Warehouse robot walking positioning method, warehouse robot, and stereoscopic warehouse system

Abstract

This invention discloses a method for locating and positioning a warehousing robot, a warehousing robot, and an automated storage and retrieval system. The method includes: when the conditions for performing a return-to-home action are met, controlling the warehousing robot to move to the position on the return-to-home track; initializing the current position of the warehousing robot based on a return-to-home detection signal received from a return-to-home positioning sensor that detects a return-to-home positioning marker; wherein the return-to-home execution conditions include a power-on command for the warehousing robot; after successful initialization, during the warehousing robot's movement along the track, determining the real-time walking distance of the warehousing robot based on a multi-aperture positioning sensor that detects a multi-aperture detection signal from the first positioning aperture, and updating the current position of the warehousing robot in real time. Through the cooperation of the return-to-home positioning sensor and the return-to-home positioning marker, it is ensured that the warehousing robot starts from the return-to-home position on the return-to-home track, avoiding the warehousing robot's inability to move to the target position due to an incorrect starting position.

Description

Technical Field

[0001] This invention relates to the field of logistics and warehousing technology, and in particular to a method for positioning and walking of a warehousing robot, a warehousing robot, and an automated warehousing system. Background Technology

[0002] With the development of automated storage and retrieval systems (AS / RS) technology, its high storage efficiency and high warehouse utilization rate have led to its widespread application. Inside automated warehouses, storage robots are installed on rail racks. These robots can move along the rails to grasp and transfer boxes. Sensors are typically installed on the storage robots, and corresponding through-holes are set in the rails. The sensors and through-holes work together to detect the robot's movement distance and position.

[0003] Existing warehouse robots typically return to a designated starting position after stopping work to detect the distance and position they can move before their next task. However, if a worker accidentally pushes the robot or for other reasons causes it to deviate from its starting position, the robot will treat its current position as its starting point for the next task. This results in a discrepancy between the actual distance the robot moves and the detected distance, preventing it from accurately moving to its intended location. Summary of the Invention

[0004] In view of this, the present invention provides a method for locating and positioning a warehousing robot, a warehousing robot, and an automated warehousing system.

[0005] On one hand, the present invention provides a method for positioning and navigating a warehouse robot, applied to an automated storage and retrieval system. The automated storage and retrieval system includes a running track for the warehouse robot to travel back and forth and a return track located at the end of the running track. The running track has a plurality of first positioning holes spaced apart along its length, and the return track has a return positioning marker. The warehouse robot is equipped with a hole-counting sensor for detecting the number of holes as it passes through the first positioning holes and a return positioning sensor corresponding to the return positioning marker. The method includes:

[0006] When the return-to-origin execution conditions are determined to be met, the warehouse robot is controlled to move to the position of the return-to-origin track. Based on the return-to-origin detection signal received from the return-to-origin positioning sensor that detects the return-to-origin positioning marker, the current position of the warehouse robot is initialized. The return-to-origin execution conditions include a power-on command for the warehouse robot.

[0007] After successful initialization, during the operation of the warehouse robot along the running track, the real-time walking distance of the warehouse robot is determined based on the detection signal of the first positioning hole detected by the hole positioning sensor, and the current position of the warehouse robot is updated in real time.

[0008] In some embodiments, the return-to-origin execution conditions further include the warehouse robot being located within a position calibration area at a preset distance from the return-to-origin track, and the method further includes:

[0009] When the warehouse robot is located within the position calibration area, the real-time position of the warehouse robot is determined to correspond to the cumulative walking distance of the warehouse robot based on the currently received aperture detection signal from the aperture positioning sensor.

[0010] If there is no correspondence, then it is determined that the current conditions for performing the return-to-origin action are met.

[0011] In some embodiments, the return-to-origin execution conditions further include a number of aperture error calibrations; the method further includes:

[0012] During the operation of the warehouse robot along the running track, the system determines in real time whether there is a counting error based on the counting detection signal of the counting sensor; the counting error includes the distance difference between adjacent first positioning holes exceeding a threshold range, or the inability to locate the target position;

[0013] If a count error exists, then the conditions for performing the return-to-origin action are determined to be met.

[0014] In some embodiments, the home return positioning sensor includes a first home return positioning sensor and a second home return positioning sensor that are spaced back and forth along the direction of movement of the warehouse robot.

