A warehouse security system

Abstract

The embodiment of the application provides a kind of warehousing safety system, including the carrying robot of running in robot area, the workstation of being set in artificial area, respectively, and the conveying device of being worn in robot area and artificial area, and detection device, detection device includes container detection unit and out-of-position detection unit, and respectively with the electrical connection of container detection unit and out-of-position detection unit control unit;Wherein, container detection unit detects the position of container in conveying device, and sends detection signal to control unit;Out-of-position detection unit when detecting that there is object by artificial area into robot area, out-of-position signal is sent to control unit;Control unit is responded to received detection signal, controls out-of-position detection unit to open, and response to received out-of-position signal, control conveying device and carrying robot stop movement.The application greatly improves the safety and reliability of the whole system, is conducive to the stable operation of upper shelf operation process.

Description

Technical Field

[0001] This application relates to the field of warehousing and logistics technology, and in particular to a warehousing security system. Background Technology

[0002] In the context of Industry 4.0, the rapid development of robotics has brought about tremendous technological changes to the entire logistics industry. Currently, the mainstream robot solutions mainly include two types: shelf-to-person and cargo-to-person. Shelf-to-person refers to robots moving shelves to workstations to complete picking tasks; cargo-to-person refers to robots moving cargo boxes to workstations to complete picking tasks.

[0003] While modern robots have become increasingly intelligent, safety during human-robot interaction cannot be ignored. This is especially true in the shelving process, where operators often need to work closely with robots to complete the shelving of goods. During this process, operators may need to approach the robot for operational purposes or accidentally enter the robot's area. If the robot moves rapidly towards the operator at this time, it could potentially collide with them, posing a safety risk.

[0004] Therefore, how to design a safety plan for the deployment process to ensure both the normal operation of the robot and the safety of the operators is an urgent problem to be solved. Summary of the Invention

[0005] This application provides a warehouse safety system to address the current lack of safety protection for operators interacting with robots during the shelving process.

[0006] This application provides a warehouse safety system, including a handling robot operating in a robotic area, a workstation set in a manual area, a conveying device that passes through the robotic area and the manual area respectively, and a detection device. The workstation is used to process containers, the conveying device is used to transport the containers from the manual area to the robotic area, and the handling robot is used to transfer the containers from the conveying device to the storage location in the robotic area.

[0007] The detection device includes a container detection unit and an overrun detection unit, as well as a control unit electrically connected to the container detection unit and the overrun detection unit respectively; wherein, the container detection unit is disposed on the conveying path of the conveying device to detect the position of the container in the conveying device and send a detection signal to the control unit;

[0008] The off-route detection unit is located at the workstation to send an off-route signal to the control unit when an object is detected entering the robot area from the manual area.

[0009] The control unit is also electrically connected to the conveying device and the handling robot respectively, and in response to the received detection signal, the control unit controls the over-extension detection unit to open, and in response to the received over-extension signal, controls the conveying device and the handling robot to stop moving.

[0010] In one feasible implementation, the conveying device includes a connected roller conveyor line and a buffer rack, and the workstation has a working window through which the roller conveyor line passes; the container detection unit includes a first detection element, which is disposed on the side of the roller conveyor line away from the buffer rack, and the first detection element is used to send a first detection signal to the control unit; the control unit responds to the received first detection signal and controls the over-intervention detection unit to open.

[0011] In one feasible implementation, the container detection unit further includes a second detection element and a third detection element disposed on the roller conveyor line. The second detection element is disposed on the side of the roller conveyor line near the buffer rack, and the third detection element is disposed between the first detection element and the second detection element, and located on the workstation side near the first detection element. The second detection element and the third detection element are used to send a second detection signal and a third detection signal to the control unit. In response to the received second detection signal, the control unit controls the roller conveyor line to stop moving, and in response to the received third detection signal, controls the over-intervention detection unit to close.

[0012] In one feasible implementation, the first detection element and the third detection element have a first gap, and the second detection element and the third detection element have a second gap, the lengths of the first gap and the second gap being greater than the length of the container.

