Cargo storage method and handling apparatus

Abstract

This application provides a goods storage method and handling equipment. The method includes collecting distance information between a shelf storing goods and a detection device; determining the location information of a target storage location on the shelf based on the distance information; and controlling a goods moving device to adjust its position based on the location information of the target storage location, so that the goods loaded on the goods moving device are directly aligned with the target storage location. Before storing the loaded goods in the target storage location, this application uses the detection device to collect distance information between the target storage location and the detection device to obtain the location information of the target storage location, and then accurately stores the loaded goods in the target storage location based on the location information of the target storage location, thereby ensuring that the loaded goods can be safely placed in the target storage location.

Description

Technical Field

[0001] This application relates to the field of intelligent warehouse technology, and in particular to a cargo storage method and handling equipment. Background Technology

[0002] Currently, traditional handling equipment is prone to failing to accurately locate storage positions when placing loaded goods into storage locations on shelves. This makes it difficult to place goods precisely in the storage locations, and may even cause the goods to collide with the shelves during placement, resulting in the goods tipping over. Therefore, traditional handling equipment cannot ensure that goods can be safely placed in storage locations, which can easily cause significant economic losses during the placement process. Summary of the Invention

[0003] In view of this, the embodiments of this application provide a cargo storage method and handling equipment that can accurately store loaded cargo in storage positions, thereby ensuring that the loaded cargo can be safely placed in the storage positions.

[0004] The cargo storage method of this application includes collecting distance information between a shelf storing goods and a detection device; determining the location information of a target storage location on the shelf based on the distance information; and controlling a cargo moving device to adjust its own position based on the location information of the target storage location, so that the cargo loaded by the cargo moving device is directly opposite the target storage location.

[0005] The handling equipment according to this application includes a detection device, a processor, and a cargo moving device. The detection device is used to collect distance information between the shelf storing the goods and the detection device. The processor is used to determine the location information of the storage position on the shelf based on the distance information. The cargo moving device is used to adjust its position according to the location information of the storage position, so that the goods loaded on the cargo moving device are directly opposite the storage position.

[0006] Before storing the loaded goods in the target storage location, the cargo storage method and handling equipment of this application will use a detection device to collect distance information between the target storage location and the detection device, thereby obtaining the location information of the target storage location. Then, based on the location information of the target storage location, the loaded goods will be accurately stored in the target storage location, thereby ensuring that the loaded goods can be safely placed in the target storage location.

[0007] Additional aspects and advantages of the embodiments of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0008] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, wherein:

[0009] Figure 1 This is a schematic flowchart of a cargo storage method according to certain embodiments of this application;

[0010] Figure 2 This is a schematic diagram of the structure of a conveying device according to certain embodiments of this application;

[0011] Figure 3 This is a schematic diagram illustrating a usage scenario of the handling equipment according to certain embodiments of this application;

[0012] Figure 4 This is a schematic flowchart of a cargo storage method according to certain embodiments of this application;

[0013] Figure 5 This is a schematic flowchart of a cargo storage method according to certain embodiments of this application;

[0014] Figure 6 This is a schematic flowchart of a cargo storage method according to certain embodiments of this application;

[0015] Figure 7 This is a schematic flowchart of a cargo storage method according to certain embodiments of this application;

[0016] Figure 8 This is a schematic diagram illustrating a usage scenario of the handling equipment according to certain embodiments of this application;

[0017] Figure 9 This is a schematic flowchart of a cargo storage method according to certain embodiments of this application;

[0018] Figure 10 This is a schematic diagram illustrating a usage scenario of the handling equipment according to certain embodiments of this application;

[0019] Figure 11 This is a flowchart illustrating a cargo storage method according to certain embodiments of this application; and

[0020] Figure 12 This is a schematic flowchart of a cargo storage method according to certain embodiments of this application. Detailed Implementation

[0021] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of this application, and should not be construed as limiting the embodiments of this application.

[0022] Please see Figures 1 to 3 The cargo storage method according to the embodiments of this application includes:

[0023] Step 01: Collect distance information between the shelf H1 where goods are stored and the detection device 10.

[0024] Specifically, please combine Figure 2 The handling equipment 100 includes a detection device 10, a processor 20, and a cargo moving device 30. The handling equipment 100 can use the detection device 10 to collect distance information between the target storage location C11 and the detection device 10. That is, the detection device 10 can obtain the distance information between the target storage location C11 and the detection device 10 by detecting different positions of the target storage location C11 and the actual distance between the detection devices 10 and the target storage location C11.

