Posture adjustment method and device, controller, warehousing robot and system

Abstract

The application relates to a posture adjustment method, a controller, a device, a warehousing robot and a system of a mobile object. The method comprises the following steps: in a first state, judging whether a target detection object is detected at a target position, if not, acquiring inclination data of the mobile object; and controlling a supporting mechanism / supporting piece of the mobile object to operate to adjust the posture of the mobile object according to the inclination data. The scheme provided by the application can automatically adjust the posture of the mobile object.

Description

TECHNICAL FIELD

[0001] The present application relates to the warehouse technology field, and in particular to a posture adjustment method, a controller, a device, a warehouse robot and a system. BACKGROUND

[0002] In related technologies, the warehouse robot has certain requirements for the flatness of the ground. When the flatness of the ground is poor, the warehouse robot will be tilted when picking and placing goods at a high level, resulting in a positional deviation between the fork camera on the warehouse robot and the shelf code or the box code, so that the fork camera cannot normally recognize the shelf code or the box code, and thus cannot normally pick and place goods. SUMMARY

[0003] To solve or partially solve the problems in related technologies, the present application provides a posture adjustment method, a controller, a device, a warehouse robot and a system, which can detect a target detection object by automatically adjusting the posture of a moving object, thereby improving the detection success rate of the moving object on the target detection object.

[0004] The first aspect of the present application provides a posture adjustment method of a moving object, the method comprising:

[0005] determining whether a target detection object is detected at a target position in a first state, and if not, obtaining inclination data of the moving object;

[0006] controlling a support mechanism / support of the moving object to operate to adjust the posture of the moving object according to the inclination data.

[0007] The second aspect of the present application provides a stabilizing device, comprising a mounting bottom plate mountable to the moving object, and at least one set of support mechanisms provided on the mounting bottom plate;

[0008] The support mechanism comprises a support and at least one driving mechanism, the support being capable of extending or retracting relative to the mounting bottom plate under the drive of the at least one driving mechanism, so as to support the moving object by supporting on an external support body to adjust the posture of the moving object.

[0009] The third aspect of the present application provides a controller, comprising:

[0010] a processor; and

[0011] a memory having executable code stored thereon, the executable code, when executed by the processor, causing the processor to execute the method of the first aspect.

[0012] The fourth aspect of the present application provides a fork device, comprising:

[0013] a fork body;

[0014] a visual detection device, a posture sensor and the stabilizing device according to the third aspect above arranged on the fork body; and

[0015] the controller according to the third aspect above.

[0016] The fifth aspect of the present application provides a warehousing robot, comprising:

[0017] a mobile base, a column assembly mounted on the mobile base, and the fork device according to the fourth aspect above, the fork device being mounted on the column assembly in a liftable manner.

[0018] The sixth aspect of the present application provides a warehousing system, comprising:

[0019] a plurality of shelves for placing containers, the shelves and / or the containers being provided with visual identification codes; and

[0020] the warehousing robot according to the fifth aspect above, the warehousing robot adjusting the inclined posture by supporting the support member on the shelf.

[0021] The technical solutions provided by the present application can include the following beneficial effects:

[0022] The scheme provided by the embodiments of the present application can control the operation of the support member according to the acquired inclination data of the moving object when the target detection object is not detected at the target position, and then adjust the posture of the moving object. When the flatness of the bottom surface on which the moving object is located is poor, the target detection object can also be detected by automatically adjusting the posture of the moving object, and the detection efficiency of the moving object on the target detection object is improved.

[0023] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0024] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings, in which like reference characters refer to like parts throughout the several views, and in which:

[0025] Figure 1 is a flowchart of a posture adjustment method according to an embodiment of the present application;

[0026] Figure 2 is another flowchart of a posture adjustment method according to an embodiment of the present application;

[0027] Figure 3 is another flowchart of a posture adjustment method according to an embodiment of the present application;

[0028] Figure 4 is another flowchart of the posture adjusting method according to an embodiment of the present application;

[0029] Figure 5a is a schematic diagram of the pitch angle of the warehouse robot when tilted according to an embodiment of the present application;

[0030] Figure 5b and Figure 5c is a schematic diagram of the pitch angle of the warehouse robot when tilted according to another embodiment of the present application;

[0031] Figure 6 is a schematic diagram of the overall structure of the support mechanism according to an embodiment of the present application;