[0015] The process of controlling the warehouse robot to run to the return track position, based on receiving a return detection signal from the return positioning sensor that detects the return positioning marker, initializes the current position of the warehouse robot, including:

[0016] The warehouse robot is controlled to move towards the return track. When the first return positioning sensor detects the first return detection signal returned by the return positioning marker, it is confirmed that the current process of executing the return action is started.

[0017] The current position of the warehouse robot is initialized based on the second home return detection signal returned by the home return positioning identifier detected by the second home return positioning sensor.

[0018] In some embodiments, the return track is further provided with a stop positioning hole; before initializing the current position of the warehouse robot, the following steps are included:

[0019] When the number of holes detected by the number of holes positioning sensor is received, it is determined that the storage robot has reached the original position, and the storage robot is controlled to stop moving.

[0020] In some embodiments, the return track is further provided with a deceleration positioning hole; the step of receiving the second return detection signal returned by the second return positioning sensor from the return positioning marker includes:

[0021] When the number of holes detected by the number of holes positioning sensor is received, it is determined that the warehouse robot has reached the deceleration position, and the warehouse robot is controlled to reduce its running speed and continue to move in the current running direction.

[0022] On the other hand, the present invention also provides a warehouse robot, including a walking mechanism, a box-grabbing mechanism, a controller, a perforated positioning sensor and a return-to-origin positioning sensor. The walking mechanism is capable of moving on a running track and a return-to-origin track. The box-grabbing mechanism is suspended below the walking mechanism and is used to grab boxes. The perforated positioning sensor and the return-to-origin positioning sensor are both installed on the walking mechanism. The controller is used to execute the warehouse robot walking and positioning method described above.

[0023] In another aspect, the present invention also provides a three-dimensional warehousing system, including a warehousing robot, a running track for the warehousing robot to travel back and forth, and a return track located at the end of the running track. The running track has a plurality of first positioning holes spaced apart along its length. The return track has a return positioning mark, which at least partially protrudes above or below the return track. The warehousing robot is equipped with a multi-hole positioning sensor and a return positioning sensor. The multi-hole positioning sensor can cooperate with the first positioning holes to determine the real-time travel distance of the warehousing robot. The return positioning sensor is used to cooperate with the return positioning mark to drive the warehousing robot to move to the return position on the return track.

[0024] In some embodiments, the home return positioning sensor includes a first home return positioning sensor and a second home return positioning sensor that are spaced apart along the movement direction of the warehouse robot. When the warehouse robot is in the home return position, the first home return positioning sensor is spaced apart on the side of the home return positioning mark away from the running track, and the second home return positioning sensor is opposite to the home return positioning mark.

[0025] In some embodiments, the return track is provided with a stop positioning hole on the inner side near the storage robot, which cooperates with the orifice positioning sensor. When the storage robot is in the return position, the orifice positioning sensor is directly opposite the stop positioning hole.

[0026] In some embodiments, the return track is provided on the inner side near the storage robot with a deceleration positioning hole for cooperating with the aperture positioning sensor. The aperture positioning sensor is used to reduce the running speed of the storage robot when it detects the deceleration positioning mark during the movement of the storage robot away from the running track.

[0027] In some embodiments, the automated storage system includes a positioning device, which includes a base plate and a first side plate and a second side plate respectively connected to opposite sides of the base plate. The base plate is attached to the bottom surface of the return track, the first side plate is attached to the outer side of the return track away from the storage robot, and the second side plate extends downward from one side of the base plate. The second side plate is provided with the return positioning mark or the second side plate is the return positioning mark.

[0028] The warehousing robot walking and positioning method provided by this invention involves the warehousing robot, upon receiving a power-on command, moving to the return position on the return track based on the return detection signal detected by the return positioning sensor. After initialization, the robot moves back onto the running track and determines its real-time walking distance and current position based on the detection signal of the first positioning hole detected by the multi-hole positioning sensor. The cooperation between the return positioning sensor and the return positioning marker ensures that the warehousing robot starts from the return position on the return track, preventing it from failing to reach the target position due to an incorrect starting position. Attached Figure Description

[0029] Figure 1 This is a flowchart of a warehouse robot walking and positioning method according to an embodiment of the present invention;

[0030] Figure 2 This is a schematic diagram of the structure of a warehouse robot gripping a material box according to an embodiment of the present invention;

[0031] Figure 3 for Figure 2 The diagram shows the assembly of the traveling mechanism and the return track.

[0032] Figure 4 for Figure 3 A schematic diagram of the walking mechanism and its return to the original track from another perspective;

[0033] Figure 5 for Figure 3 The diagram shows an exploded view of the return track and positioning device.