[0013] In one feasible implementation, both the container detection unit and the off-center detection unit include a transmitter and a receiver, and the transmitter and the receiver are respectively arranged opposite each other on both sides of the roller conveyor line perpendicular to the conveying direction.

[0014] In one feasible implementation, the conveying device includes a connected unpowered conveyor line and a buffer rack, and the container detection unit is disposed at the connection between the unpowered conveyor line and the buffer rack; the workstation has a working window for the unpowered conveyor line to pass through, the over-traffic detection unit is disposed at the working window, and the distance between the over-traffic detection unit and the container detection unit is greater than the length of the container.

[0015] In one feasible implementation, the warehouse security system further includes a scanner electrically connected to the control unit, the scanner being used to scan the serial number of the container and the identification code of the workstation, and to send an inbound application to the control unit; the control unit, in response to the received detection signal, controls the off-route detection unit to open, and in response to the received inbound application, controls the off-route detection unit to close.

[0016] In one feasible implementation, the detection device further includes an indicator light and an alarm, which are electrically connected to the control unit respectively. The indicator light is used to issue an indication signal to indicate the operating status of the workstation based on the detection signal and the overrun signal received by the control unit, and the alarm is used to issue an alarm signal based on the overrun signal received by the control unit.

[0017] In one feasible implementation, the warehouse safety system further includes an emergency stop and reset control box located at the workstation. The emergency stop and reset control box is electrically connected to the handling robot and the alarm, respectively. The emergency stop and reset control box includes an emergency stop switch and a reset button. The emergency stop switch responds to the alarm signal emitted by the alarm to control the handling robot to stop moving, and the reset button responds to a pressing action to control the handling robot to resume moving.

[0018] In one feasible implementation, the warehouse security system further includes a fence connected to the workstation, and the fence is located between the robotic area and the manual area to separate the robotic area from the manual area.

[0019] In one feasible implementation, a safety gap is provided between the robotic area and the manual area.

[0020] In one feasible implementation, both the container detection unit and the off-center detection unit are one of an infrared sensor, a photoelectric sensor, or an ultrasonic sensor.

[0021] Due to the adoption of the above technical solution, the technical effects achieved by this application are as follows:

[0022] This application provides a warehouse safety system applied in scenarios where containers are shelved using a conveyor system. By using a detection device, it performs real-time monitoring of containers in the robotic area and operators in the manual area, preventing the conveying robot from directly impacting operators who accidentally enter the robotic area. This helps ensure operator safety and the stable operation of the warehouse system. Specifically, the detection device includes a container detection unit and an over-traffic detection unit, as well as a control unit electrically connected to both. When the control unit receives a detection signal from the container detection unit, it indicates that the conveyor system has started transporting containers and the shelving process has begun. At this time, to prevent operator misoperation, the over-traffic detection unit needs to be activated promptly to detect possible interactions at the boundary between the robotic and manual areas; that is, the control unit controls the over-traffic detection unit to open. Furthermore, when the control unit receives an off-route signal from the off-route detection unit, it indicates that an object (such as the operator's hand or foot) has entered the robot area from the manual area, which means that the operator may have made a mistake. At this time, in order to prevent the transport robot in the robot area from rushing directly towards the operator, the control unit controls the conveying device and the transport robot to stop moving, thereby greatly reducing the risk of injury to the operator.

[0023] The warehouse safety system provided in this application greatly improves the overall safety and reliability of the system through the coordinated operation of various detection elements in the detection device with the conveying device, handling robot, workstation, etc., which is conducive to the stable operation of the shelving process. It can not only ensure the normal operation of the handling robot, but also protect the safety of the operators. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the layout of a warehouse security system provided in an embodiment of this application;

[0025] Figure 2 This is a schematic diagram of the structure of a conveying device provided in an embodiment of this application;

[0026] Figure 3 This is a schematic diagram of another conveying device provided in an embodiment of this application;

[0027] Figure 4 This is a schematic diagram of another conveying device provided in the embodiments of this application.