[0032] Figure 7 is a schematic diagram of the structure of the support mechanism according to an embodiment of the present application;

[0033] Figure 8 is a schematic diagram of the transmission limiting mechanism of the support mechanism according to an embodiment of the present application;

[0034] Figure 9 is a sectional view of the transmission limiting mechanism of the support mechanism according to an embodiment of the present application;

[0035] Figure 10 is a schematic diagram of the connecting seat of the support mechanism according to an embodiment of the present application;

[0036] Figure 11 is a schematic diagram of the cooperation of the first driving mechanism and the second driving mechanism of the support mechanism in a first state according to an embodiment of the present application;

[0037] Figure 12 is a schematic diagram of the cooperation of the first driving mechanism and the second driving mechanism of the support mechanism when the support member abuts against the shelf according to an embodiment of the present application;

[0038] Figure 13 is a schematic diagram of the cooperation of the first driving mechanism and the second driving mechanism of the support mechanism when adjusting the posture of the moving object according to an embodiment of the present application;

[0039] Figure 14 is a schematic diagram of the structure of the fork device according to an embodiment of the present application;

[0040] Figure 15 is a schematic diagram of the structure of the controller according to an embodiment of the present application.

[0041] BRIEF DESCRIPTION OF DRAWINGS: 100, support mechanism; 110, first driving mechanism; 111, first driving motor; 112, driving wheel; 113, driven wheel; 114, first transmission mechanism; 1141, connecting piece; 120, connecting seat; 121, second guide rail; 122, support seat; 123, third guide rail; 124, sliding mounting portion; 125, blocking portion; 130, transmission limiting mechanism; 131, first moving piece (driving piece); 132, second moving piece (driven piece); 133, fixing piece; 1311, sliding contact portion; 1321, guide inclined surface; 140, support piece; 141, connecting rod; 142, support roller; 150, mounting bottom plate; 151, first guide rail; 160, elastic piece; 170, position sensor; 210, second driving mechanism; 211, second driving motor; 212, second transmission mechanism; 213, connecting side plate; 214, connecting protrusion; 215, baffle; A, warehouse robot; B, goods shelf; C, aisle; 300, moving base; 400, fork device. DETAILED DESCRIPTION

[0042] Embodiments of the present application will be described in more detail by referring to the drawings. Although embodiments of the present application are shown in the drawings, it is understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this application will be thorough and complete, and will fully convey the scope of the application to those skilled in the art.

[0043] The terminology used in the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used in the description of the application and the appended claims, the singular forms "a", "an" and "the" are intended to include plural forms as well, unless the context clearly indicates otherwise. It will also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0044] It should be understood that although the terms "first", "second", "third" and the like can be employed in the present application to describe various information, these information are not to be limited by these terms. These terms are only used to distinguish one piece of information from another. For example, a first information can also be termed a second information, and, similarly, a second information can also be termed a first information, without departing from the scope of the present application. Therefore, the use of "first", "second", "third" and the like, if any, in the description of the present application is merely to distinguish one piece of information from another, and does not imply any order or sequence in the disclosure. By the same token, use of "first", "second", "third", etc. in the claims, if any, has the same effect. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically defined.

[0045] In the related art, when the warehouse robot tilts, the position deviation occurs between the fork camera on the warehouse robot and the shelf code or the box code, so that the fork camera cannot normally recognize the shelf code or the box code.

[0046] To solve the above problems, the embodiment of the present application provides a posture adjustment method of a mobile object, which can adjust the posture of the mobile object when the mobile object tilts, so as to detect the target detection object and improve the detection efficiency of the target detection object.

[0047] The technical solutions of the embodiments of the present application are described in detail below with reference to the drawings.

[0048] Figure 1 FIG. 1 is a flow diagram of the posture adjustment method of the mobile object according to the embodiment of the present application.

[0049] Referring to FIG. 1, Figure 1 the method of the embodiment includes:

[0050] In step S110, it is determined whether the target detection object is detected at the target position in the first state, and if not, the tilt data of the mobile object is obtained.

[0051] In some embodiments of the present application, the mobile object can be a fork device, but is not limited thereto. In other embodiments, the mobile object can also be a warehouse robot. The mobile object is provided with a detection device for detecting a target detection object. The target detection object can be various types of identification marks, and the detection device is a detection device that can detect the corresponding type of identification mark.