[0034] In the diagram: 10, warehouse robot; 12, return track; 16, return positioning marker; 18, multi-hole positioning sensor; 20, return positioning sensor; 22, first return positioning sensor; 24, second return positioning sensor; 26, stop positioning hole; 28, deceleration positioning hole; 30, walking mechanism; 32, box gripping mechanism; 33, material box; 34, positioning device; 36, base plate; 38, first side plate; 40, second side plate; 42, first mounting hole; 44, second mounting hole. Detailed Implementation

[0035] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0036] It should be noted that all directional indications (such as up, down, left, right, front, back, inside, outside, top, bottom, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship between the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0037] It should also be noted that when a component is referred to as "fixed to" or "set on" another component, the component may be directly on the other component or there may be an intervening component present. When a component is referred to as "connected to" another component, it may be directly connected to the other component or there may be an intervening component present.

[0038] Please see Figures 1 to 5 This invention provides a method for positioning and locating a warehouse robot 10, applied to an automated storage and retrieval system. The automated storage and retrieval system includes a warehouse robot 10, a running track (not shown) for the reciprocating movement of the warehouse robot 10, and a return track 12 located at the end of the running track. The warehouse robot 10 can grasp a material box 33 and move it on the running track, thereby transferring the material box 33 from one place to another. The return track 12 is used for parking the warehouse robot 10 when it is not in operation. The running track has a plurality of first positioning holes spaced apart along its length. The return track 12 has a return positioning mark 16. The warehouse robot 10 is equipped with a hole counting sensor 18 and a return positioning sensor 20. The hole counting sensor 18 is used to detect the number of holes when the warehouse robot 10 passes through the first positioning holes. The return positioning sensor 20 corresponds to the return positioning mark 16. The method for positioning and locating the warehouse robot 10 includes:

[0039] Step 101: When the return-to-home conditions are met, control the warehouse robot 10 to run to the position of the return-to-home track 12. Based on the return-to-home detection signal received by the return-to-home positioning sensor 20 from the return-to-home positioning marker 16, initialize the current position of the warehouse robot 10. The return-to-home execution conditions include the power-on command of the warehouse robot 10.

[0040] When the warehouse robot 10 receives the power-on command, it moves to the return track 12. Then, based on the return detection signal of the return positioning mark 16 detected by the return positioning sensor 20, the warehouse robot 10 is controlled to return to the return position of the return track 12. Then, the current position of the warehouse robot 10, i.e. the return position, is initialized to ensure that the warehouse robot 10 starts from the return position of the return track 12.

[0041] Understandably, the power-on command can be a control command issued by the warehouse robot 10 when the next work begins after completing one work, or it can be a control command reissued by the warehouse robot 10 when encountering a power outage or malfunction during the work process.

[0042] The specific types of the home-tracking sensor 20 and the home-tracking marker 16 are not limited. For example, they can be a through-beam photoelectric sensor combined with a hole or reflector, or a reflective photoelectric sensor combined with a hole or reflector. In this embodiment, the home-tracking sensor 20 is a through-beam photoelectric sensor, and the home-tracking marker 16 is a reflector. The home-tracking sensor 20 includes a transmitter and a receiver, which are located on opposite sides of the home-tracking marker 16. Therefore, when the home-tracking sensor 20 moves to the home-tracking marker 16, the light beam emitted by the transmitter will be blocked by the home-tracking marker 16, and the receiver will not receive the light beam emitted by the transmitter. Thus, when the receiver of the home-tracking sensor 20 does not receive the light beam emitted by the transmitter, the home-tracking sensor 20 can determine that it has moved to the home-tracking marker 16, that is, it has detected the home-tracking marker 16. The combination of the through-beam photoelectric sensor and the reflector does not require direct contact between the two, so it will not affect the normal operation of the warehouse robot 10.

[0043] Step 102: After successful initialization, during the operation of the warehouse robot 10 along the running track, the real-time walking distance of the warehouse robot 10 is determined based on the detection signal of the first positioning hole detected by the hole positioning sensor 18, and the current position of the warehouse robot 10 is updated in real time.

[0044] After initialization, the storage robot 10 departs from its original position on the return track 12 and moves onto the running track. During its movement, the robot passes through the first positioning holes. The hole counting sensor 18 detects the presence of each hole and performs a hole counting detection to generate a signal. The sensor generates one signal for each hole passed. Based on the number of holes passed, the robot's travel distance is calculated, thus determining its position on the running track.