[0028] Explanation of reference numerals in the attached figures:

[0029] 100 robot zones, 110 transport robots;

[0030] 200 manual work areas, 210 workstations;

[0031] 300 conveyor device, 310 roller conveyor line, 320 buffer rack, 330 non-powered conveyor line;

[0032] 400 Detection device, 410 Container detection unit, 411 First detection element, 412 Second detection element, 413 Third detection element, 420 Off-center detection unit. Detailed Implementation

[0033] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of this application.

[0034] Figure 1 This is a schematic diagram of the layout of a warehouse security system provided in an embodiment of this application. Figure 2 This is a schematic diagram of the structure of a conveying device provided in an embodiment of this application.

[0035] Reference Figure 1 and Figure 2 As shown, this application provides a warehouse safety system, including a handling robot 110 operating in a robot area 100, a workstation 210 set in a manual area 200, a conveying device 300 passing through the robot area 100 and the manual area 200 respectively, and a detection device 400. The workstation 210 is used to process containers, the conveying device 300 is used to transport containers from the manual area 200 to the robot area 100, and the handling robot 110 is used to transfer containers from the conveying device 300 to the storage location in the robot area 100.

[0036] It should be noted that, in the embodiments of this application, the robot area 100 refers to the area where the robot operates, which may include shelves, cabinets, etc., such as the inventory container area, the container waiting to be put on the shelf area, the buffer area, etc.; the manual area 200 refers to the area where the operator works, which may include workstations, picking stations, operating tables, etc., such as the order picking area, the container putting area, etc.

[0037] Furthermore, the containers in this application embodiment can include general-purpose containers and special-purpose containers. General-purpose containers refer to containers that can store any goods, such as storage boxes or organizers. Special-purpose containers refer to containers specifically designed for storing a particular type or category of goods, such as shoe boxes, fresh produce boxes, or buckets. In terms of material, the present invention includes cardboard boxes, glass bottles, plastic boxes, metal boxes, and leather cases.

[0038] In addition, in practical applications, the handling robot 110 varies depending on the content being handled. If it is handling containers containing goods, the handling robot 110 can be a container handling robot; if it is handling mobile shelves containing containers, the handling robot 110 can be a shelf handling robot; if it is handling stacked goods, the handling robot 110 can be a forklift, etc.; if it is handling cage carts containing goods, the handling robot 110 can be a towing robot or a lifting robot, etc.

[0039] Furthermore, continue to refer to Figure 2 As shown, the detection device 400 may include a container detection unit 410 and an overrun detection unit 420, as well as a control unit (not shown) electrically connected to the container detection unit 410 and the overrun detection unit 420, respectively. The container detection unit 410 is disposed on the conveying path of the conveying device 300 to detect the position of the container in the conveying device 300 and send a detection signal to the control unit; the overrun detection unit 420 is disposed at the workstation 210 to send an overrun signal to the control unit when an object is detected entering the robot area 100 from the manual area 200.

[0040] The control unit is also electrically connected to the conveyor 300 and the handling robot 110 respectively. In response to the received detection signal, the control unit controls the over-extension detection unit 420 to open, and in response to the received over-extension signal, controls the conveyor 300 and the handling robot 110 to stop moving.

[0041] It should be noted that the control unit in this application embodiment may be a controller set in workstation 210, or a main control cabinet set independently of workstation 210, or a remote server that communicates wirelessly with container detection unit 410, off-center detection unit 420, conveying device 300 and handling robot 110 respectively. This application does not limit the type of control unit.

[0042] In some embodiments, both the container detection unit 410 and the off-center detection unit 420 can be one of an infrared sensor, a photoelectric sensor, or an ultrasonic sensor. Furthermore, the container detection unit 410 and the off-center detection unit 420 can be of the same or different types; this application embodiment does not limit this.

