Rack handling method, rack handling system, and computer readable storage medium

Abstract

The application provides a rack carrying method, a rack carrying system and a computer readable storage medium. The rack carrying method comprises the following steps: in the case that a transportation task is obtained, a first carrying robot is controlled to drive a carrying device to move to a first preset area and place the carrying device in the first preset area, the carrying device being used for carrying a rack; a second carrying robot is controlled to move to the first preset area to load the rack carried by the carrying device, so that the rack is hung on a hanging device; or, the second carrying robot is controlled to move to a second preset area to load the rack and then move to the first preset area to be placed on the carrying device. In the rack carrying method, the rack carrying system and the computer readable storage medium, the first and second carrying robots can improve the docking accuracy of the rack and the carrying device and the docking accuracy of the rack and the hanging device, so that the rack can be prevented from colliding in the transportation process, manual participation can be reduced, and the automation level can be improved.

Description

Technical Field

[0001] This application relates to the field of intelligent warehouse technology, and in particular to a rack handling method, rack handling system and computer-readable storage medium. Background Technology

[0002] In traditional workshops, goods are stored on racks. When goods need to be moved, the racks are often moved directly to move multiple items at once. However, moving racks is usually done manually, which carries the risk of the racks colliding with other equipment. Summary of the Invention

[0003] In view of this, the embodiments of this application provide a rack handling method, a rack handling system, and a computer-readable storage medium. The first handling robot and the second handling robot can autonomously suspend the rack carried by the carrying device to the suspension device, or place the rack suspended by the suspension device onto the carrying device, according to the transportation task, without human intervention, so as to avoid the rack from colliding during transportation.

[0004] The rack handling method of this application includes, upon receiving a transportation task, controlling a first handling robot to move a carrying device to a first preset area and placing the carrying device in the first preset area, wherein the carrying device is used to carry racks; according to the transportation task, controlling a second handling robot to move to the first preset area to load the racks carried by the carrying device, so as to suspend the racks to a suspension device; or, controlling the second handling robot to move to a second preset area to load the racks, and then moving to the first preset area to place them on the carrying device.

[0005] The rack handling system of this application includes a processor. Upon receiving a transportation task, the processor controls a first handling robot to move a carrying device to a first preset area and place the carrying device in the first preset area. The carrying device is used to carry racks. According to the transportation task, the processor controls a second handling robot to move to the first preset area to load the rack carried by the carrying device, thereby suspending the rack to a suspension device. Alternatively, the processor controls the second handling robot to move to a second preset area to load the rack and then to the first preset area to place it on the carrying device.

[0006] The computer-readable storage medium of this application includes a computer program that, when executed by one or more processors, causes the processors to perform the following rack handling method: upon receiving a transportation task, controlling a first handling robot to move a carrying device to a first preset area and placing the carrying device in the first preset area, the carrying device being used to carry a rack; according to the transportation task, controlling a second handling robot to move to the first preset area to load the rack carried by the carrying device, so as to suspend the rack to a suspension device; or, controlling the second handling robot to move to a second preset area to load the rack, and then moving to the first preset area to place it on the carrying device.

[0007] In the rack handling method, rack handling system, and computer-readable storage medium of this application, upon receiving a transportation task, the first handling robot moves the carrying device to a first preset area. The second handling robot can, depending on the transportation task, place the rack onto the carrying device or suspend the rack onto the suspension device. That is, the first and second handling robots can autonomously suspend the rack carried by the carrying device onto the suspension device or place the rack suspended by the suspension device onto the carrying device, depending on the transportation task. Furthermore, the first and second handling robots can improve the docking accuracy between the rack and the carrying device, and the docking accuracy between the rack and the suspension device, to avoid collisions during transportation. This also reduces human intervention and improves the level of automation.

[0008] 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

[0009] 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:

[0010] Figure 1 This is a flowchart illustrating a material rack handling method according to certain embodiments of this application;

[0011] Figure 2 This is a plan view of a material handling system according to certain embodiments of this application;

[0012] Figure 3 yes Figure 2 A plan view of the first handling robot, the carrying device, and the material rack of the material rack handling system shown;

[0013] Figure 4 yes Figure 3 The diagram shows a plan view of the first handling robot and the carrying device.

[0014] Figure 5 This is a plan view of a rack handling system according to another embodiment of this application;

[0015] Figure 6 This is a plan view of the support device, the rack, and the suspension device of the rack handling system according to certain embodiments of this application;

[0016] Figure 7 This is a plan view of the second handling robot of the rack handling system according to certain embodiments of this application;

[0017] Figure 8 This is a flowchart illustrating a material rack handling method according to certain embodiments of this application;

[0018] Figure 9 This is a flowchart illustrating a material rack handling method according to certain embodiments of this application;

[0019] Figure 10 This is a flowchart illustrating a material rack handling method according to certain embodiments of this application;

[0020] Figure 11 This is a flowchart illustrating a material rack handling method according to certain embodiments of this application;

[0021] Figure 12 This is a flowchart illustrating a material rack handling method according to certain embodiments of this application;

[0022] Figure 13 This is a flowchart illustrating a material rack handling method according to certain embodiments of this application;

[0023] Figure 14 This is a flowchart illustrating a material rack handling method according to certain embodiments of this application; and

[0024] Figure 15 This is a schematic diagram illustrating the interaction between a computer-readable storage medium and a processor according to certain embodiments of this application. Detailed Implementation

[0025] 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.