[0045] The distance between any two adjacent first positioning holes on the running track can be the same or different. When they are different, the difference in the distance between the first positioning holes is within a certain preset range.

[0046] The specific type of the aperture positioning sensor 18 is not limited, such as a through-beam photoelectric sensor or a reflective photoelectric sensor. In this embodiment, the aperture positioning sensor 18 is a through-beam photoelectric sensor. The aperture positioning sensor 18 includes a transmitter and a receiver located on opposite sides of the first positioning hole. When the receiver can receive the light beam emitted by the transmitter, it means that the aperture positioning sensor 18 is passing through the first positioning hole at this time.

[0047] In one embodiment, two aperture positioning sensors 18 are provided, arranged along the movement direction of the warehouse robot 10. The distance between the first positioning holes along the length of the running track is greater than or equal to the distance between the light beams emitted by the two aperture positioning sensors 18. Only when both aperture positioning sensors 18 detect the same first positioning hole does it indicate that the two aperture positioning sensors 18 have just passed through the first positioning hole, thus improving the positioning accuracy of the aperture positioning sensors 18.

[0048] In some embodiments, the return-to-origin execution conditions further include calibration; the warehouse robot 10 walking and positioning method further includes:

[0049] During the operation of the warehouse robot 10 along the running track, the detection signal of the hole counting sensor 18 is used to determine in real time whether there is a hole counting error. Hole counting errors include the distance between adjacent first positioning holes exceeding the threshold range and the inability to locate the target position.

[0050] If a count error exists, then the conditions for performing the return-to-origin action are determined to be met.

[0051] The aperture positioning sensor 18 generates an aperture signal, which only indicates that the track robot has passed through one first positioning aperture. However, it does not guarantee that the aperture positioning sensor 18 has detected all the first positioning apertures it has passed. For example, if a first positioning aperture is covered, blocked, or the aperture positioning sensor 18 is temporarily blocked, the actual number of first positioning apertures passed by the aperture positioning sensor 18 may be more than the number of first positioning apertures detected by the aperture positioning sensor 18. In addition, the aperture positioning sensor 18 may also mistake gaps on the track, such as the gap between the return track 12 and the running track, as first positioning apertures, resulting in the actual number of first positioning apertures passed by the aperture positioning sensor 18 being less than the number of first positioning apertures detected by the aperture positioning sensor 18. All of these situations will lead to aperture counting errors. When a pinhole error occurs, the difference between the mileage measured by the detection signals of two adjacent pinholes and the mileage measured by the detection signals of two adjacent pinholes in the previous test exceeds the threshold range. At this time, the pinhole positioning sensor 18 cannot locate the target position, and the warehouse robot 10 re-executes the return-to-origin action. After initialization is completed, it moves back to the running track to perform the handling work, ensuring that the warehouse robot 10 can run to the target position.

[0052] In some embodiments, the return-to-origin execution conditions further include the warehouse robot 10 being located within a position calibration area within a preset range from the return-to-origin track 12, and the warehouse robot 10 walking and positioning method further includes:

[0053] When the warehouse robot 10 is within the position calibration area, the real-time position of the warehouse robot 10 is determined to correspond to the cumulative walking distance of the warehouse robot 10 based on the current received aperture detection signal from the aperture positioning sensor 18.

[0054] If there is no correspondence, then it is determined that the current conditions for performing the return-to-origin action are met.

[0055] When the orifice positioning sensor 18 malfunctions and fails to detect the error initially, it may affect the normal operation of the warehouse robot 10, preventing it from reaching the target position. By setting a position calibration area on the running track, for example near the end of the return track 12, when the warehouse robot 10 moves into this area, it uses the orifice detection signal from the orifice positioning sensor 18 to determine if its real-time position corresponds to its accumulated travel distance. If they correspond, the orifice positioning sensor 18 has not malfunctioned; otherwise, it indicates an error. In this case, the warehouse robot 10 re-executes the return-to-origin action and, after initialization, moves back onto the running track to perform the transport work, ensuring that the warehouse robot 10 can reach the target position.

[0056] In this application, the conditions for returning to the original position include three situations: power-on command of warehouse robot 10, position calibration area of ​​warehouse robot 10 within a preset range of distance from return track 12, and error calibration of the number of holes. When any one of these conditions is met, warehouse robot 10 will perform a return to the original position action.