[0025] Alternatively, the handling equipment can be automated guided vehicles (AGVs), clamp trucks, tractor trucks, forklifts, reach stackers, warehouse robots, or other equipment with handling capabilities.

[0026] Step 02: Determine the location information of the target storage location C11 of shelf H1 based on the distance information.

[0027] Specifically, the processor 20 is used to determine the location information of the target storage location C11 on the shelf H1 based on the distance information. The location information of the detection device 10 itself can be directly obtained. For example, the handling device 100 has a positioning device that can obtain the location information of its preset position in real time. The relative positional relationship between the detection device 10 and the preset position is fixed after the handling device 100 leaves the factory. Therefore, the location information of the detection device 10 itself can be obtained through the location information of the preset position of the handling device 100 and the relative positional relationship between the detection device 10 and the preset position. After obtaining the location information of the detection device 10 itself, the location information of the target storage location C11 can be determined based on the distance information between the target storage location C11 and the detection device 10 (i.e., the relative position between the target storage location C11 and the detection device 10) and the location information of the detection device 10 itself.

[0028] Step 03: Control the cargo moving device 30 to adjust its own position according to the position information of the target storage location C11, so that the cargo loaded by the cargo moving device 30 is aligned with the target storage location C11.

[0029] Specifically, after the processor 20 obtains the location information of the target storage location C11, it adjusts the position of the cargo moving device 30 according to the location information of the target storage location C11 so that the cargo loaded by the cargo moving device 30 is aligned with the target storage location C11.

[0030] Furthermore, the cargo moving device 30 includes a moving part 31 and a picking part 32. Both the moving part 31 and the picking part 32 can move horizontally, and the picking part 32 can be raised and lowered vertically (i.e., parallel to the Z-axis). When the handling equipment 100 determines the specific location information of the target storage location C11, it can obtain the preset height of the target storage location C11 from the transportation task. At this time, it is only necessary to adjust the horizontal position of the loaded cargo and then adjust the height of the picking part 32 according to the preset height, so that the center of the loaded cargo and the center of the target storage location C11 are aligned. For example, a world coordinate system is established with a predetermined position on the ground as the origin. The world coordinate system includes an X-axis, a Y-axis, and a Z-axis. The X-axis is parallel to the row direction of the shelf H1, the Y-axis is perpendicular to the X-axis and parallel to the ground, and the Z-axis is perpendicular to the ground. When the handling equipment 100 places the loaded goods into the target storage position C11, it first uses the detection equipment 10 to collect the distance information between the target storage position C11 and the detection equipment 10. Based on the distance information between the target storage position C11 and the detection equipment 10 and the position information (such as position coordinates) of the detection equipment 10, the horizontal coordinates of the center of the target storage position C11 are determined, such as (x1, y1). At this time, based on the coordinates of the center of the target storage location C11, the processor 20 sends a control command to the cargo moving device 30 to control the moving part 31 and / or the picking part 32 to adjust their own position in the horizontal direction (i.e., the plane where the X and Y axes are located). Then, the processor 20 sends a control command to the cargo moving device 30 according to the preset height to control the picking part 32 to adjust its own height, so that the center of the loaded cargo and the center of the target storage location C11 are aligned, ensuring that the center of the loaded cargo and the center of the target storage location C11 are directly opposite each other.

[0031] While using the detection device 10 to determine the horizontal position information of the target storage location C11, the handling equipment 100 can also determine the preset height of the target storage location C11 to prevent errors in the preset height of the target storage location C11 given in the transportation task. The handling equipment 100 adjusts the height of the picking unit 32 according to the preset height of the target storage location C11. Then, the handling equipment 100 uses the detection device 10 to collect the distance information between the target storage location C11 and the detection device 10, and combines it with the position information of the detection device 10 to determine the three-dimensional coordinates of the center position information of the target storage location C11, such as (x2, y2, z2). At this time, the processor 20 will send control commands to the cargo moving device 30 according to x2 and y2 to control the moving unit 31 and / or the picking unit 32 to adjust their own horizontal position, and send control commands to the cargo moving device 30 according to z2 to control the picking unit 32 to adjust its own height, so as to achieve alignment between the center of the loaded cargo and the center of the target storage location C11, ensuring that the center of the loaded cargo and the center of the target storage location C11 are directly opposite each other.

[0032] Before storing the loaded goods in the target storage location C11, the cargo storage method of this application uses the detection device 10 to collect the distance information between the target storage location C11 and the detection device 10, thereby obtaining the location information of the target storage location C11. Then, based on the location information of the target storage location C11, the loaded goods are accurately stored in the target storage location C11, thereby ensuring that the loaded goods can be safely placed in the target storage location C11.