[0026] Please see Figures 1 to 5 The rack handling method of this application includes:

[0027] Step 011: Upon receiving a transportation task, control the first handling robot 200 to move the carrying device 300 to the first preset area P1, and place the carrying device 300 in the first preset area P1. The carrying device 300 is used to carry the material rack 600.

[0028] Specifically, after receiving a transport task, the first handling robot 200 moves to the first preset area P1. The first handling robot 200 is used to move the carrying device 300, and the carrying device 300 is used to carry the material rack 600.

[0029] It is understood that when the first handling robot 200 receives a transportation task to move to the first preset area P1, the first handling robot 200 will move the carrying device 300 to the first preset area P1. The first preset area P1 can be a temporary storage area for storing racks 600 to be put into storage; the first preset area P1 can also be an area for the first handling robot 200 to load racks 600.

[0030] Depending on the different transportation tasks, the purpose of the first handling robot 200 moving the carrying device 300 to the first preset area P1 will vary.

[0031] Please combine Figure 2 and Figure 3 When the transportation task is a material storage task, the carrying device 300 holds the material rack 600. The purpose of the first handling robot 200 moving to the first preset area P1 is to place the carrying device 300 holding the material rack 600 into the first preset area P1. At this time, the first preset area P1 becomes a temporary storage area for the material rack 600 waiting to be stored in the warehouse. That is, after the carrying device 300 is placed in the temporary storage area, the material rack 600 on the carrying device 300 can be temporarily stored in the temporary storage area.

[0032] Please combine Figure 2 and Figure 4 When the transportation task is a material retrieval task, the carrying device 300 will not hold the rack 600, meaning the carrying device 300 is in an empty state. The purpose of the first handling robot 200 moving to the first preset area P1 is to place the empty carrying device 300 into the first preset area P1. At this time, the first preset area P1 becomes the area where the first handling robot 200 loads the rack 600. That is, by placing the carrying device 300 into the area for loading the rack 600, the rack 600 can be placed on the carrying device 300 to complete the material retrieval from the rack 600.

[0033] It should be noted that the temporary storage area for storing racks 600 awaiting warehousing and the area where the first handling robot 200 loads racks 600 can be the same area. The difference lies only in the transportation task; the purpose of the carrying device 300 placed by the first handling robot 200 within the first preset area P1 differs. That is, the first handling robot 200 can both place the carrying device 300 within the first preset area P1 to load racks 600 and place the carrying device 300 within the first preset area P1 to temporarily store the racks 600 loaded on the carrying device 300 within the first preset area P1.

[0034] To enable the first handling robot 200 to move the carrier device 300 to the first preset area P1 and accurately place the carrier device 300 in the first preset area P1, the first handling robot 200 can be an automated guided vehicle (AGV).

[0035] Among them, Automated Guided Vehicles (AGVs) refer to transport vehicles equipped with electromagnetic or optical automatic navigation devices, capable of traveling along a prescribed navigation path, and possessing safety protection and various transfer functions. In industrial applications, these AGVs do not require a driver and are powered by rechargeable batteries. Their movement and behavior are typically controlled by a computer, or their path can be established using electromagnetic tracks 410. These tracks are adhered to the floor, and the AGV moves and operates based on the information transmitted by the electromagnetic tracks.

[0036] More specifically, the first handling robot 200 can move the carrying device 300 by being positioned at the bottom of the carrying device 300 to support it, thereby moving the carrying device 300 (e.g., Figure 3 and Figure 4 (As shown). Thus, when placing the carrier device 300, by controlling the position of the first handling robot 200, the first handling robot 200 can be controlled to place the carrier device 300 in the first preset area P1, so as to achieve accurate placement of the carrier device 300. The carrier device 300 can be a shelf, storage rack, etc.

[0037] Step 013: According to the transportation task, control the second handling robot 500 to move to the first preset area P1 to load the rack 600 carried by the carrying device 300, so as to suspend the rack 600 to the suspension device 400; or, control the second handling robot 500 to move to the second preset area P2 to load the rack 600, and then move to the first preset area P1 to place it on the carrying device 300.

[0038] Specifically, as described above, transportation tasks can be divided into material picking tasks and material storage tasks. The state of the carrying device 300 differs depending on the task. For example, when the transportation task is a material picking task, the carrying device 300 is in an idle state (e.g., Figure 4 As shown), the unsupported rack 600. For example, when the transport task is a storage task, the supporting device 300 supports the rack 600 (as shown). Figure 4 As shown), the suspension device 400 is in an unused state (as shown). Figure 2 (As shown).

[0039] Therefore, the working method of the second handling robot 500 is also different for different transportation tasks.

[0040] For example, when the second handling robot 500 receives a transport task as a material picking task, the second handling robot 500 first moves to the second preset area P2 to load the rack 600 suspended on the suspension device 400 in the second preset area P2, and then moves to the first preset area P1 to place the rack 600 on the carrying device 300.

[0041] For example, when the second handling robot 500 receives a transport task as a storage task, the second handling robot 500 first moves to the first preset area P1 to load the material rack 600 placed on the carrying device 300 in the first preset area P1, and then moves to the second preset area P2 to suspend the material rack 600 on the suspension device 400.

[0042] It is understandable that the state of the suspension device 400 will differ depending on the task. For example, when the transportation task is a material picking task, the suspension device 400 is in the state of suspending the material rack 600 (e.g., Figure 5 (As shown). For example, when the transport task is a material storage task, the suspended equipment 400 is in an idle state (e.g., Figure 2 (As shown).