[0057] In some embodiments, the home return positioning sensor 20 includes a first home return positioning sensor 22 and a second home return positioning sensor 24 that are spaced back and forth along the movement direction of the warehouse robot 10. When the warehouse robot 10 is on the home return track 12, the second home return positioning sensor 24 is closer to the track than the first home return positioning sensor 22.

[0058] The aforementioned control system moves the storage robot 10 to the position of returning to its original track 12. Based on the return detection signal received from the return positioning sensor 20 that detects the return positioning marker 16, the current position of the storage robot 10 is initialized, including:

[0059] The warehouse robot 10 is controlled to move towards the return track 12. When the first return positioning sensor 22 detects the first return detection signal returned by the return positioning mark 16, it is confirmed that the current process of executing the return action is started.

[0060] Based on the second home return detection signal received from the second home return positioning sensor 24 and returned to the home return positioning marker 16, the current position of the warehouse robot 10 is initialized.

[0061] As the warehouse robot 10 moves towards its return track 12, the first return positioning sensor 22 is located in front of the second return positioning sensor 24. Therefore, the first return positioning sensor 22 will detect the return positioning marker 16 first. When the first return positioning sensor 22 detects the return positioning marker 16, it indicates that the warehouse robot 10 has approached its return position. At this point, the warehouse robot 10 continues to move in that direction. Only when the second return positioning sensor 24 also detects the return positioning marker 16 does it mean that the warehouse robot 10 has reached its return position and is then initialized. The first and second return positioning sensors 22 and 24 detect the return positioning marker 16 sequentially, working together to drive the warehouse robot 10 back to its return position. Compared to a solution with only one return positioning sensor 20, this reduces the risk of the warehouse robot 10 failing to return to its return position due to misjudgment.

[0062] Understandably, the warehouse robot 10 can either stop moving immediately after the second return positioning sensor 24 detects the return positioning marker 16, or it can move a preset distance after detecting the return positioning marker 16 before stopping. When the warehouse robot 10 is in the return position, both the first return positioning sensor 22 and the second return positioning sensor 24 can detect the return positioning marker 16, or the first return positioning sensor 22 can not detect the return positioning marker 16, while the second return positioning sensor 24 can detect the return positioning marker 16. In this embodiment, after the second return positioning sensor 24 detects the return positioning marker 16, the warehouse robot 10 continues to move a predetermined distance in the direction of the return track 12. When the warehouse robot 10 returns to the return position, the first return positioning sensor 22 has passed the return positioning marker 16 and therefore cannot detect it, while the second return positioning sensor 24 is directly opposite the return positioning marker 16 and therefore can detect it.

[0063] In some embodiments, the return track 12 is provided with a stop positioning hole 26; before the warehouse robot 10 initializes its current position, it includes:

[0064] When the number of holes detected by the number of holes in the positioning sensor 18 is received, it is determined that the warehouse robot 10 has reached the original position, and the warehouse robot 10 is controlled to stop moving.

[0065] The orifice positioning sensor 18 is located between the first return positioning sensor 22 and the second return positioning sensor 24. Only when the warehouse robot 10 moves to a point where the first return positioning sensor 22 does not detect the return positioning mark 16, the second return positioning sensor 24 detects the return positioning mark 16, and the orifice positioning sensor 18 detects the stop positioning hole 26, will it be determined that the warehouse robot 10 has moved to the return position. The three work together to ensure that the warehouse robot 10 can accurately return to the return position.

[0066] In this embodiment, the size of the stop positioning hole 26 in the length direction of the return track 12 is greater than or equal to the distance between the beams emitted by the two aperture positioning sensors 18. Only when the receivers of the two aperture positioning sensors 18 can receive the beams emitted by the transmitter can it be said that the warehouse robot 10 is in the return position, thus improving the accuracy of positioning.

[0067] In some embodiments, the return track 12 is further provided with a deceleration positioning hole 28, which is spaced apart from the stop positioning hole 26, and the deceleration positioning hole 28 is closer to the running track than the stop positioning hole 26; the above-mentioned process before receiving the second return detection signal returned by the return positioning marker 16 from the second return positioning sensor 24 includes:

[0068] When the number of holes detected by the number of holes in the positioning sensor 18 is received, it is determined that the warehouse robot 10 has reached the deceleration position. The warehouse robot 10 is then controlled to reduce its speed and continue moving in the current direction of motion.