[0033] Please see Figure 2 , Figure 3 and Figure 4 The shelf H1 includes multiple storage locations C1 arranged in a matrix. The goods storage method of this application includes:

[0034] Step 04: Upon receiving a transportation task, based on the target storage location C11 of the transportation task in the target column of the matrix, control the cargo moving device 30 to move to the position of the target column of the shelf H1 containing the target storage location C11.

[0035] Step 05: Determine the first preset height of the target storage bit C11 based on the target row of the target storage bit C11 in the matrix;

[0036] Step 06: Adjust the height of the goods loaded on the goods moving device 30 according to the first preset height so that the center of the goods loaded on the goods moving device 30 is aligned with the center of the target storage position C11.

[0037] Specifically, upon receiving a transportation task, the processor 20 further controls the cargo moving device 30, which loads goods, to move to the position of the target column of the shelf H1 containing the target storage location C11, based on the target column of the target storage location C11 in the matrix. Then, based on the target row of the target storage location C11 in the matrix, the processor 20 determines a first preset height for the target storage location C11. Next, the processor 20 adjusts the height of the goods loaded by the cargo moving device 30 according to the first preset height, so that the center of the goods loaded by the cargo moving device 30 is aligned with the center of the target storage location C11.

[0038] That is, after receiving a transportation task, the processor 20 obtains the position information of the target column and target row of the target storage location C11 in the matrix. Then, the processor 20 sends a control command to the cargo moving device 30 based on the obtained position information of the target column of the target storage location C11 in the matrix, so as to control the cargo moving device 30 to move to the position of the target column of the shelf H1 containing the target storage location C11. Then, the detection device 10 collects the distance information between the target column of the target storage location C11 in the matrix and the detection device 10 to determine the target column of the target storage location C11 in the matrix. The processor 20, based on the position of the center line of any target storage location C11 in the target column fed back by the detection device 10, sends a control command to the cargo moving device 30 to control the moving unit 31 and / or the picking unit 32 to adjust their respective positions in the horizontal direction (i.e., their positions in the X direction and / or Y direction), so that the center line of the loaded cargo (e.g., a line passing through the center of the cargo and perpendicular to the ground) is aligned with the center line of the target column of the shelf H1 of the target storage location C11 (e.g., a line passing through the center of the target storage location C11 and perpendicular to the ground). Then, the processor 20 sends a control command to the cargo moving device 30 based on the first preset height determined by the target row of the target storage location C11 in the matrix during the transportation task, so that the picking unit 32 adjusts its own height, thereby ensuring that the loaded cargo is aligned with the target storage location C11, and ensuring that the loaded cargo can be accurately stored in the target storage location C11.

[0039] In this way, by accurately moving the cargo moving device 30, the cargo loaded on the cargo moving device 30 is aligned with the target storage position C11 in both the horizontal and vertical directions. This not only improves the accuracy of cargo storage, but also enables the cargo to be stored in target storage positions C11 at different heights, thus achieving high-level storage of cargo.

[0040] Please see Figure 2 , Figure 3 and Figure 5 In some embodiments, the shelf H1 includes multiple storage positions C1 arranged in a matrix, and the detection device 10 is installed on the goods moving device 30. The goods storage method of this application includes:

[0041] Step 07: Determine the second preset height of the target storage bit C11 based on the target row;

[0042] Step 08: Adjust the height of the detection device 10 according to the second preset height so that the detection device 10 can collect the distance information between the target storage bit C11 and the detection device 10.

[0043] Specifically, to prevent a deviation between the second preset height determined based on the target row of the target storage location C11 in the matrix and the actual height of the target storage location C11 in the matrix, the handling equipment 100 can first determine the second preset height of the target storage location C11 based on the target row before transporting the loaded goods to the target storage location C11. Then, it can adjust the height of the detection equipment 10 based on the second preset height, and then use the detection equipment 10 to obtain the distance information of the target storage location C11 to determine the actual height of the target storage location C11. This allows the handling equipment 100 to adaptively adjust the second preset height, which may have a deviation, to ensure that the loaded goods can be transported to the target storage location C11 at the correct height. This avoids a deviation between the second preset height and the height of the target storage location C11, which would prevent the center of the transported goods from being aligned with the center of the target storage location C11.

