Self-drive robot and carrying method thereof
A robot and self-driven technology, applied in the field of intelligent storage, can solve the problems of restricting the efficiency and accuracy of forklift handling containers, increasing labor costs, and unfavorable development of intelligent storage technology, so as to save labor costs, improve efficiency, accuracy, and precision The effect of controllable error
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Embodiment 1
[0122] This embodiment discloses a transporting method for a self-propelled robot, which is applied to the self-propelled robot. see image 3 , the method includes:
[0123] 301. Drive the self-propelled robot to move to a first preset position, and drive the pick-up unit to rise to a first preset height, wherein the first preset height corresponds to the pick-up hole of the target container .
[0124] Wherein, the self-propelled robot is driven to move to the first preset position through a preset walking route. In this embodiment, the first preset position is located in the placement area of the containers to be picked up, and in the placement area, the containers to be picked up are placed sequentially along the height to form a picking stack. Specifically, the first preset position may be located in front of the placement area of the container to be picked up, and the distance between the first preset position and the container to be picked up is within a preset dis...
Embodiment 2
[0158] The present application provides a handling method for a self-propelled robot, wherein the whole process of handling includes not only removing the container, but also placing the container.
[0159] Specifically, see Figure 5 , the handling method of the second embodiment includes:
[0160] 501. Drive the self-propelled robot to move to a first preset position, and drive the pick-up unit to rise to a first preset height, wherein the first preset height corresponds to the pick-up hole of the target container .
[0161] 502. When the picking unit rises to the first preset height, drive the image acquisition unit to acquire a depth image including the picking hole, and receive the depth image.
[0162] 503. Obtain the pose of the pickup hole according to the depth image, and adjust the pose of the pickup unit according to the pose of the pickup hole until the pickup unit and the target container are picked up. Cargo holes aligned.
[0163] 504. Control the picking un...
Embodiment 3
[0178] see figure 1 , figure 2 and Figure 7a , this embodiment discloses a self-propelled robot 110 for handling containers 115, wherein at least one container 115 is arranged vertically to form a picking stack, and a picking hole 116 is formed below each of the containers 115.
[0179] see Figure 7a , Figure 7a The electrical connection diagram of each module of the self-propelled robot 110 of this embodiment is shown. The self-propelled robot 110 includes: an image acquisition unit 113 , a pick-up unit 111 and a processor 114 , and the image acquisition unit 113 is electrically connected to the processor 114 .
[0180] Specifically, the image acquisition unit 113 includes at least one camera, which is installed at the connection between the pick-up unit 111 of the self-driven robot 110 and the slide rail 112 , and the camera goes up and down synchronously with the pick-up unit 111 .
[0181] Specifically, the image acquisition unit 113 has an image acquisition funct...
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