[0069] By setting a deceleration positioning hole 28 on the return track 12, when the hole positioning sensor 18 detects the deceleration positioning hole 28, the warehouse robot 10 is in the deceleration position, and the warehouse robot 10 will reduce its movement speed to avoid the warehouse robot 10 being difficult to control to return to the original position due to excessive movement speed.

[0070] In this embodiment, the length dimension of the return track 12 of the deceleration positioning hole 28 is greater than or equal to the distance between the beams emitted by the two aperture positioning sensors 18. Only when the receivers of the two aperture positioning sensors 18 can receive the beams emitted by the transmitter will the warehouse robot 10 reduce its running speed, thereby improving the positioning accuracy.

[0071] like Figure 2 As shown, the present invention also provides a warehouse robot 10, including a walking mechanism 30, a box-grabbing mechanism 32, a controller, a perforated positioning sensor 18, and a home-tracking positioning sensor 20. The walking mechanism 30 can move on a running track and a home-tracking track 12. The box-grabbing mechanism 32 is suspended below the walking mechanism 30 and can grab a box 33. When the walking mechanism 30 moves on the running track, it can drive the box-grabbing mechanism 32 and the box 33 grabbed by the box-grabbing mechanism 32 to move together. The perforated positioning sensor 18 and the home-tracking positioning sensor 20 are both mounted on the walking mechanism 30. The controller is used to execute the above-described walking and positioning method of the warehouse robot 10.

[0072] This invention also provides a three-dimensional warehousing system, including a warehousing robot 10, a running track for the warehousing robot 10 to travel back and forth, and a return track 12 located at the end of the running track. The running track has a plurality of first positioning holes spaced apart along its length. The return track 12 has a return positioning mark 16, which at least partially protrudes above or below the return track 12. The warehousing robot 10 is equipped with a pinhole positioning sensor 18 and a return positioning sensor 20. The pinhole positioning sensor 18 cooperates with the first positioning holes to determine the real-time travel distance of the warehousing robot 10. The return positioning sensor 20 cooperates with the return positioning mark 16 to drive the warehousing robot 10 to the return position on the return track 12. During the movement of the warehousing robot 10 on the running track, when it passes through a first positioning hole, the pinhole positioning sensor 18 detects the first positioning hole and generates a pinhole detection signal. Based on the number of first positioning holes detected by the pinhole positioning sensor 18, the travel distance of the warehousing robot 10 can be calculated, thereby determining the current position of the warehousing robot 10. The return positioning sensor 20 and the return positioning marker 16 work together to drive the warehouse robot 10 back to its original position, ensuring that the warehouse robot 10 starts from the original position. Since the return positioning marker 16 protrudes above or below the return track 12, it prevents the return positioning sensor 20 from being triggered by holes, protrusions, or other structures on the return track 12, or by gaps between the return track 12 and the running track, thus improving positioning accuracy and ensuring that the warehouse robot 10 can return to its original position.

[0073] In this embodiment, the home-tracking positioning sensor 20 is a through-beam photoelectric sensor, and the home-tracking positioning mark 16 is a reflector. After the home-tracking positioning sensor 20 moves to the home-tracking positioning mark 16, the beam emitted by the transmitter of the home-tracking positioning sensor 20 will be blocked by the home-tracking positioning mark 16 and return along the original path. The receiver of the home-tracking positioning sensor 20 will not receive the beam emitted by the transmitter, and the home-tracking positioning sensor 20 can detect the home-tracking positioning mark 16.

[0074] like Figure 5 As shown, the automated storage and retrieval system includes a positioning device 34. The positioning device 34 includes a base plate 36 and a first side plate 38 and a second side plate 40 respectively connected to opposite sides of the base plate 36, roughly forming a Z-shape. The base plate 36 is attached to the bottom surface of the return track 12, the first side plate 38 is attached to the outer surface of the return track 12 away from the storage robot 10, and the second side plate 40 extends downward from one side of the base plate 36, thus protruding below the return track 12. The second side plate 40 is provided with a return positioning mark 16 or the second side plate 40 is the return positioning mark 16, that is, the second side plate 40 can be only a part of a reflector or the entire second side plate 40 can be a reflector. In this embodiment, the second side plate 40 is the return positioning mark.

[0075] The first side plate 38 is provided with a first mounting hole 42, and the outer side of the return track 12 away from the storage robot 10 is provided with a second mounting hole 44. A connector is provided through the first mounting hole 42 and the second mounting hole 44, thereby fixing the positioning device 34 on the return track 12.