[0043] More specifically, in order to enable the second handling robot 500 to load the rack 600, place the rack 600 on the bearing device 300 and suspend the rack 600 on the suspension device 400.

[0044] Please combine Figure 6 and Figure 7 The rack 600 may be equipped with fork holes 610, and the second handling robot 500 may be an unmanned forklift. When the second handling robot 500 loads the rack 600, it can do so by inserting its forks into the fork holes 610 of the rack 600. The forks of the second handling robot 500 can also be freely adjusted in height.

[0045] Thus, when the second handling robot 500 loads the rack 600, the height of the forks 510 can be adjusted to be the same height as the fork holes 610 of the rack 600, so that the forks 510 can be inserted into the fork holes 610 to complete the loading of the rack 600. So, when the second handling robot 500 places the rack 600 onto the carrying device 300, it can first move the rack 600 above the carrying device 300, and then move it away from the rack 600 so that the forks 510 can exit from the fork holes 610, thus completing the placement of the rack 600 onto the carrying device 300; and when the second handling robot 500 hangs the rack 600 on the suspension device 400, it can first move the rack 600 below the hook 420, and by adjusting the height of the forks 510 so that the rack 600 is suspended on the hook 420, and then move it away from the rack 600 so that the forks 510 can exit from the fork holes 610, thus completing the suspension of the rack 600 on the suspension device 400.

[0046] In some embodiments, before the second handling robot 500 performs a transportation task, such as a material picking task or a material storage task, that is, before the second handling robot 500 moves to the first preset area P1 to load the rack 600 carried by the carrying device 300, so as to suspend the rack 600 to the suspension device 400; or, before the second handling robot 500 moves to the second preset area P2 to load the rack 600 and moves to the first preset area P1 to place it on the carrying device 300, the suspension device 400 may also move to the second preset area P2 first. The suspension device 400 is used to suspend the rack 600, that is, step 012: control the suspension device 400 to move to the second preset area P2.

[0047] Specifically, after receiving a transport task, the suspension device 400 moves to the second preset area P2. The suspension device 400 is used to suspend the material rack 600. The second preset area P2 can be a temporary storage area for temporarily storing the material rack 600 awaiting shipment; the second preset area P2 can also be the area where the suspension device 400 suspends the material rack 600.

[0048] Similarly, depending on the different transportation tasks, the purpose of moving the suspension equipment 400 to the second preset area P2 will be different.

[0049] Please combine Figure 2 and Figure 5When the transportation task is a material picking task, a material rack 600 is suspended on the suspension device 400. The purpose of moving the suspension device 400 to the second preset area P2 is to move the suspended material rack 600 to the second preset area P2. At this time, the second preset area P2 is a temporary storage area for temporarily storing the material rack 600 waiting to be shipped out. At the same time that the suspension device 400 moves the material rack 600 to the second preset area P2, the first handling robot 200 will also move the idle carrying device 300 to the first preset area P1 (e.g., Figure 4 As shown), the empty carrier device 300 is placed in the first preset area P1, and the second handling robot 500 can then load the rack 600 suspended by the suspension device 400 in the second preset area P2, and move the rack 600 to the first preset area P1, thereby placing it on the carrier device 300 (as shown). Figure 3 (As shown), to complete the material picking task.

[0050] When the transportation task is a material storage task, the suspension equipment 400 is in an idle state, that is, no material rack 600 is suspended on the suspension equipment 400 (e.g., Figure 2 As shown), the purpose of moving the suspension device 400 to the second preset area P2 is to load the material rack 600 in the second preset area P2. Similarly, while the suspension device 400 moves the material rack 600 to the second preset area P2, the first handling robot 200 also moves the carrying device 300 containing the material rack 600 to the first preset area P1 (as shown). Figure 3 As shown), the carrier device 300 containing the rack 600 is placed in the first preset area P1. The second handling robot 500 can then load the rack 600 stored on the carrier device 300 in the first preset area P1 and move the rack 600 to the second preset area P2, thereby suspending the rack 600 on the suspension device 400 (as shown). Figure 5 (As shown), to complete the material storage task.

[0051] It should be noted that the temporary storage area for the rack 600 used to temporarily store materials awaiting shipment and the area where the suspension device 400 suspends the rack 600 can be the same area. The only difference is that the purpose of moving the suspension device 400 to the second preset area P2 is different due to the different transportation tasks. That is, the suspension device 400 can either move the rack 600 to the second preset area P2, or it can suspend the rack 600 on the suspension device 400 in the second preset area P2.

[0052] More specifically, in order to enable the suspension device 400 to drive the material rack 600 to move, such as Figure 3As shown, the suspension device 400 can be installed on the ceiling 110 of the pre-set warehouse 100. The suspension device 400 may include a track 410 and a hook 420. The hook 420 can slide along the track 410 and is used to suspend the material rack 600 (e.g., Figure 5 (As shown).

[0053] Thus, after the suspension device 400 receives a transport task, the hook 420 of the suspension device 400 can slide along the track 410 to the second preset area P2. When the transport task is a material picking task, a material rack 600 is suspended on the hook 420, and the hook 420 drives the material rack 600 to slide on the track 410 to move to the second preset area P2. When the transport task is a material storage task, the hook 420 is in an idle state, and the hook 420 moves to the second preset area P2 to wait for the second handling robot 500 to suspend the material rack 600 on the hook 420.

[0054] In addition, please combine Figure 5 When the transportation task is a storage task, after the second handling robot 500 suspends the rack 600 on the hook 420, the hook 420 can also move the rack 600 to the rack storage area P3 to complete the storage of the rack 600.