[0052] In the embodiment of the present application, the mobile object has a telescopic support member, which can be supported by an external support body through telescopic support to adjust the posture of the mobile object.

[0053] In some embodiments, the tilt data can be the tilt data when the mobile object tilts relative to the vertical direction, for example, the tilt angle.

[0054] In some embodiments, the target position can be a predetermined position on the external support body.

[0055] In step S120, the support mechanism / support member of the mobile object is controlled to operate according to the tilt data to adjust the posture of the mobile object.

[0056] When the scheme of the embodiment of the application is applied to a storage system, the external support body can be a crossbeam of a shelf in a warehouse or other object fixed relative to the bottom surface of the warehouse. When the support member of the mobile object is running, it can extend towards the direction in which the shelf is located. When the support member continues to extend after abutting against the shelf, the posture of the mobile object can be adjusted by the reaction force of the shelf. After the posture adjustment, the target detection object is in the detection range of the detection device, so that normal detection of the target detection object is realized.

[0057] The method provided by the embodiment of the application can control the running of the support member according to the obtained inclination data of the mobile object to adjust the posture of the mobile object when the target detection object is not detected at the target position. When the flatness of the bottom surface on which the mobile object is located is poor, the target detection object can also be detected when the mobile object is inclined, and the detection efficiency of the mobile object on the target detection object is improved.

[0058] Referring to Figure 2 The posture adjustment method of the mobile object of another embodiment of the application comprises:

[0059] In step S210, it is judged by the visual detection device arranged on the mobile object whether the visual identification code is detected at the target position in the first state. If not, the inclination data of the mobile object is obtained by the posture sensor arranged on the mobile object.

[0060] In the embodiment, the target detection object can be a visual identification code, such as a bar code or a two-dimensional code. Correspondingly, the detection device can be a code scanning camera.

[0061] When the mobile object is inclined, the posture sensor can sense the inclination data of the mobile object. The inclination data can include the pitch angle of the mobile object in the inclined state.

[0062] Referring to Figure 5a In one embodiment, the mobile object is a storage robot A, the support member of the storage robot A can be supported on a shelf B when the storage robot A is inclined, the height of the storage robot A is h, and the included angle a between the fork device of the storage robot A and the horizontal direction is the pitch angle in the inclined state. In some embodiments, the posture sensor can be an inertial sensor installed on the mobile object.

[0063] In step S220, the extension amount of the support member is determined according to the inclination data, and the running of the support member is controlled according to the extension amount, so that the mobile object is in the second state after the posture adjustment.

[0064] In some embodiments, the extension amount of the support member is obtained according to the tilt angle of the mobile object, the height h of the warehouse robot, the height of the target detection object, and the mounting position of the support member on the mobile object. When the support member is controlled to extend by the extension amount, the support member can abut against the external support body, and the mobile object can be adjusted back to the non-tilted state under the support of the external support body in the direction opposite to the tilting direction, and the target detection object is in the detection range of the detection device at this time.

[0065] In some embodiments, the extension amount of the support member is the extension amount of the support member in the direction away from the mobile object. Before the tilt data of the mobile object is obtained, the support member is in a first state, and the support member is in a fully retracted state in the first state. When the support member is extended, the support member first reaches a position abutting against the external support body. When the support member is continuously controlled to extend to reach an extension distance calculated according to the tilt data, the support member is in a second state, and the posture adjustment of the mobile object can be achieved in the second state. It can be understood that the posture adjustment of the mobile object is not limited to the posture of the mobile object being vertical, and the mobile object can also be adjusted to have a tilt but the target detection object is in the detection range of the detection device.

[0066] In step S230, after detecting that the support member is supported by the external support body, it is determined whether the visual identification code of the target position is detected. If the visual identification code is detected, the support member is controlled to stop. If the visual identification code is not detected, the support member is controlled to continue to extend to the external support body to adjust the posture of the mobile object.

[0067] In some embodiments, after the support member abuts against the external support body, the visual detection device repeatedly detects whether the visual identification code of the target position is detected until the visual identification code is detected. If the visual identification code is detected, it indicates that the posture of the mobile object has been adjusted to a suitable position (for example, a position suitable for the fork device of the warehouse robot to pick up goods), and the support member can be controlled to stop. If the visual identification code is not detected, the support member is controlled to continue to extend to continue to adjust the posture of the mobile object.