[0044] Furthermore, the detection device 10 is located at the root of the picking unit 32 and below the loaded goods. It can move with the picking unit 32, so that the detection device 10 can be used to collect distance information between the detection device 10 itself and any target storage position C11 on the shelf H1, thereby ensuring the accuracy of the goods moving device 30 in storing the loaded goods in the target storage position C11. Therefore, in order to prevent the loaded goods from obstructing the detection device 10 when the detection device 10 collects the distance information between the target storage location C11 and the detection device 10, the handling device 100 first determines the second preset height according to the target row of the target storage location C11 in the matrix before transporting the loaded goods to the shelf H1 containing the target storage location C11. Then, it adjusts the height of the picking unit 32 according to the second preset height. At this time, the loaded goods are located above the target row, so that the detection range of the detection device 10 can cover the target storage location C11. Then, the detection device 10 detects the distance information between the target storage location C11 and the detection device 10. Combined with the position information of the detection device 10, the coordinates of the center of the target storage location C11, such as (x3, y3, z3), can be obtained. Next, the processor 20 sends control commands to the cargo moving device 30 according to x3, y3 and z3 to control the moving part 31 and / or the picking part 32 to adjust their respective positions so that the center of the loaded cargo is aligned with the center of the target storage position C11, preventing the preset height of the target storage position C11 obtained by the processor 20 in the transportation task from being incorrect in the target row of the matrix, and realizing the safe storage of cargo.

[0045] Please see Figure 2 , Figure 3 and Figure 6 In some embodiments, the cargo storage method of this application includes:

[0046] Step 09: Control the cargo moving device 30 to move toward the target storage location C11, so that the cargo loaded by the cargo moving device 30 moves into the target storage location C11.

[0047] Specifically, after the detection device 10 has collected the distance information between the target storage location C11 and the detection device 10, and the center of the loaded goods is aligned with the center of the target storage location C11, the processor 20 can send a control command to the goods moving device 30 based on the distance information between the target storage location C11 and the detection device 10, so as to control the goods moving device 30 to move towards the target storage location C11, so that the loaded goods move directly into the target storage location C11, thus completing the storage of the loaded goods in the target storage location C11. For example, by combining the distance information between the target storage location C11 and the detection device 10, and the position information of the detection device 10, the coordinates of the center of the target storage location C11, such as (x4, y4), can be obtained. At this time, the processor 20 can obtain the horizontal position information of the target storage location C11 based on x4 and y4, and send a control command to the cargo moving device 30 to control the cargo moving device 30 to adjust its horizontal position so that the center line of the loaded cargo is aligned with the center line of the target storage location C11. Then, the height of the picking unit 32 is adjusted according to the preset height of the target storage location C11 obtained in the transportation task, so that the center of the loaded cargo is directly opposite the center of the target storage location C11. After adjusting the position of the loaded cargo so that the center of the loaded cargo is directly opposite the center of the target storage location C11, the processor 20 can send a control command to the cargo moving device 30 to control the cargo moving device 30 to move towards the target storage location C11, so that the loaded cargo can be accurately stored in the target storage location C11.

[0048] Furthermore, the handling equipment 100 is connected to a central control system (such as a cloud server). The central control system is used to issue transportation tasks and maintain the inventory information of each warehouse. When the cargo moving device 30 stores the loaded cargo in the target storage location C11, it will upload the information of the loaded cargo and the target storage location C11 to the central control system to update the inventory information in real time.

[0049] Please see Figure 2 , Figure 7 and Figure 8 In some embodiments, the cargo storage method of this application includes:

[0050] Step 10: Obtain scene images of the transport vehicles located in the preset unloading area S1;

[0051] Step 11: Detect the location information of the goods in the scene image;

[0052] Step 12: Adjust the position of the cargo moving device 30 according to the cargo location information in the scene image, so that the cargo moving device 30 moves to the location of the cargo in the preset unloading area S1.

[0053] Specifically, the processor 20 is used to acquire scene images of transport vehicles located at unloading positions S2 in the preset unloading area S1 and detect the position information of goods in the scene images. When the handling equipment 100 needs to load goods from the transport vehicles in the preset unloading area S1, the processor 20 can acquire scene images of the transport vehicles located in the preset unloading area S1, detect the position information of goods in the scene images, and then control the goods moving device 30 to adjust its own position according to the position information of goods in the scene images, so that the goods moving device 30 moves to the position of the goods in the preset unloading area S1, thereby completing the accurate loading of goods in the preset unloading area S1.

[0054] Furthermore, an image acquisition device 40 can be set at a preset location for the preset unloading area S1. The image acquisition device 40 is used to acquire scene images, and the preset location is determined according to the unloading direction of the transport vehicle. Based on the scene image of the preset unloading area S1, the processor 20 identifies the transport vehicle in the scene image through a preset image recognition algorithm. During unloading, the cargo compartment of the transport vehicle is usually opened, so the scene image acquired by the image acquisition device 40 includes not only the scene image of the transport vehicle but also the image of the cargo after the cargo compartment is opened.

