel speed is the same as the second travel speed, and wherein determining the first travel speed of the first transfer robot comprises:

acquiring the second running speed;

and taking the second running speed as the first running speed.

3. The method of receiving cargo of claim 1, wherein the first travel speed is different from the second travel speed, the determining the first travel speed of the first transfer robot comprising:

and determining the first running speed based on the length of the goods on the conveying line to be conveyed, the distance between the first transfer robot and the starting end of the conveying line, the distance between the goods receiving position and the preset position and the goods receiving information of the first transfer robot.

4. A method of receiving goods according to claim 3, wherein the first travel speed comprises a first speed and a second speed, and wherein the determining the first travel speed based on the length of goods on the conveyor line that need to be transferred, the distance between the first transfer robot and the beginning of the conveyor line, the distance between the receiving location and the preset location, and the receiving information of the first transfer robot comprises:

Determining the first speed based on the length of the goods on the conveying line to be conveyed and the distance between the first transfer robot and the starting end of the conveying line, so that the first transfer robot can travel from the current position to the goods receiving position according to the first speed;

and determining the second speed based on the distance between the goods receiving position and the preset position and the goods receiving information of the first carrying robot, so that the first carrying robot can travel from the goods receiving position to the preset position according to the second speed, and the first speed is greater than or equal to the second speed.

5. The method of claim 4, wherein the first speed comprises a first sub-speed and a second sub-speed, the determining the first speed based on a length of the load on the conveyor line that needs to be transferred and a distance between the first transfer robot and a start end of the conveyor line comprising:

if the distance between the first transfer robot and the starting end of the conveying line is greater than or equal to a first threshold value, determining that the running speed of the first transfer robot from the current position to the starting end of the conveying line is the first sub-speed;

If the length of the goods to be conveyed on the goods conveying equipment is smaller than or equal to a second threshold value, determining the second running speed as the second sub-speed of the first conveying robot running from the starting end of the conveying line to the goods receiving position, wherein the first sub-speed is larger than the second sub-speed.

6. The method of claim 4, wherein the second speed comprises a third sub-speed, the determining the second speed based on a distance between the pickup location and the preset location and pickup information of the first transfer robot comprising:

and if the distance between the receiving position and the target unloading point is greater than or equal to a third threshold value, determining that the running speed of the first transfer robot from the receiving position to the target unloading point is the third sub-speed.

7. The method of claim 6, wherein the second speed further comprises a fourth sub-speed, the determining the second speed based on the distance between the pickup location and the preset location and pickup information of the first transfer robot comprising:

If the receiving information of the first transfer robot is second information, determining the preset position as the starting end of the conveying line, wherein the second information represents that the receiving of the first transfer robot fails;

and if the distance between the goods receiving position and the starting end of the conveying line is greater than or equal to a fourth threshold value, determining that the running speed of the first transfer robot from the goods receiving position to the starting end of the conveying line is the fourth sub-speed.

8. The method of claim 7, wherein the second speed further comprises a fifth sub-speed, the determining the second speed based on the distance between the pickup location and the preset location and pickup information of the first transfer robot comprising:

if the goods receiving information of the first transfer robot is third information, determining that the preset position is an artificial delivery point, wherein the third information is information representing that the first transfer robot receives the goods successfully but the goods do not meet the goods receiving requirement;

and if the distance between the goods receiving position and the manual delivery point is greater than or equal to a fifth threshold value, determining that the running speed of the first transfer robot from the goods receiving position to the manual delivery point is the fifth sub-speed.

9. The method of pickup according to any one of claims 1 to 8, wherein the determining a travel strategy of the first transfer robot includes:

10. The method of claim 9, wherein,

if the first transfer robot travels from below the conveyor line in the same travel direction as the conveyance direction of the conveyor line, the first travel speed is in the same direction as the second travel speed;

and if the first transfer robot travels from the outer side of the conveying line according to a travel direction different from the conveying direction of the conveying line, the first travel speed is perpendicular to the direction of the second travel speed or forms a preset angle.