[0076] At least one of the first mounting hole 42 and the second mounting hole 44 is elongated, and its length direction is the same as that of the return track 12, so that the relative position of the positioning device 34 and the return track 12 can be adjusted, thereby adjusting the position of the return positioning mark 16. Specifically, the first mounting hole 42 is elongated.

[0077] As shown in Figure 4, the return-to-home positioning sensor 20 includes a first return-to-home positioning sensor 22 and a second return-to-home positioning sensor 24 spaced back and forth along the movement direction of the storage robot 10. When the storage robot 10 is in the return-to-home position, the first return-to-home positioning sensor 22 is positioned on the side of the return-to-home positioning mark 16 away from the running track, while the second return-to-home positioning sensor 24 is opposite to the return-to-home positioning mark 16, meaning the second return-to-home positioning sensor 24 is closer to the running track than the first return-to-home positioning sensor 22. During the movement of the storage robot 10 toward the return-to-home track 12, the first return-to-home positioning sensor 22 detects the return-to-home positioning mark 16 first. The storage robot 10 continues to move in that direction. Only when the first return-to-home positioning sensor 22 passes the return-to-home positioning mark 16 and the second return-to-home positioning sensor 24 can detect the positioning mark will it be determined that the storage robot 10 has returned to the return-to-home position. By using two return-to-home positioning sensors 20 to work together to detect whether the storage robot 10 has returned to the return-to-home position, the accuracy of the return-to-home positioning sensor 20's positioning can be improved.

[0078] The return track 12, located on its inner side near the storage robot 10, has a stop positioning hole 26 that cooperates with the aperture positioning sensor 18. The aperture positioning sensor 18 is situated between the first return positioning sensor 22 and the second return positioning sensor 24. When the storage robot 10 is in the return position, the aperture positioning sensor 18 is directly opposite the stop positioning hole 26, allowing it to detect the stop positioning hole 26. The first positioning sensor, the second positioning sensor, and the aperture positioning sensor 18 work together to ensure that the storage robot 10 returns to its original position.

[0079] The return track 12 has a deceleration positioning hole 28 on its inner side near the storage robot 10, which cooperates with the aperture positioning sensor 18. The deceleration positioning hole 28 is closer to the running track than the stop positioning hole 26. The aperture positioning sensor 18 is used to reduce the running speed of the storage robot 10 when it detects the deceleration positioning mark while moving towards the direction away from the running track. During the movement of the storage robot 10 back to its original position, when the aperture positioning sensor 18 detects the deceleration positioning hole 28, it indicates that the storage robot 10 has approached the original position, thereby reducing the running speed of the storage robot 10 and preventing difficulty in accurately controlling the stopping position of the storage robot 10 due to excessive speed.

[0080] The above embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of protection of the present invention. Any non-substantial changes and substitutions made by those skilled in the art based on the present invention shall fall within the scope of protection claimed by the present invention.

Claims

1. A warehouse robot walking positioning method applied to a stereoscopic warehouse system, characterized in that, The automated warehousing system includes a running track for a warehousing robot to travel back and forth and a return track located at the end of the running track. The running track has a plurality of first positioning holes spaced apart along its length, and the return track has a return positioning marker. The warehousing robot is equipped with a hole-counting sensor for detecting the number of holes as it passes through the first positioning holes and a return positioning sensor corresponding to the return positioning marker. The method includes: When the return-to-origin execution conditions are determined to be met, the warehouse robot is controlled to move to the position of the return-to-origin track. Based on the return-to-origin detection signal received from the return-to-origin positioning sensor that detects the return-to-origin positioning marker, the current position of the warehouse robot is initialized. The return-to-origin execution conditions include a power-on command for the warehouse robot. After successful initialization, during the operation of the warehouse robot along the running track, the real-time walking distance of the warehouse robot is determined based on the detection signal of the first positioning hole detected by the hole positioning sensor, and the current position of the warehouse robot is updated in real time.

2. The warehouse robot walking and positioning method according to claim 1, characterized in that, The return-to-origin execution conditions also include the warehouse robot being located within a position calibration area at a preset distance from the return-to-origin track, and the method further includes: When the warehouse robot is located within the position calibration area, the real-time position of the warehouse robot is determined to correspond to the cumulative walking distance of the warehouse robot based on the currently received aperture detection signal from the aperture positioning sensor. If there is no correspondence, then it is determined that the current conditions for performing the return-to-origin action are met.