[0068] In some embodiments, after the operation of the support member is controlled according to the tilt data, it is determined whether the current of the drive motor of the support member is greater than a set threshold. If the current is greater than the set threshold, it is determined that the support member abuts against the external support body.

[0069] In this embodiment, the output power of the drive motor of the support member is different before and after abutting against the external support body. Before the support member abuts against the external support body, the output power of the drive motor is small, so the current of the drive motor is less than the set threshold. After the support member abuts against the external support body, the output power of the drive motor becomes large, and the current of the drive motor is greater than the set threshold. Therefore, whether the support member abuts against the external support body can be determined by determining whether the current of the drive motor of the support member is greater than the set threshold.

[0070] In some embodiments, the mobile object is provided with retractable support members on both sides, and the retractable directions of the support members on both sides can be parallel or not parallel. Controlling the operation of the support members according to the inclination data includes determining the inclination direction of the mobile object according to the inclination data, and controlling the operation of the support member on the side that is inclined downward according to the inclination direction.

[0071] If the visual detection device does not detect the visual detection code after detecting that the support member is supported by the external support body, the support member on the side that is inclined downward is controlled to extend. After the support member on the side that is inclined downward abuts against the external support body, it can be supported by the oblique upward support force of the external support body, so that the posture of the mobile object is adjusted. By providing support members on both sides, it can be ensured that when the mobile object is inclined downward on different sides, the posture adjustment can be realized by the extension and retraction of the corresponding support members.

[0072] In some embodiments, the operation of the support member on the other side is controlled after or simultaneously with the control of the extension and retraction of the support member on the side that is inclined downward. After the posture of the mobile object is adjusted by the support member on the side that is inclined downward, the mobile object is in a vertical state, and at this time, the support members on both sides can be supported by the external support body, so that after the posture adjustment of the mobile object, there is no shaking on both sides, ensuring the stability of the mobile object. For example, when the mobile object is a warehouse robot, after the visual recognition code is recognized through posture adjustment, the support members on both sides are supported by the shelves on both sides of the walking lane of the warehouse robot, which can ensure the stability of the warehouse robot and make the fork device more stably perform the picking and placing actions on the shelves.

[0073] Referring to Figure 3 The method of another embodiment of the present application includes:

[0074] Step S310: In the first state, it is determined whether the target detection object is detected at the target position. If not, the inclination data of the mobile object is obtained.

[0075] This step is described above in step S110, which will not be described here.

[0076] Step S320: The first driving mechanism 110 drives the support member 140 to operate towards the external support body according to the inclination data.

[0077] In some embodiments, the first driving mechanism 110 operates, and the second driving mechanism 210 does not operate. When the first driving mechanism 110 operates, it can drive the support member 140 to move towards the external support body.

[0078] Step S330: It is detected whether the operation of the first driving mechanism 110 meets the preset condition. If so, the second driving mechanism 210 drives the support member 140.

[0079] In some embodiments, after detecting that the first driving mechanism 110 drives the support 140 to reach the target position, the first driving mechanism 110 is stopped, and the second driving mechanism 210 is controlled to drive the support 140.

[0080] In some embodiments, after the first driving mechanism 110 drives the support 140 to reach the preset position, the first driving mechanism 110 is in a locked state, and the first driving mechanism 110 is stopped.

[0081] In some embodiments, the preset position is a position at which the support 140 abuts against the external support body. After the support 140 abuts against the external support body, the first driving mechanism 110 is stopped, and the second driving mechanism 210 is controlled to drive the support.

[0082] In some embodiments, the preset position is a position at which the support 140 does not contact the external support body. When the support does not contact the external support body, if the operation of the first driving mechanism 110 meets a preset condition, the first driving mechanism 110 is stopped, and the second driving mechanism 210 is controlled to drive the support.

[0083] In the embodiment, the extension amount of the support 140 calculated according to the inclination data includes a first extension amount L1 and a second extension amount L2. The first extension amount L1 is an extension amount before the support 140 abuts against the external support body, and the second extension amount L2 is an extension amount after the support 140 abuts against the external support body. Before the support 140 reaches the first extension amount L1, the posture of the moving object does not change because no support force is applied to the external support body. During the process in which the support 140 continues to move by the second extension amount L2, the support force can be applied to the external support body, and the posture of the moving object is adjusted through the reaction force of the external support body.