[0055] In the rack handling method of this application, upon receiving a transportation task, the first handling robot 200 moves the carrying device 300 to the first preset area P1. The second handling robot 500 can, depending on the transportation task, place the rack 600 onto the carrying device 300 or suspend the rack 600 onto the suspension device 400. That is, the first handling robot 200 and the second handling robot 500 can autonomously suspend the rack 600 carried by the carrying device 300 onto the suspension device 400, or place the rack 600 suspended by the suspension device 400 onto the carrying device 300, depending on the transportation task. Furthermore, the first handling robot 200 and the second handling robot 500 can improve the docking accuracy between the rack 600 and the carrying device 300, and the docking accuracy between the rack 600 and the suspension device 400, to avoid collisions during transportation. At the same time, it can reduce human intervention and improve the level of automation.

[0056] Please see Figure 2 and Figure 8 Optionally, the transportation task includes a storage task. Step 011: Upon receiving a transportation task, control the first handling robot 200 to move the carrying device 300 to the first preset area P1, and place the carrying device 300 in the first preset area P1, including:

[0057] Step 0111: When the transportation task is a material storage task, control the first handling robot 200 to move the carrying device 300 and the material rack 600 placed on the carrying device 300 to the first preset area P1, and place the carrying device 300 and the material rack 600 in the first preset area P1.

[0058] Specifically, when the transportation task is a material storage task, the purpose is to move the carrying device 300 by the first handling robot 200 so as to store the material rack 600 placed on the carrying device 300 in the preset warehouse 100.

[0059] Therefore, as Figure 3 As shown, when the transportation task is a material storage task, the carrying device 300 holds the material rack 600. Therefore, when the first handling robot 200 moves the carrying device 300 to the first preset area P1, it essentially means that the first handling robot 200 moves the carrying device 300 and the material rack 600 placed on the carrying device 300 to the first preset area P1. Thus, when the first handling robot 200 places the carrying device 300 into the first preset area P1, both the carrying device 300 and the material rack 600 are placed in the first preset area P1.

[0060] It is understandable that when the transportation task is a material storage task, the first preset area P1 is a temporary storage area for temporarily storing the material rack 600 to be stored. When the first handling robot 200 performs the material storage task, it will store the carrying device 300 of the material rack 600 in the temporary storage area.

[0061] Optionally, step 013: According to the transportation task, control the second handling robot 500 to move to the first preset area P1 to load the rack 600 carried by the loading carrier 300, so as to suspend the rack 600 to the suspension device 400, including:

[0062] Step 0131: When the transportation task is a material storage task, control the second handling robot 500 to move to the first preset area P1 to load the material rack 600, and drive the material rack 600 to move to the second preset area P2 to suspend it to the suspension device 400.

[0063] Specifically, as can be seen from the above, when the transportation task is a material storage task, the first preset area P1 is a temporary storage area for temporarily storing the material rack 600 to be put into storage, that is, the first preset area P1 contains the carrying device 300 and the material rack 600 placed on the carrying device 300.

[0064] When the second handling robot 500 receives a material storage task, it will first move to the first preset area P1 to load the rack 600. Then, the second handling robot 500 will move the loaded rack 600 to the second preset area P2 to suspend the rack 600 to the suspension device 400.

[0065] Furthermore, please combine Figure 2 , Figure 3 and Figure 5 When the suspension device 400 receives a transport task as a storage task, it moves to the second preset area P2 and is in an idle state, i.e., without any rack 600 suspended. The rack 600 can be loaded by inserting the forks 510 of the second handling robot 500 into the fork holes 610 of the rack 600. Alternatively, the rack 600 can be suspended by adjusting the height of the forks 510 to suspend the rack 600 on the hooks 420 of the suspension device 400, then moving away from the rack 600 to allow the forks 510 to exit from the fork holes 610, thus separating the rack 600 from the second handling robot 500 and completing the suspension of the rack 600.

[0066] Please see Figure 2 , Figure 6 , Figure 7 and Figure 9 Optionally, step 0131: When the transportation task is a material storage task, control the second handling robot 500 to move to the first preset area P1 to load the material rack 600, including:

[0067] Step 01311: The first positioning plate 620 of the material rack 600 is detected by the detection device 520 of the second handling robot 500 to obtain the first position information;

[0068] Step 01312: Based on the first position information, adjust the posture of the second handling robot 500 and the height of the forks 510 of the second handling robot 500 so that the second handling robot 500 is facing the rack 600 and the forks 510 are facing the fork holes 610 of the rack 600.

[0069] Step 01313: Control the second handling robot 500 to move toward the rack 600 so that the forks 510 extend into the fork holes 610 to load the rack 600.

[0070] Specifically, as can be seen from the above, when the second handling robot 500 receives the transportation task as a storage task, the second handling robot 500 will move to the first preset area P1 to load the material rack 600.

[0071] To ensure that the second handling robot 500 can accurately sense the location of the rack 600 and safely load the rack 600, please refer to... Figure 7 The second handling robot 500 may also include a detection device 520, which is capable of acquiring first position information of the second handling robot 500 relative to the rack 600.

[0072] The detection device 520 can be a sensor capable of sensing the location of the rack 600, such as a laser sensor, depth sensor, or image sensor. The first position information may include the angle of the second handling robot 500 relative to the rack 600 and the distance between the second handling robot 500 and the rack 600.