3. The warehouse robot walking and positioning method according to claim 1, characterized in that, The return-to-origin execution conditions also include multi-hole error calibration; the method also includes: During the operation of the warehouse robot along the running track, the system determines in real time whether there is a counting error based on the counting detection signal of the counting sensor; the counting error includes the distance difference between adjacent first positioning holes exceeding a threshold range, or the inability to locate the target position; If a count error exists, then the conditions for performing the return-to-origin action are determined to be met.

4. The warehouse robot walking and positioning method according to claim 1, characterized in that, The return-to-origin positioning sensor includes a first return-to-origin positioning sensor and a second return-to-origin positioning sensor that are spaced back and forth along the direction of movement of the warehouse robot. The process of controlling the warehouse robot to run to the return track position, based on receiving a return detection signal from the return positioning sensor that detects the return positioning marker, initializes the current position of the warehouse robot, including: The warehouse robot is controlled to move towards the return track. When the first return positioning sensor detects the first return detection signal returned by the return positioning marker, it is confirmed that the current process of executing the return action is started. The current position of the warehouse robot is initialized based on the second home return detection signal returned by the home return positioning identifier detected by the second home return positioning sensor.

5. The warehouse robot walking and positioning method according to claim 4, characterized in that, The return track is also equipped with a stop positioning hole; before initializing the current position of the warehouse robot, the following steps are included: When the number of holes detected by the number of holes positioning sensor is received, it is determined that the storage robot has reached the original position, and the storage robot is controlled to stop moving.

6. The warehouse robot walking and positioning method according to claim 4, characterized in that, The return track is also provided with deceleration positioning holes; before receiving the second return detection signal returned by the second return positioning sensor from the return positioning marker, the process includes: When the number of holes detected by the number of holes positioning sensor is received, it is determined that the warehouse robot has reached the deceleration position, and the warehouse robot is controlled to reduce its running speed and continue to move in the current running direction.

7. A warehouse robot, characterized in that, The device includes a walking mechanism, a box-grabbing mechanism, a controller, a multi-aperture positioning sensor, and a return-to-origin positioning sensor. The walking mechanism is capable of moving on a running track and a return-to-origin track. The box-grabbing mechanism is suspended below the walking mechanism and used to grab boxes. The multi-aperture positioning sensor and the return-to-origin positioning sensor are both installed on the walking mechanism. The controller is used to execute the warehousing robot walking and positioning method as described in any one of claims 1 to 6.

8. An automated storage and retrieval system, characterized in that, The system includes a warehousing robot, a running track for the warehousing robot to travel back and forth, and a return track located at the end of the running track. The running track has a plurality of first positioning holes spaced apart along its length. The return track has a return positioning mark, which at least partially protrudes above or below the return track. The warehousing robot is equipped with a multi-hole positioning sensor and a return positioning sensor. The multi-hole positioning sensor can cooperate with the first positioning holes to determine the real-time travel distance of the warehousing robot. The return positioning sensor is used to cooperate with the return positioning mark to drive the warehousing robot to move to the return position on the return track. The automated storage system includes a positioning device, which includes a base plate and a first side plate and a second side plate respectively connected to opposite sides of the base plate. The base plate is attached to the bottom surface of the return track, the first side plate is attached to the outer side of the return track away from the storage robot, and the second side plate extends downward from one side of the base plate. The second side plate is provided with the return positioning mark or the second side plate is the return positioning mark.

9. The automated storage and retrieval system according to claim 8, characterized in that, The home return positioning sensor includes a first home return positioning sensor and a second home return positioning sensor that are spaced back and forth along the movement direction of the warehouse robot. When the warehouse robot is in the home return position, the first home return positioning sensor is spaced apart on the side of the home return positioning mark away from the running track, and the second home return positioning sensor is opposite to the home return positioning mark.

10. The automated storage and retrieval system according to claim 9, characterized in that, The return track is provided with a stop positioning hole on the inner side near the storage robot, which cooperates with the multi-hole positioning sensor. When the storage robot is in the return position, the multi-hole positioning sensor is directly opposite the stop positioning hole.

11. The automated storage and retrieval system according to claim 9, characterized in that, The return track is provided on the inner side near the storage robot, with a deceleration positioning hole for cooperating with the aperture positioning sensor. The aperture positioning sensor is used to reduce the running speed of the storage robot when it detects the deceleration positioning hole during the movement of the storage robot away from the running track.

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