[0043] In the specific shelving operation, the handling robot 110 located in the container waiting area can move containers from the shelf to the input end of the conveyor 300. The conveyor 300 starts working and transports the containers to the manual area 200. During this process, the container detection unit 410 set on the conveyor 300 starts to detect the containers and sends the detection signal to the control unit. The control unit then controls the over-traffic detection unit 420 to open based on the received detection signal to prevent the operator at workstation 210 from accidentally entering the robot area 100. Furthermore, the operator can perform operations such as picking, labeling, and inspecting the containers. After the operation is completed, the containers continue to be transported by the conveyor 300 and transferred from the output end of the conveyor 300 to the handling robot 110 docked with the conveyor 300, that is, the containers move from the manual area 200 to the robot area 100. At this time, if the over-traffic detection unit 420 set on workstation 210 does not detect an over-traffic signal, it indicates that the system is operating normally, and the handling robot 110 moves the containers from the conveyor 300 to the storage location in the inventory container area. If the off-route detection unit 420 detects an off-route signal, it indicates that an object (such as an operator's hand or foot) has entered the robot area 100 from the manual area 200. This means that the operator may have made a mistake. In order to prevent the handling robot 110 in the robot area 100 from rushing directly towards the operator, the control unit can promptly control the conveying device 300 and the handling robot 110 to stop moving based on the received off-route signal. This greatly reduces the risk of injury to the operator and helps to ensure the personal safety of the operator and the stable operation of the warehousing system.

[0044] The warehouse safety system provided in this application embodiment greatly improves the overall safety and reliability of the system through the linkage and cooperation of various detection elements set in the detection device 400 with the conveying device 300, the handling robot 110, the workstation 210, etc., which is conducive to the stable operation of the shelving operation process. It can not only ensure the normal operation of the handling robot 110, but also ensure the safety of the operators.

[0045] It is understandable that, in the actual shelving operation, due to the different structures of the conveyor device 300, the warehouse safety system provided in this application embodiment will also differ in specific implementation. The following will describe this with several different embodiments:

[0046] Example 1

[0047] Figure 3 This is a schematic diagram of another conveying device provided in an embodiment of this application.

[0048] Reference Figure 2 and Figure 3As shown, the conveying device 300 may include a connected roller conveyor line 310 and a buffer rack 320. The workstation 210 has a working window (not shown) through which the roller conveyor line 310 passes. The container detection unit 410 includes a first detection element 411, which is disposed on the side of the roller conveyor line 310 away from the buffer rack 320. The first detection element 411 is used to send a first detection signal to the control unit. In response to the received first detection signal, the control unit controls the over-extension detection unit 420 to open.

[0049] It should be noted that, in order to ensure the normal operation of the operator while preventing the handling robot 110 from directly rushing towards the operator or the operator from entering the robot area 100, a working window can be opened on the workstation 210 to facilitate the passage of containers. In this embodiment, the size of the working window is not limited; those skilled in the art can make a reasonable selection based on the specific size of the container or the actual product design requirements. For example, when designing the height of the lower surface of the working window from the ground, the convenience for the operator to move the container to the conveyor 300 can be considered; when designing the height of the upper surface of the working window from the ground, the height of the operator and the minimum height prohibiting the operator from climbing over the working window can be considered.

[0050] By placing the first detection element 411 on the side of the roller conveyor 310 away from the buffer rack 320, that is, by placing the first detection element 411 at the input end of the conveying device 300, the container detection unit 410 can detect the containers placed on the conveying device 300 in a timely manner. Thus, when the roller conveyor 310 starts conveying containers, the control unit quickly controls the over-extension detection unit 420 to open, thereby improving the accuracy and safety of the detection process.

[0051] Furthermore, continue to refer to Figure 2 As shown, the container detection unit 410 may further include a second detection element 412 and a third detection element 413 disposed on the roller conveyor line 310. The second detection element 412 is disposed on the side of the roller conveyor line 310 near the buffer rack 320, and the third detection element 413 is disposed between the first detection element 411 and the second detection element 412, and is located on the side of the workstation 210 near the first detection element 411. The second detection element 412 and the third detection element 413 are used to send a second detection signal and a third detection signal to the control unit. The control unit responds to the received second detection signal by controlling the roller conveyor line 310 to stop moving, and responds to the received third detection signal by controlling the over-intervention detection unit 420 to close.