[0073] More specifically, such as Figure 6 As shown, a first positioning plate 620 is provided on the rack 600, and the first positioning plate 620 is located next to the fork hole 610 of the rack 600. The detection device 520 of the second handling robot 500 can first emit a laser to the first positioning plate 620 of the rack 600, and then obtain the angle and distance of the second handling robot 500 relative to the first positioning plate 620 of the rack 600 based on the laser reflected back from the first positioning plate 620. Since the positional relationship between the first positioning plate 620 and the fork hole 610 of the rack 600 is known, the angle and distance of the second handling robot 500 relative to the fork hole 610 of the rack 600 can be calculated.

[0074] The number of first positioning plates 620 and fork holes 610 is the same, and the number of fork holes 610 is related to the forks 510 of the second handling robot 500. Generally, there are two fork holes 610, so there are also two first positioning plates 620, and the two first positioning plates 620 are located next to the two fork holes 610 respectively. In this way, the detection device 520 of the second handling robot 500 can obtain the angle and distance of the second handling robot 500 relative to the two fork holes 610 by detecting the position of the two first positioning plates 620, thereby ensuring the accuracy of the angle and distance.

[0075] As can be seen from the above, the first position information is the angle and distance of the second handling robot 500 relative to the fork hole 610 of the rack 600. After obtaining the first position information, the second handling robot 500 can adjust its own posture and the height of the fork 510 of the second handling robot 500, so that the second handling robot 500 is facing the rack 600 and the fork 510 is facing the fork hole 610 of the rack 600.

[0076] Finally, the second handling robot 500 moves closer to the rack 600, thereby extending its forks 510 into the fork holes 610, thus completing the loading of the rack 600 by the second handling robot 500. Then, as the height of the forks 510 of the second handling robot 500 increases again, the forks 510 can lift the rack 600 to separate it from the supporting device 300. When the second handling robot 500 moves away from the supporting device 300, its forks 510 can then move the rack 600 away from the supporting device 300.

[0077] Please see Figure 2 , Figure 3 , Figure 6 , Figure 7 and Figure 10 Optionally, step 0131: moving the material rack 600 to the second preset area P2 to suspend it to the suspension device 400, further includes:

[0078] Step 01314: The second positioning plate 430 of the suspension device 400 is detected by the detection device 520 of the second handling robot 500 to obtain the second position information;

[0079] Step 01315: Based on the second position information, the height of the forks 510 of the second handling robot 500 is adjusted so that the connection hole 630 of the rack 600 is aligned with the hook 420 of the suspension device 400.

[0080] Step 01316: Control the second handling robot 500 to move toward the suspension device 400 so that the hook 420 extends into the connection hole 630 to suspend the rack 600 to the suspension device 400.

[0081] Specifically, after the second handling robot 500 loads the rack 600 into the first preset area P1, the second handling robot 500 can move the rack 600 to the second preset area P2. The detection device 520 of the second handling robot 500 can also detect the second positioning plate 430 of the suspension device 400. As described above, the suspension device 400 includes a hook 420, such as... Figure 6 As shown, the second positioning plate 430 is located above the hook 420.

[0082] Thus, the detection device 520 of the second handling robot 500 can obtain the angle and position of the second handling robot 500 relative to the second positioning plate 430 by emitting a laser from the second positioning plate 430 and by the laser reflected back from the second positioning plate 430. Since the positional relationship between the second positioning plate 430 and the hook 420 is known, the angle and position of the second handling robot 500 relative to the hook 420 of the suspension device 400, i.e., the second position information, can be calculated.

[0083] Next, after obtaining the second position information of the second handling robot 500 relative to the hook 420 of the suspension device 400, the second handling robot 500 can adjust the height of its forks 510 according to the second position information so that the height of the forks 510 of the second handling robot 500 is consistent with the height of the hook 420 of the suspension device 400.

[0084] In this regard, please combine Figure 6 The rack 600 also includes a connection hole 630. When the rack 600 is suspended on the suspension device 400, it is essentially that the connection hole 630 of the rack 600 is suspended on the suspension device 400. Therefore, when the second handling robot 500 suspends the rack 600 on the suspension device 400, it is essentially that the connection hole 630 of the rack 600 is suspended on the hook 420 of the suspension device 400.

[0085] Thus, after the second handling robot 500 adjusts the height of its forks 510 according to the second position information so that the connection hole 630 of the rack 600 is aligned with the hook 420 of the suspension device 400, the second handling robot 500 can move toward the suspension device 400 so that the hook 420 of the suspension device 400 extends into the connection hole 630 of the rack 600, thereby suspending the rack 600 on the suspension device 400.

[0086] It is understandable that when the hook 420 of the suspension device 400 is inserted into the connection hole 630 of the material rack 600, the second handling robot 500 can move away from the suspension device 400, and the material rack 600 will be suspended on the suspension device 400.

[0087] Please see Figure 2 , Figure 5 and Figure 11 Optionally, after the second handling robot 500 moves to the first preset area P1 to load the rack 600 and moves the rack 600 to the second preset area P2 to suspend it on the suspension device 400, the rack handling method further includes:

[0088] 014: Control the suspension device 400 to move the material rack 600 to the storage position P3 to store the material rack 600.

[0089] Specifically, after the second handling robot 500 moves the rack 600 from the first preset area P1 to the second preset area P2 and suspends it on the suspension device 400, the suspension device 400 can also move the rack 600 to the storage location P3. The storage location P3 can be a location in the preset warehouse 100 used to store the rack 600, i.e., the rack storage area P3.