[0055] Furthermore, the preset orientation is determined based on the unloading direction of the transport vehicle. For example, when the unloading direction is the rear of the vehicle, the image acquisition device 40 is positioned directly opposite the rear of the vehicle; or, when the unloading direction is the side of the vehicle, the image acquisition device 40 is positioned directly opposite the side of the vehicle. For instance, if the vehicle includes a first side and a second side, and the unloading direction is the first side and / or the second side, when unloading is required from the first side of the vehicle, the image acquisition device 40 needs to be positioned directly opposite the first side; when unloading is required from the second side of the vehicle, the image acquisition device 40 needs to be positioned directly opposite the second side; when unloading is required from both sides of the vehicle, multiple image acquisition devices 40 can be installed, each directly opposite the first and second sides of the vehicle. In this way, the image acquisition device 40 can acquire images of the goods inside the opened vehicle.

[0056] The scene image includes a panoramic image. Multiple image acquisition devices 40 are configured, each positioned at a different preset location within the preset unloading area S1, to obtain panoramic images of the transport vehicles located in the preset unloading area S1. Specifically, multiple preset locations can be set in four directions around the preset unloading area S1, with an image acquisition device 40 positioned at each location. This allows the processor 20 to acquire panoramic images of the transport vehicles located in the preset unloading area S1, enabling the handling equipment 100 to unload goods from any direction within the preset unloading area S1, thus accelerating the unloading speed of the handling equipment 100.

[0057] After acquiring a scene image of the preset unloading area S1, the handling equipment 100 can detect the position information of the goods in the scene image. Based on this position information, it adjusts the position of the goods moving device 30 so that it moves to the location of the goods in the preset unloading area S1, completing the unloading. During unloading, the handling equipment 100 can unload in a preset order. For example, if one side of the cargo compartment of a transport vehicle is open, unloading can proceed from left to right. Taking the cargo in the compartment as an example, if the cargo is arranged in a rectangle, unloading can proceed column by column from the upper left corner of the opened side until the cargo in the lower right corner is unloaded.

[0058] Please see Figure 2 , Figure 9 and Figure 10 In some embodiments, the handling equipment 100 includes a first handling equipment 110 and a second handling equipment 120. Both the first handling equipment 110 and the second handling equipment 120 include a detection device 10 and a cargo moving device 30. The cargo storage method of this application includes:

[0059] Step 13: Adjust the position of the first handling device 110 according to the location information of the goods in the scene image, so that the first handling device 110 moves to the location of the goods in the preset unloading area S1 and loads the goods in the preset unloading area S1 to the preset handover area S3.

[0060] Step 14: Control the second handling device 120 to load the goods located in the preset handover area S3 and transport them to the target storage location C11. The first handling device 110 and the second handling device 120 are of different types.

[0061] Specifically, the processor 20 of the first handling device 110 adjusts the position of the first handling device 110 according to the location information of the goods in the scene image, so that the first handling device 110 moves to the location of the goods in the preset unloading area S1 and loads the goods in the preset unloading area S1 to the preset handover area S3; the second handling device 120 is used to load the goods located in the preset handover area S3 and transport them to the target storage position C11 on the shelf H1. In addition, since the handling scenarios of the first handling device 110 and the second handling device 120 are different, the handling requirements of the first handling device 110 and the second handling device 120 are different. Therefore, it is necessary to select the type of the first handling device 110 and the type of the second handling device 120 according to their respective handling requirements, so that the types of the first handling device 110 and the second handling device 120 are different and can meet their respective handling requirements, avoiding resource waste caused by mismatch between the handling scenario and the function of the handling device 100.

[0062] That is, to ensure the efficiency of the first handling equipment 110 in loading goods from the preset unloading area S1, the first handling equipment 110 is only used to transport goods from the preset unloading area S1 to the preset transfer area S3, and does not need to transport goods from the preset transfer area S3 to the target storage location C11. Similarly, the second handling equipment 120 only needs to transport goods from the preset transfer area S3 to the target storage location C11 on the shelf H1 in the preset warehouse S4, and does not need to transport goods from the preset unloading area S1 to the preset transfer area S3. In this way, by limiting the working content of the first handling equipment 110 and the second handling equipment 120, the transportation efficiency of the first handling equipment 110 and the second handling equipment 120 can be improved.