[0052] When the second detection element 412, located on the side of the roller conveyor 310 near the buffer rack 320, detects the passage of a container, it indicates that the container has been transferred from the roller conveyor 310 to the buffer rack 320. At this point, the conveying task of the roller conveyor 310 is completed, and the control unit stops the roller conveyor 310. When the third detection element 413, located between the first detection element 411 and the second detection element 412, detects the passage of a container, since the position of the third detection element 413 is close to the position of the workstation 210 and is located in the conveying direction (e.g., ...), ... Figure 2 and Figure 3 The direction indicated by the middle arrow (i.e., the side closer to the first detection element 411) indicates that the container has entered the manual area 200. Operators in the manual area 200 need to perform operations such as picking, labeling, or inspecting containers. During this process, operators may cross the manual area 200 according to different operational requirements. At this time, the control unit will control the over-travel detection unit 420 to shut down based on the received third detection signal, in order to minimize false detections during operator operations. This makes the warehouse safety system more intelligent and improves the efficiency of container shelving operations.

[0053] It is understandable that the dimensions of containers (especially their length) vary depending on the type of container. In Embodiment 1 of this application, when the container detection unit 410 includes multiple detection elements such as a first detection element 411, a second detection element 412, and a third detection element 413, the spacing between each detection element should be set according to the principle of mutual non-interference.

[0054] In one feasible implementation, for example, there is a first gap between the first detection element 411 and the third detection element 413, and a second gap between the second detection element 412 and the third detection element 413. The lengths of the first gap and the second gap are both set to be greater than the length of the container, so that the first detection element 411, the second detection element 412 and the third detection element 413 can independently detect the container, and there will be no situation where the first detection element 411 and the third detection element 413, or the third detection element 413 and the second detection element 412 detect the container at the same time. This helps to ensure the reliability of the detection device 400 and improve the detection accuracy.

[0055] Furthermore, both the container detection unit 410 and the off-center detection unit 420 may include a transmitter and a receiver, and the transmitter and receiver are respectively arranged opposite each other on both sides of the roller conveyor line 310 perpendicular to the conveying direction.

[0056] Taking the container detection unit 410 and the over-position detection unit 420, both using infrared sensors, as an example, the transmitter of the container detection unit 410 emits infrared light, and the receiver of the container detection unit 410 receives infrared light, with the transmitter and receiver corresponding to each other. When the roller conveyor 310 is not conveying any containers, the receiver can receive the infrared light emitted by the transmitter. When a container is being conveyed on the roller conveyor 310, the infrared light emitted by the transmitter is blocked by the container, and the receiver cannot receive the corresponding infrared light, thus assuming that the container is passing the corresponding detection element. At this time, the container detection unit 410 generates a corresponding detection signal and sends it to the control unit. Similarly, the working principle of the over-position detection unit 420 is similar to that of the container detection unit 410, and will not be described in detail here.

[0057] To facilitate understanding, the following is an illustrative example of the container shelving process:

[0058] During the loading process of the handling robot 110 onto the roller conveyor 310, the operator first places the container at the input end of the roller conveyor 310. If the first detection element 411 detects the container, but the third detection element 413 does not, the roller conveyor 310 begins to move. The overrun detection unit 420 remains open to prevent any operator from entering the robot area 100 from the manual area 200 through the work window;

[0059] If the first detection element 411 does not detect the container, but the third detection element 413 does, it is considered that the container is about to pass through the working window, and the control unit controls the over-interference detection unit 420 to close so that the container can pass. When the second detection element 412 detects that the container has been transferred to the buffer rack 320, the control unit controls the over-interference detection unit 420 to open, and the roller conveyor 310 stops moving.

[0060] When the overstepping detection unit 420 detects a human obstacle, it sends an overstepping signal to the control unit, which then controls all the handling robots 110 in the designated area to stop moving.

[0061] Example 2

[0062] Figure 4 This is a schematic diagram of another conveying device provided in the embodiments of this application.