[0090] More specifically, the suspension device 400 includes multiple hooks 420. After the material rack 600 is suspended by the hooks 420 of the suspension device 400, the hooks 420 can move on the track 410 of the suspension device 400 to move to the storage position P3.

[0091] Next, the second handling robot 500 can also obtain the position information of the second handling robot 500 and the suspension device 400 of the storage location P3, as described in step 01314 above, that is, obtain the position information of the hook 420 of the suspension device 400 of the second handling robot 500 and the storage location P3. It can also obtain the position information of the rack 600 suspended by the suspension device 400 of the second handling robot 500 and the storage location P3, as described in step 01311 above, that is, obtain the angle and position of the fork hole 610 of the rack 600 suspended by the hook 420 of the second handling robot 500 and the storage location P3.

[0092] Thus, the second handling robot 500 can extend its forks 510 into the fork holes 610 of the rack 600 at the storage position P3, and adjust the height of the forks 510 to match the height of the hook 420 of the suspension device 400, thereby removing the rack 600 from the suspension device 400 and placing it at the storage position P3.

[0093] In this process, the second handling robot 500 places the rack 600 in the storage position P3. This can be achieved by the second handling robot 500 directly adjusting the height of the forks 510 so that the rack 600 is placed on the ground of the storage position P3, and then controlling the forks 510 to retract from the fork holes 610. Alternatively, the second handling robot 500 can be placed on the support device 300 of the storage position P3, and then the first handling robot 200 can be rescheduled to move the support device 300 of the storage position P3 to the storage position P3 to complete the placement of the rack 600.

[0094] In this way, the suspension device 400 moves the rack 600 to the storage position P3 to store the rack 600, thereby completing the warehousing of the rack 600, that is, completing the warehousing of the goods stored on the rack 600, so as to facilitate management.

[0095] Please see Figure 2 , Figure 4 and Figure 12 The transportation task includes a material handling task. Optionally, step 012: controlling the suspension device 400 to move to the second preset area P2 includes:

[0096] Step 0121: When the transportation task is a material picking task, control the suspension device 400 to suspend the material rack 600 and move the material rack 600 to the second preset area P2.

[0097] Specifically, when the transportation task is a material retrieval task, the purpose is to move the idle carrier device 300 to the first preset area P1 by the first handling robot 200, so as to place the material rack 600 on the idle carrier device 300, thereby completing the material retrieval.

[0098] More specifically, when the transportation task is a material picking task, such as Figure 4 As shown, the carrier device 300 is empty, with no material rack 600 stored on it. Thus, when the first handling robot 200 places the carrier device 300 into the first preset area P1, the carrier device 300 can carry the material rack 600 to be picked up.

[0099] It is understandable that when the transportation task is a material picking task, the first preset area P1 is the area for the first handling robot 200 to load the material rack 600. When the first handling robot 200 performs the material picking task, it will place the carrying device 300 that does not carry the material rack 600 into the area where the first handling robot 200 loads the material rack 600.

[0100] Optionally, step 013: controlling the second handling robot 500 to move to the second preset area P2 loading rack 500, and then to the first preset area P1 to place it on the carrying device 300, includes:

[0101] Step 0132: When the transportation task is a material picking task, control the second handling robot 500 to move to the second preset area P2 to load the material rack 600 suspended by the suspension device 400, and drive the material rack 600 to move to the first preset area P1 to place it on the carrying device 300.

[0102] Specifically, as can be seen from the above, when the transportation task is a material picking task, the first preset area P1 is the area where the first handling robot 200 loads the material rack 600, that is, the first preset area P1 only stores the carrier device 300 in an empty state.

[0103] When the second handling robot 500 receives a material picking task, it will first move to the second preset area P2 to load the rack 600. Then, the second handling robot 500 will move the loaded rack 600 to the first preset area P1 to place the rack 600 onto the carrying device 300.

[0104] As described above, when the suspension device 400 receives a material picking task, it will directly move to the second preset area P2, and a material rack 600 will be suspended on the suspension device 400 (e.g., Figure 5 (As shown).

[0105] The second handling robot 500 loads the rack 600 in the second preset area P2 by adjusting the height of its forks 510 so that the forks 510 of the second handling robot 500 extend into the fork holes 610 of the rack 600 suspended in the suspension device 400, thereby completing the loading of the rack 600 (e.g., Figure 2 (As shown).

[0106] Please combine Figure 6 and Figure 7 The second handling robot 500 can place the rack 600 in the first preset area P1 by emitting a laser to the carrier device 300 through the detection device 520 of the second handling robot 500 to obtain the laser reflected by the carrier device 300, thereby obtaining the angle and distance of the second handling robot 500 relative to the carrier device 300, so as to adjust the forks 510 of the second handling robot 500 to face the carrier device 300, thereby placing the rack 600 on the carrier device 300. Then the second handling robot 500 moves away from the carrier device 300 to remove the forks 510 from the fork holes 610 of the rack 600, thereby completing the placement of the rack 600.

[0107] Please see Figure 2 , Figure 6 , Figure 7 and Figure 13 Optionally, step 0132: controlling the second handling robot 500 to move to the second preset area P2 to load the suspension device 500 suspension rack 600, including:

[0108] Step 01321: The first positioning plate 620 of the material rack 600 is detected by the detection device 520 of the second handling robot 500 to obtain the third position information;

[0109] Step 01322: Based on the third position information, adjust the posture of the second handling robot 500 and the height of the forks 510 of the second handling robot 500 so that the second handling robot 500 is directly facing the rack 600 and the forks 510 are directly facing the fork holes 610 of the rack 600; and

[0110] Step 01323: Control the second handling robot 500 to move toward the rack 600 so that the forks 510 extend into the fork holes 610 to load the rack 600.