[0063] When the first handling device 110 receives a task to load goods into the preset unloading area S1, its processor 20 controls the first handling device 110 to move into the preset unloading area S1. The processor 20 then uses image acquisition devices 40 positioned at different locations within the preset unloading area S1 to acquire scene images of the area. Based on the position information of the goods in the scene images, the processor 20 controls the first handling device 110 to adjust its position so that it can move the goods into the preset unloading area S1. After loading the goods in the preset unloading area S1, the first handling equipment 110 will transport the goods in the preset unloading area S1 to the preset handover area S3. Then, it will upload the information of the transported goods and the preset handover area S3 to the central control system. The central control system will arrange the target storage location C11 where the goods in the preset handover area S3 are to be stored according to the information uploaded by the first handling equipment 110, and send the transportation task containing the information of the target storage location C11 where the goods in the preset handover area S3 are to be stored to the second handling equipment 120.

[0064] Please combine Figure 3After receiving the transportation task, the processor 20 of the second handling device 120 will control the second handling device 120 to move to the preset handover area S3 to load the goods transported to the preset handover area S3 by the first handling device 110. When loading the goods in the preset handover area S3, the scene image collected by the detection device 10 of the second handling device 120 can also be used to ensure that after the second handling device 120 extends into the bottom of the goods in the preset handover area S3, the center of the bottom of the goods in the preset handover area S3 and the center of the picking part 32 of the second handling device 120 are aligned. When the second handling device 120 receives a transportation task, it obtains the location information of the target storage location C11 of the goods stored in the preset handover area S3 from the transportation task. Then, according to the location information of the target storage location C11, it loads and transports the goods in the preset handover area S3 to the location of the shelf H1 containing the target storage location C11. Then, using the detection device 10 of the second handling device 120, it collects the distance information between the target storage location C11 and the detection device 10 of the second handling device 120. Based on the distance information, it determines the location information of the target storage location C11. Then, according to the location information of the target storage location C11, the processor 20 of the second handling device 120 controls the goods moving device 30 of the second handling device 120 to adjust its own position so that the center of the goods loaded by the goods moving device 30 of the second handling device 120 is aligned with the center of the target storage location C11. After the center of the loaded goods is aligned with the center of the target storage position C11, the processor 20 of the second handling device 120 will control the goods moving device 30 of the second handling device 120 to move towards the target storage position C11, so that the loaded goods are moved into the target storage position C11, and the goods are accurately placed.

[0065] Please see Figure 2 , Figure 10 and Figure 11 In some embodiments, the first handling device 110 includes a moving part 31 and a picking part 32. Both the moving part 31 and the picking part 32 can move horizontally, and the picking part 32 can move vertically. Step 13: Adjust the position of the first handling device 110 according to the position information of the goods in the scene image, so that the first handling device 110 moves to the position of the goods in the preset unloading area S1, and loads the goods in the preset unloading area S1 to the preset transfer area S3. This also includes:

[0066] Step 131: Adjust the height of the picking unit 32 according to the position information of the goods in the scene image so that the height of the picking unit 32 is the same as the bottom height of the goods in the preset unloading area S1.

[0067] Step 132: Move the moving part 31 according to the location information of the goods in the scene image, so that the moving part 31 moves to the location of the goods in the preset unloading area S1, and loads the goods in the preset unloading area S1 to the preset handover area S3.

[0068] Specifically, after the first handling device 110 moves to the preset unloading area S1, the image acquisition device 40 acquires a scene image of the preset unloading area S1. The processor 20 of the first handling device 110 then controls the picking unit 32 of the first handling device 110 to adjust its height to the same height as the goods in the preset unloading area S1 based on the position information of the goods in the scene image. Furthermore, it controls the moving unit 31 of the first handling device 110 to move based on the position information of the goods in the scene image, thus enabling the moving unit 31 of the first handling device 110 to move. 1. The goods move toward the preset unloading area S1 to drive the picking part 32 of the first handling device 110 to extend into the bottom of the goods in the preset unloading area S1. After the picking part 32 of the first handling device 110 extends into the bottom of the goods in the preset unloading area S1, the center of the bottom of the goods in the preset unloading area S1 and the center of the picking part 32 of the first handling device 110 are aligned, thereby ensuring that the goods in the preset unloading area S1 are stably loaded onto the picking part 32 of the first handling device 110, and improving the picking accuracy and stability of the first handling device 110.