[0063] Reference Figure 4As shown, the conveying device 300 may include a connected unpowered conveyor line 330 and a buffer rack 320. The container detection unit 410 is disposed at the connection between the unpowered conveyor line 330 and the buffer rack 320. The workstation 210 has a working window through which the unpowered conveyor line 330 passes. The overrun detection unit 420 is disposed at the working window, and the distance between the overrun detection unit 420 and the container detection unit 410 is greater than the length of the container.

[0064] It should be noted that the unpowered conveyor line 330 is a conveyor line without a drive structure, such as a gravity conveyor or a ball chain conveyor. Since the unpowered conveyor line itself has no power and relies primarily on gravity for transport, the input and output ends of the unpowered conveyor line 330 need to form a certain angle. Furthermore, the height of the buffer rack 320 connected to the unpowered conveyor line 330 should not exceed the height of the output end of the unpowered conveyor line 330, thus enabling the transport of containers between the unpowered conveyor line 330 and the buffer rack 320.

[0065] In addition, the distance between the off-route detection unit 420 and the container detection unit 410 is set to be greater than the length of the container, so that the off-route detection unit 420 and the container detection unit 410 can detect the container separately without detecting the container at the same time, thereby avoiding misjudgment by the detection device 400.

[0066] In one feasible implementation, the warehouse security system also includes a scanner (not shown in the figure) electrically connected to the control unit. The scanner scans the container's serial number and the identification code of workstation 210, and sends an inbound request to the control unit. In response to a received detection signal, the control unit controls the off-route detection unit 420 to open, and in response to a received inbound request, controls the off-route detection unit 420 to close. The scanner can be a mobile phone, PDA, etc.

[0067] During the shelving process, to ensure the accuracy of container placement and prevent misplacement of non-target containers due to operator error, operators can use a scanner to scan the container's serial number and the identification code (such as a QR code) of workstation 210. This associates the container to be shelved with the corresponding workstation 210, and sends the generated inbound application to the control unit. If the control unit receives the inbound application, it indicates a successful match between the container and workstation 210, and the operator needs to move the container to the non-powered conveyor line 330. At this time, the control unit needs to disable the over-traffic detection unit 420 to facilitate operator operation and prevent false detections. When the container is transported to the position corresponding to the container detection unit 410 under non-powered conveyor transport, it indicates that the container will be transferred from the non-powered conveyor line 330 to the buffer rack 320. No operator intervention is required during this process. The control unit then activates the over-traffic detection unit 420 based on the received detection signal to perform real-time detection of objects crossing workstation 210.

[0068] To facilitate understanding, the following is an illustrative example of the container shelving process:

[0069] During the docking process between the handling robot 110 and the unpowered conveyor line 330, the operator first uses a scanner to scan the container serial number and the workstation 210 QR code to bind them together, sending an inbound request to the control unit. At this time, the over-traffic detection unit 420 is closed, and the operator can place the container on the unpowered conveyor line 330 through the work window. The unpowered conveyor line 330 transports the container to the buffer rack 320 by gravity. When the container detection unit 410 detects a container, the over-traffic detection unit 420 is activated to prevent any operator from entering the robot area 100 from the manual area 200.

[0070] If the operator places the container directly onto the non-powered conveyor line 330 without making an inbound application, the off-center detection unit 420 will send the detected off-center signal to the control unit, which will then control all the handling robots 110 in the designated area to stop moving.

[0071] Example 3

[0072] The difference between this embodiment and the above embodiments is that the intelligent level and safety of the warehouse safety system are further improved by setting up indicator lights, alarms and emergency stop reset control boxes.

[0073] Specifically, the detection device 400 may also include an indicator light and an alarm that are electrically connected to the control unit respectively. The indicator light is used to issue an indication signal to indicate the operating status of the workstation 210 based on the detection signal and the over-exit signal received by the control unit, and the alarm is used to issue an alarm signal based on the over-exit signal received by the control unit.

[0074] The operating status of workstation 210 can be determined based on detection signals and overrun signals received by the control unit. For example, when the control unit receives neither an overrun signal nor a detection signal, it indicates that workstation 210 is in an idle state; when the control unit receives a detection signal but not an overrun signal, it indicates that workstation 210 is in a working state; when the control unit receives an overrun signal, it means that an object has passed through the working window, indicating that workstation 210 is in an abnormal state. Accordingly, indicator lights can emit different types of light signals depending on the operating status of workstation 210. For example, an indicator light emits red light to indicate that workstation 210 is in an abnormal state; an indicator light emits green light to indicate that workstation 210 is in an idle state; and an indicator light emits yellow light to indicate that workstation 210 is in a working state.