11. The method of claim 10, wherein triggering the first transfer robot to travel in accordance with the first travel speed and the travel strategy comprises:

after determining a first running speed and a running strategy of the first transfer robot, sending a first instruction to the first transfer robot, wherein the first instruction is used for instructing the first transfer robot to pick up goods according to the first running speed and the running strategy.

12. The method of claim 11, wherein the first instruction includes a first sub-instruction and a second sub-instruction, and wherein the sending the first instruction to the first transfer robot includes:

if the distance between the first transfer robot and the starting end of the conveying line is greater than or equal to a first threshold value, a first sub-instruction is sent to the first transfer robot, so that the first transfer robot runs from the current position to the starting end of the conveying line according to the first sub-speed;

if the first transfer robot runs to the starting end of the conveying line and the length of the goods on the goods conveying equipment to be conveyed is smaller than or equal to a second threshold value, a second sub-instruction is sent to the first transfer robot, so that the first transfer robot runs from the starting end of the conveying line to the goods receiving position according to the second sub-speed.

13. The method of claim 11, wherein the first instruction further comprises a third sub-instruction, a fourth sub-instruction, and a fifth sub-instruction, the sending the first instruction to the first transfer robot comprising:

if the first transfer robot runs to the goods receiving position to receive the goods successfully and the goods meet the goods receiving requirement, a third sub-instruction is sent to the first transfer robot, so that the first transfer robot runs from the goods receiving position to the target unloading point to unload according to the third sub-speed;

if the first transfer robot runs to the goods receiving position and the goods receiving fails, a fourth sub-instruction is sent to the first transfer robot, so that the first transfer robot runs from the goods receiving position to the starting end of the conveying line according to the fourth sub-speed to queuing again for goods receiving;

and if the first transfer robot runs to the goods receiving position and receives goods successfully but the goods do not meet the goods receiving requirement, a fifth sub-instruction is sent to the first transfer robot, so that the first transfer robot runs from the goods receiving position to the manual delivery point for unloading according to the fifth sub-speed.

14. The method of claim 13, wherein the first travel speed further comprises a third speed, the method further comprising:

and if the distance between the target unloading point and the starting end of the conveying line is greater than or equal to a sixth threshold, determining that the running speed of the first transfer robot from the target unloading point to the starting end of the conveying line is the third speed, wherein the third speed is greater than or equal to the second speed.

15. The method of claim 13, wherein the first travel speed further comprises a fourth speed, the method further comprising:

after the first transfer robot runs from the goods receiving position to the manual delivery point according to the fifth sub-speed and discharges, determining the distance between the manual delivery point and the starting end of the conveying line;

if the distance between the manual delivery point and the starting end of the conveying line is greater than or equal to a seventh threshold, determining that the running speed of the first transfer robot from the manual delivery point to the starting end of the conveying line is the fourth speed, and the fourth speed is greater than or equal to the second speed.

16. The method of receiving goods according to claim 8, further comprising:

after the control instruction is sent to the butt joint conveying line, acquiring image information containing the first transfer robot;

determining whether the first transfer robot receives goods successfully or not according to the image information;

if the goods receiving fails, determining the goods receiving information as the second information;

if the goods meet the goods receiving requirement, determining the goods receiving information as the first information;

and if the goods do not meet the goods receiving requirement, determining the goods receiving information as the third information.

17. The method of receiving cargo of claim 11, wherein the cargo handling device further comprises a second handling robot, the method further comprising:

after the first transfer robot travels for a preset period of time, a second instruction is sent to the second transfer robot, and the second instruction is used for instructing the second transfer robot to pick up goods according to the first travel speed and the travel strategy.

18. The utility model provides a transport method, characterized in that is applied to transfer robot, transfer robot and control terminal communication connection, control terminal is connected with cargo conveying equipment, cargo conveying equipment includes multistage transfer chain, be located on the butt joint transfer chain of terminal in the multistage transfer chain or the periphery of butt joint transfer chain is provided with the sensor, the method includes:

When the butt joint conveying line conveys goods according to a second running speed according to a control instruction transmitted by the control terminal, the butt joint conveying line runs at the first running speed;