[0069] Please see Figure 2 , Figure 10 and Figure 12 In some embodiments, the cargo storage method of this application further includes:

[0070] Step 15: Collect distance information between the goods in the preset unloading area S1 and the detection device 10 of the first handling equipment 110;

[0071] Step 16: Determine the posture information of the goods in the preset unloading area S1 based on the distance information between the goods in the preset unloading area S1 and the detection device 10 of the first handling equipment 110;

[0072] Step 17: Based on the posture information, adjust the posture of the cargo moving device 30 of the first handling equipment 110 so that when the cargo moving device 30 of the first handling equipment 110 moves to the cargo in the preset unloading area S1 to load the cargo in the preset unloading area S1, the picking part 32 extends into the bottom of the cargo in the preset unloading area S1, and the center of the bottom of the cargo in the preset unloading area S1 and the center of the picking part 32 are directly opposite each other.

[0073] Specifically, the detection device 10 of the first handling device 110 is also used to collect distance information between the goods in the preset unloading area S1 and the first handling device 110. The processor 20 of the first handling device 110 is also used to determine the posture information of the goods in the preset unloading area S1 based on the distance information between the goods in the preset unloading area S1 and the detection device 10 of the first handling device 110, and control the goods moving device 30 of the first handling device 110 to adjust its posture so that when the goods moving device 30 of the first handling device 110 moves towards the goods in the preset unloading area S1 to load the goods in the preset unloading area S1, the picking part 32 of the first handling device 110 extends into the bottom of the goods in the preset unloading area S1, and the center of the bottom of the goods in the preset unloading area S1 and the center of the picking part 32 of the first handling device 110 are directly opposite each other. This avoids the center of the bottom of the goods in the preset unloading area S1 not being aligned with the center of the picking part 32 of the first handling equipment 110, which would result in inconsistent posture of the goods in the preset handover area S3. Consequently, when the second handling equipment 120 stores the goods in the preset handover area S3 into the target storage position C11, it would be difficult to align the center of the goods in the preset handover area S3 with the center of the target storage position C11.

[0074] For example, before the first handling device 110 loads the goods in the preset unloading area S1, the detection device 10 of the first handling device 110 first collects the distance information between the goods in the preset unloading area S1 and the detection device 10. The processor 20 of the first handling device 110 determines the attitude information of the goods in the preset unloading area S1 (such as the yaw angle of the goods in the preset unloading area S1) based on the distance information between the goods in the preset unloading area S1 and the detection device 10 of the first handling device 110, and controls the goods moving device 30 of the first handling device 110 to adjust its own attitude (such as the first handling device 30). The yaw angle of the cargo moving device 30 of the first handling device 110 is such that the cargo moving device 30 of the first handling device 110 is directly facing the cargo in the preset unloading area S1. At this time, when the cargo moving device 30 of the first handling device 110 moves towards the cargo in the preset unloading area S1 to load the cargo in the preset unloading area S1, the picking part 32 of the first handling device 110 extends into the bottom of the cargo in the preset unloading area S1, and the center of the bottom of the cargo in the preset unloading area S1 is directly opposite the center of the picking part 32 of the first handling device 110, thereby ensuring the picking accuracy of the first handling device 110.

[0075] Please see Figure 2This application also provides a handling device 100, which includes a detection device 10, a processor 20, and a cargo moving device 30. The detection device 10 is used to collect distance information between the shelf H1 where the goods are stored and the detection device 10. The processor 20 is used to determine the position information of the target storage position C11 of the shelf H1 based on the distance information, and to control the cargo moving device 30 to adjust its own position based on the position information of the target storage position C11, so that the goods loaded by the cargo moving device 30 are directly opposite the target storage position C11.

[0076] In the description of this specification, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with the described embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0077] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0078] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A method for storing goods, characterized in that, include: Collect distance information between the shelves where goods are stored and the testing equipment; The location information of the target storage location on the shelf is determined based on the distance information; The position of the cargo moving device is adjusted according to the location information of the target storage location so that the cargo loaded by the cargo moving device is directly opposite the target storage location. The cargo storage method further includes: Acquire scene images of transport vehicles located in the preset unloading area; Detect the location information of the goods in the scene image; The position of the cargo moving device is adjusted according to the location information of the cargo in the scene image, so that the cargo moving device moves to the location of the cargo in the preset unloading area; An image acquisition device is installed at a preset location in the preset unloading area. The image acquisition device is used to acquire the scene image. The preset location is determined according to the unloading direction of the transport vehicle. Alternatively, the scene image includes a panoramic image. Multiple image acquisition devices are installed at multiple different preset locations in the preset unloading area to obtain a panoramic image of the transport vehicle located in the preset unloading area. The scene image includes a panoramic image of the transport vehicle and an image of the cargo after the transport vehicle's cargo compartment is opened.