[0075] Furthermore, when the workstation 210 is in an abnormal state, the alarm connected to the control unit can promptly issue an alarm signal, which can be a buzzer, voice broadcast, music, etc.

[0076] In one feasible implementation, the warehouse safety system may further include an emergency stop and reset control box located at workstation 210. The emergency stop and reset control box is electrically connected to the handling robot 110 and the alarm respectively. Furthermore, the emergency stop and reset control box includes an emergency stop switch and a reset button. The emergency stop switch responds to the alarm signal issued by the alarm to control the handling robot 110 to stop moving, and the reset button responds to the pressing action to control the handling robot 110 to resume moving.

[0077] This embodiment of the application further enhances the safety of the warehouse safety system by incorporating an emergency stop reset control box. In the event of an emergency, or if the detection device 400 malfunctions and falsely detects an error, the operator can press the emergency stop switch to stop the conveyor device 300 and the handling robot 110. The emergency stop switch can also actively control the handling robot 110 to stop in response to an alarm signal. When the fault or emergency is resolved, the operator can press the reset button to resume the operation of the handling robot 110 and the conveyor device 300.

[0078] In other embodiments, the warehouse security system may further include a fence connected to workstation 210, located between the robot area 100 and the manual area 200, to separate the robot area 100 and the manual area 200. The fence may separately enclose the manual area 200 into a closed area, or separately enclose the robot area 100 into a closed area, or separately enclose the robot area 100 and the manual area 200 into independent closed areas; this application does not limit this.

[0079] Optionally, in this embodiment of the application, conspicuous identification marks may be set on the ground corresponding to the robot area 100 and / or the manual area 200 to remind operators not to easily enter the robot area 100.

[0080] In some embodiments, a safety gap may be maintained between the robot area 100 and the manual area 200. Since the handling robot 110 performs actions such as starting, stopping, lifting, and rotating during operation, to ensure the safety of operators, regardless of the container shelving method described above, a certain safety distance should be maintained between the interaction positions of the manual area 200 where the operator is located and the robot area 100 where the handling robot 110 is located, to ensure the safety of the operators.

[0081] It is readily understood that, based on the several embodiments provided in this application, those skilled in the art can combine, split, or reorganize the embodiments of this application to obtain other embodiments, none of which exceed the protection scope of this application.

[0082] The above detailed embodiments further illustrate the purpose, technical solution, and beneficial effects of the embodiments of this application. It should be understood that the above are merely specific embodiments of the embodiments of this application and are not intended to limit the protection scope of the embodiments of this application. Any modifications, equivalent substitutions, improvements, etc., made on the basis of the technical solutions of the embodiments of this application should be included within the protection scope of the embodiments of this application.

Claims

1. A warehouse security system, characterized in that, The system includes a handling robot (110) operating in the robot area (100), a workstation (210) set in the manual area (200), a conveying device (300) respectively passing through the robot area (100) and the manual area (200), and a detection device (400). The workstation (210) is used to process containers, the conveying device (300) is used to transport the containers from the manual area (200) to the robot area (100), and the handling robot (110) is used to transfer the containers from the conveying device (300) to the storage location in the robot area (100). The detection device (400) includes a container detection unit (410) and an over-position detection unit (420), and a control unit electrically connected to the container detection unit (410) and the over-position detection unit (420) respectively; wherein: The container detection unit (410) includes a first detection element (411), a second detection element (412) and a third detection element (413) arranged along the conveying path of the conveying device (300). Each detection element is used to detect the position of the container in the conveying device (300) and send a detection signal to the control unit. The off-route detection unit (420) is located in the workstation (210) to send an off-route signal to the control unit when an object is detected entering the robot area (100) from the manual area (200). The control unit is also electrically connected to the conveying device (300) and the handling robot (110), respectively, and the control unit is configured to: In response to the first detection signal received from the first detection element (411), the off-center detection unit (420) is controlled to open; In response to the second detection signal sent by the second detection element (412), the conveying device is controlled to stop moving; In response to the third detection signal sent by the third detection element (413), the off-center detection unit (420) is controlled to shut down; In response to the received off-center signal, the conveying device (300) and the handling robot (110) are controlled to stop moving.