[0111] Specifically, as described above, when the second handling robot 500 receives a material picking task, the second handling robot 500 will move to the second preset area P2 to load the material rack 600 from the suspension device 400. The second handling robot 500 includes a detection device 520, and the material rack 600 includes a first positioning plate 620.

[0112] Thus, the second handling robot 500 can emit a laser to the first positioning plate 620 of the material rack 600 according to the detection device 520, and obtain the angle and distance of the second handling robot 500 relative to the first positioning plate 620 of the material rack 600 according to the laser reflected back from the first positioning plate 620. Since the positional relationship between the first positioning plate 620 and the fork hole 610 of the material rack 600 is known, the angle and distance of the second handling robot 500 relative to the fork hole 610 of the material rack 600 can be calculated.

[0113] It is understandable that the third position information is the angle and distance between the second handling robot 500 and the fork hole 610 of the rack 600 suspended on the suspension device 400. After obtaining the first position information, the second handling robot 500 can adjust its own posture and the height of its forks 510, so that the second handling robot 500 is facing the rack 600 and the forks 510 are facing the fork hole 610 of the rack 600.

[0114] Finally, the second handling robot 500 moves closer to the rack 600, thereby extending the forks 510 into the fork holes 610. In this way, the second handling robot 500 completes the loading of the rack 600 from the suspension device 400. The second handling robot 500 can then raise the height of the forks 510 so that the connection holes 630 of the rack 600 disengage from the hooks 420 of the suspension device 400, thereby removing the rack 600 from the suspension device 400 and moving the rack 600 away from the suspension device 400.

[0115] Please see Figure 2 , Figure 6 , Figure 7 and Figure 14 Optionally, step 0132: Moving the material rack 600 to the first preset area P1 to place it onto the carrying device 300 includes:

[0116] Step 01324: The second handling robot 500 detects the carrier device 300 and the first positioning device 310 of the carrier device 300 through the detection device 520 to obtain the fourth position information;

[0117] Step 01325: Based on the fourth position information, adjust the posture of the second handling robot 500 so that the rack 600 is facing the bearing device 300;

[0118] Step 01326: Based on the fourth position information, control the second handling robot 500 to place the material rack 600 to the bearing device 300, so that the positioning rod 640 of the material rack 600 is placed on the first positioning device 310, and the distance between the material rack 600 and the side wall 320 of the bearing device 300 is a preset distance.

[0119] Specifically, after the second handling robot 500 loads the rack 600 suspended on the suspension device 400 in the second preset area P2, the second handling robot 500 can move the rack 600 to the first preset area P1.

[0120] Please combine Figure 6 and Figure 7 The supporting device 300 also includes a first positioning device 310, which is located at the top of the supporting device 300. The material rack 600 includes a positioning rod 640, which is located at the top of the material rack 600. When the material rack 600 is placed on the supporting device 300, the positioning rod 640 is placed on the first positioning device 310 to ensure that the material rack 600 does not slide on the supporting device 300, thereby achieving a positioning function.

[0121] Therefore, after the second handling robot 500 loads the rack 600 suspended by the suspension device 400 from the second preset area P2 to the first preset area P1, the second handling robot 500 also needs to detect the carrier device 300 and the first positioning device 310 of the carrier device 300 through the detection device 520. That is, the detection device 520 emits a laser to the carrier device 300 and the first positioning device 310 of the carrier device 300 to obtain the angle and distance of the second handling robot 500 relative to the carrier device 300, and the angle and distance of the second handling robot 500 relative to the first positioning device 310 of the carrier device 300, that is, the fourth position information.

[0122] Next, after obtaining the fourth position information, the second handling robot 500 can adjust its posture according to the fourth position information so that the second handling robot 500 is facing the carrying device 300.

[0123] Optionally, the second handling robot 500 may also adjust the height of its forks 510 according to the fourth position information, so that the positioning rod 640 of the rack 600 is aligned with the first positioning device 310 of the bearing device 300.

[0124] Finally, the second handling robot 500 can control the forks 510 to rise or fall according to the fourth position information, place the rack 600 on the bearing device 300, and make the positioning rod 640 of the rack 600 engage with the first positioning device 310 of the bearing device 300, thereby fixing the rack 600.

[0125] Furthermore, the second handling robot 500 can also obtain the angles and distances of the rack 600 relative to all side walls 310 of the support device 300 based on the fourth position information. During the process of placing the rack 600 to the support device 300, the second handling robot 500 can control the distance between the rack 600 and the side walls of the support device 300 after placing the rack 600 to be a preset distance A. The preset distance A is a known value pre-set by the user, such as 10 mm, 20 mm, 30 mm, etc.

[0126] Please refer to it again. Figure 2 The rack handling system 1000 of this application includes a processor 700. The processor 700 is used to execute the rack handling method of any of the above embodiments, which will not be described in detail here for the sake of brevity.

[0127] Please see Figure 15 This application also provides a computer-readable storage medium 800 storing a computer program 810. When the computer program 810 is executed by the processor 700, it implements the steps of the material rack handling method of any of the above embodiments. For the sake of brevity, these steps will not be described in detail here.

[0128] It is understood that a computer program 810 includes computer program code. Computer program code can be in the form of source code, object code, executable files, or certain intermediate forms. Computer-readable storage media can be non-volatile computer-readable storage media such as any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), and software distribution media, etc.