2. The cargo storage method according to claim 1, characterized in that, The shelf includes multiple storage positions arranged in a matrix. The target storage position is any one of the storage positions. The step of controlling the cargo moving device to adjust its position based on the position information of the target storage position, so that the cargo loaded on the cargo moving device is directly opposite the target storage position, includes: Upon receiving a transportation task, the cargo moving device is controlled to move to the location of the target column of the shelf containing the target storage location, based on the target storage location of the transportation task in the target column of the matrix. The first preset height of the target storage bit is determined based on the target row in the matrix; The height of the goods loaded on the goods moving device is adjusted according to the first preset height so that the center of the goods loaded on the goods moving device is aligned with the center of the target storage location.

3. The cargo storage method according to claim 2, characterized in that, The shelf includes multiple storage positions arranged in a matrix. The detection device is installed on the goods moving device. The step of controlling the goods moving device to adjust its position based on the location information of the target storage position, so that the goods loaded on the goods moving device are directly aligned with the target storage position, includes: Determine the second preset height of the target storage bit based on the target row; The height of the detection device is adjusted according to the second preset height to collect distance information between the target storage location and the detection device.

4. The cargo storage method according to claim 1, characterized in that, Also includes: Control the cargo moving device to move toward the target storage location so that the cargo loaded by the cargo moving device moves into the target storage location.

5. The cargo storage method according to claim 1, characterized in that, The method is applied to handling equipment, which includes a first handling device and a second handling device. Both the first handling device and the second handling device include the detection device and the cargo moving device. The cargo storage method further includes: The position of the first handling device is adjusted according to the location information of the goods in the scene image, so that the first handling device moves to the location of the goods in the preset unloading area and loads the goods in the preset unloading area to the preset handover area. The second handling device is controlled to load goods located in the preset handover area and transport them to the target storage location. The first handling device and the second handling device are of different types.

6. The cargo storage method according to claim 5, characterized in that, The cargo moving device of the first handling equipment includes a moving part and a picking part. Both the moving part and the picking part can move horizontally, and the picking part can move vertically. Adjusting the position of the first handling equipment according to the cargo position information in the scene image, so that the first handling equipment moves to the location of the cargo in the preset unloading area, and loading the cargo from the preset unloading area to the preset handover area, includes: The height of the picking-up unit is adjusted according to the position information of the goods in the scene image so that the height of the picking-up unit is the same as the bottom height of the goods in the preset unloading area; The moving part is moved according to the location information of the goods in the scene image, so that the moving part moves to the location of the goods in the preset unloading area and loads the goods in the preset unloading area into the preset handover area.

7. The cargo storage method according to claim 6, characterized in that, The step of adjusting the position of the first handling device according to the location information of the goods in the scene image, so that the first handling device moves to the location of the goods in the preset unloading area, and loads the goods in the preset unloading area to the preset handover area, further includes: Collect distance information between the goods in the preset unloading area and the detection device of the first handling equipment; The posture information of the goods in the preset unloading area is determined based on the distance information between the goods in the preset unloading area and the detection device of the first handling equipment; Based on the posture information, the posture of the cargo moving device of the first handling equipment is adjusted so that when the cargo moving device of the first handling equipment moves toward the cargo in the preset unloading area to load the cargo in the preset unloading area, the picking part extends into the bottom of the cargo in the preset unloading area, and the center of the bottom of the cargo in the preset unloading area is directly opposite the center of the picking part.

8. A handling device, characterized in that, The handling equipment includes a detection device, a processor, and a cargo moving device. The detection device is used to collect distance information between the shelf storing the goods and the detection device. The processor is used to determine the location information of the target storage location on the shelf based on the distance information, and to control the cargo moving device to adjust its own position based on the location information of the target storage location, so that the goods loaded by the cargo moving device are directly opposite the target storage location. The processor is further configured to acquire scene images of transport vehicles located in a preset unloading area; detect the position information of goods in the scene images; adjust the position of the goods moving device according to the position information of goods in the scene images, so that the goods moving device moves to the position of the goods in the preset unloading area; an image acquisition device is set at a preset orientation in the preset unloading area, the image acquisition device is used to acquire the scene images, the preset orientation is determined according to the unloading direction of the transport vehicles; or the scene images include panoramic images, and there are multiple image acquisition devices, which are respectively set at multiple different preset orientations in the preset unloading area to acquire panoramic images of the transport vehicles located in the preset unloading area, the scene images including panoramic images of the transport vehicles and images of the goods after the transport vehicle compartment is opened.

Images