2. The warehouse security system according to claim 1, characterized in that, The conveying device (300) includes a roller conveyor line (310) and a buffer rack (320) connected to each other, and the workstation (210) has a working window for the roller conveyor line (310) to pass through; The first detection element (411) is disposed on the side of the roller conveyor (310) away from the buffer rack (320), and the first detection element (411) is used to send a first detection signal to the control unit.

3. The warehouse security system according to claim 2, characterized in that, The second detection element (412) and the third detection element (413) are also disposed on the roller conveyor line. The second detection element (412) is disposed on the side of the roller conveyor line (310) near the buffer rack (320). The third detection element (413) is disposed between the first detection element (411) and the second detection element (412) and is located on the side of the workstation (210) near the first detection element (411). The second detection element (412) and the third detection element (413) are used to send the second detection signal and the third detection signal to the control unit.

4. The warehouse security system according to claim 3, characterized in that, The first detection element (411) and the third detection element (413) have a first gap, and the second detection element (412) and the third detection element (413) have a second gap. The lengths of the first gap and the second gap are both greater than the length of the container.

5. The warehouse security system according to claim 2, characterized in that, Both the container detection unit (410) and the off-center detection unit (420) include a transmitter and a receiver, and the transmitter and the receiver are respectively arranged opposite each other on both sides of the roller conveyor line (310) perpendicular to the conveying direction.

6. The warehouse security system according to claim 1, characterized in that, The conveying device (300) includes a non-powered conveyor line (330) and a buffer rack (320) connected to each other, and the container detection unit (410) is disposed at the connection between the non-powered conveyor line (330) and the buffer rack (320); The workstation (210) has a working window through which the unpowered conveyor line (330) passes. The overrun detection unit (420) is located at the working window, and the distance between the overrun detection unit (420) and the container detection unit (410) is greater than the length of the container.

7. The warehouse security system according to claim 6, characterized in that, The warehouse security system also includes a scanner electrically connected to the control unit, which is used to scan the serial number of the container and the identification code of the workstation (210) and send an entry application to the control unit; The control unit controls the off-route detection unit (420) to open in response to the received detection signal, and controls the off-route detection unit (420) to close in response to the received inbound application.

8. The warehouse security system according to any one of claims 1-7, characterized in that, The detection device (400) also includes an indicator light and an alarm that are electrically connected to the control unit respectively. The indicator light is used to issue an indication signal to indicate the operating status of the workstation (210) based on the detection signal and the overrun signal received by the control unit. The alarm is used to issue an alarm signal based on the overrun signal received by the control unit.

9. The warehouse security system according to claim 8, characterized in that, The warehouse safety system also includes an emergency stop reset control box installed at the workstation (210), which is electrically connected to the handling robot (110) and the alarm respectively; Furthermore, the emergency stop reset control box includes an emergency stop switch and a reset button. The emergency stop switch responds to the alarm signal emitted by the alarm device and controls the handling robot (110) to stop moving. The reset button responds to the pressing action and controls the handling robot (110) to resume moving.

10. The warehouse security system according to any one of claims 1-7, characterized in that, The warehouse security system also includes a fence connected to the workstation (210), and the fence is located between the robot area (100) and the manual area (200) to separate the robot area (100) and the manual area (200).

11. The warehouse security system according to any one of claims 1-7, characterized in that, A safety gap is provided between the robot area (100) and the manual area (200).

12. The warehouse security system according to any one of claims 1-7, characterized in that, Both the container detection unit (410) and the off-center detection unit (420) are one of an infrared sensor, a photoelectric sensor, or an ultrasonic sensor.

Images