[0129] 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.

[0130] 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.

[0131] 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 handling material racks, characterized in that, The material rack handling method includes: Upon receiving a transportation task, the first handling robot is controlled to move the carrying device to the first preset area and place the carrying device in the first preset area. The carrying device is used to carry the material rack. According to the transportation task, the second handling robot is controlled to move to the first preset area to load the rack carried by the carrying device, so as to suspend the rack to the suspension device; or, the second handling robot is controlled to move to the second preset area to load the rack, and then move to the first preset area to place it on the carrying device. The transportation task also includes a material storage task. According to the transportation task, controlling the second handling robot to move to the first preset area to load the material rack carried by the carrying device, and suspending the material rack to the suspension equipment, includes: When the transportation task is a material storage task, the second handling robot is controlled to move to the first preset area to load the material rack, and the material rack is moved to the second preset area to be suspended to the suspension device; The step of moving the material rack to the second preset area and suspending it on the suspension device includes: The second positioning plate of the suspended device is detected by the detection device of the second handling robot to obtain second position information; Based on the second position information, adjust the height of the forks of the second handling robot so that the connection hole of the rack is aligned with the hook of the suspension device; The second handling robot is controlled to move toward the suspension device so that the hook extends into the connection hole to suspend the rack to the suspension device.

2. The material rack handling method according to claim 1, characterized in that, The method of controlling the second handling robot to move to the first preset area and load the rack carried by the carrying device; or, controlling the second handling robot to move to the second preset area to load the rack, and then moving to the first preset area to place it before the carrying device, the rack handling method further includes: The suspension device is controlled to move to the second preset area, and the suspension device is used to suspend the material rack.

3. The material rack handling method according to claim 2, characterized in that, Upon receiving a transportation task, controlling the first handling robot to move the carrying device to a first preset area and placing the carrying device in the first preset area includes: When the transportation task is a material storage task, the first handling robot is controlled to move the carrying device and the material rack placed on the carrying device to the first preset area, and the carrying device and the material rack are placed in the first preset area.

4. The material rack handling method according to claim 3, characterized in that, The step of controlling the second handling robot to move to the first preset area to load the rack includes: The first positioning plate of the material rack is detected by the detection device of the second handling robot to obtain the first position information; Based on the first position information, adjust the posture of the second handling robot and the height of its forks so that the second handling robot is directly facing the rack and its forks are directly facing the fork holes of the rack; and The second handling robot is controlled to move toward the rack so that the forks extend into the fork holes to load the rack.

5. The material rack handling method according to claim 3, characterized in that, After the second handling robot moves to the first preset area to load the rack and moves the rack to the second preset area to suspend it on the suspension device, the rack handling method further includes: The suspension device is controlled to move the material rack to the storage position to store the material rack.

6. The material rack handling method according to claim 2, characterized in that, The transportation task includes a material handling task, and controlling the suspension device to move to the second preset area includes: When the transportation task is a material picking task, the suspension device is controlled to suspend the material rack and move the material rack to the second preset area; The control of the second handling robot to move to the second preset area to load the rack, and then to the first preset area to place it on the carrying device, includes: When the transportation task is a material picking task, the second handling robot is controlled to move to the second preset area to load the material rack suspended by the suspension device, and the material rack is moved to the first preset area to be placed on the carrying device.

7. The material rack handling method according to claim 6, characterized in that, The control of the second handling robot to move to the second preset area to load the rack suspended by the suspension device includes: The first positioning plate of the material rack is detected by the detection device of the second handling robot to obtain third position information; Based on the third position information, adjust the posture of the second handling robot and the height of its forks so that the second handling robot is directly facing the rack and its forks are directly facing the fork holes of the rack; and The second handling robot is controlled to move toward the rack so that the forks extend into the fork holes to load the rack.

8. The material rack handling method according to claim 6, characterized in that, The step of moving the material rack to the first preset area and placing it onto the supporting device includes: The second handling robot's detection device detects the carrying device and the first positioning device of the carrying device to obtain fourth position information; Based on the fourth position information, the posture of the second handling robot is adjusted so that the material rack is facing the carrying device. Based on the fourth position information, the second handling robot is controlled to place the rack onto the support device, so that the positioning rod of the rack is placed on the first positioning device, and the distance between the rack and the side wall of the support device is a preset distance.

9. A material rack handling system, characterized in that, The system includes a processor, which, upon receiving a transportation task, controls a first handling robot to move a carrying device to a first preset area and place the carrying device in the first preset area, the carrying device being used to carry a rack; according to the transportation task, controls a second handling robot to move to the first preset area to load the rack carried by the carrying device, so as to suspend the rack to a suspension device; or, controls the second handling robot to move to a second preset area to load the rack, and then moves it to the first preset area to place it on the carrying device. The transportation task also includes a material storage task. The processor is further configured to control the second handling robot to move to the first preset area to load the material rack when the transportation task is a material storage task, and drive the material rack to move to the second preset area to suspend it to the suspension device. The second handling robot detects the second positioning plate of the suspension device to obtain second position information; based on the second position information, the height of the forks of the second handling robot is adjusted so that the connection hole of the rack is aligned with the hook of the suspension device; the second handling robot is controlled to move toward the suspension device so that the hook extends into the connection hole to suspend the rack to the suspension device.

10. A computer-readable storage medium, characterized in that, It includes a computer program that, when executed by one or more processors, implements the rack handling method of any one of claims 1-8.

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