[0084] Referring to Figure 11 In one example, in the first state, the first driving mechanism 110 and the second driving mechanism 210 are both in an initial state, and the support 140 does not extend, i.e., the extension amount of the support 140 is zero.

[0085] Referring to Figure 12 Before the support reaches the external support body, the first driving mechanism 110 is controlled to operate, and the second driving mechanism 210 does not operate at this time. When the first driving mechanism 110 operates, the support 140 can move, so that the support 140 abuts against the target position after reaching the first extension amount L1, and the moving object does not shake.

[0086] Referring to Figure 13When the support abuts against the external support body, the first driving mechanism 110 is controlled to stop running, and the second driving mechanism 210 is controlled to start running, so that the support 140 continues to move by a second extension amount L2 on the basis of the first extension amount L1, and the support 140 always abuts against the external support body in this process. The support continues to extend, and the moving object rotates in a direction opposite to the tilting direction under the support of the external support body. The support continues to extend to the second extension amount L2, so as to realize the posture adjustment of the moving object.

[0087] In some embodiments, the speed of the first driving mechanism 110 for driving the support 140 is greater than the speed of the second driving mechanism 210 for driving the support 140, and the output torque of the second driving mechanism 210 is greater than the output torque of the first driving mechanism 110. After such setting, in the process of moving the support 140 by the first extension amount L1, the first driving mechanism 110 makes the support 140 quickly extend, so that the support quickly abuts against the external support body, and the moving object is quickly stabilized. Since the output torque of the second driving mechanism 210 is greater than the output torque of the first driving mechanism 110, the posture of the moving object can be adjusted by the output torque of the second driving mechanism 210. By configuring different speeds and torques of the first driving mechanism 110 and the second driving mechanism 210, the posture of the moving object can be more quickly and stably adjusted.

[0088] In some embodiments, the rated output power of the first driving motor 111 is less than the rated output power of the second driving motor 211. Before the support 140 abuts against the external support body, the required power is small. After the support 140 abuts against the external support body, since the posture of the moving object needs to be adjusted by the reaction force of the external support body, the required power is large. In this way, the posture of the moving object can be quickly adjusted, and the overall energy consumption can be reduced.

[0089] The following describes a specific embodiment of the present application by taking the method of the present application applied to a warehouse robot. The present embodiment is applicable to the case where the stabilizing device includes a first support mechanism and a second support mechanism, wherein the first support mechanism and the second support mechanism are respectively installed at two ends of the stabilizing device in the extension direction, the running directions of the supports of the first support mechanism and the second support mechanism are along the same straight line and are opposite to each other, and the supports are respectively used to support the external support bodies on the two sides of the moving object.

[0090] Referring to Figure 4 The method of an embodiment of the present application includes the following steps.

[0091] S410, the fork device is lifted to the target storage location.

[0092] In the embodiments of the present application, the fork device is installed on the column assembly of the warehouse robot, the fork device can be raised and lowered on the column assembly, the warehouse area is provided with a plurality of shelves, a plurality of storage spaces of different heights are arranged in the vertical direction on the shelves, the storage spaces are used for placing the containers, and the visual identification code can be a shelf code or a container code.

[0093] S420, determining whether the visual detection device detects the visual identification code in the first state.

[0094] In this step, if the visual identification code is detected, the fork device is controlled to perform the next action, such as a picking and placing action; if the visual identification code is not detected, it indicates that the warehouse robot is tilted, and step S430 is entered.

[0095] S430, if the visual identification code is not detected, obtaining the tilt data of the fork device sensed by the attitude sensor.

[0096] In this step, the attitude sensor can be an inertial sensor installed on the fork device or the column assembly, and the tilt data can be the pitch angle of the fork device.

[0097] In some embodiments, the fork device is provided with a visual detection device, and the tilt data can be the pitch angle of the visual detection device.

[0098] S440, determining the extension range of the support of the first support mechanism and the second support mechanism according to the tilt data, wherein the extension ranges of the supports of the first support mechanism and the second support mechanism are the same.

[0099] In this step, the extension range of the support is calculated according to the pitch angle of the fork device or the column assembly, and the extension range of the support refers to the range between the minimum extension and the maximum extension.

[0100] Referring to Figure 5b and Figure 5c In some embodiments, the two shelves B have a lane C therebetween, the warehouse robot A walks along the central axis of the lane C, and the supports on both sides of the warehouse robot A can be supported on the two shelves B after being extended.

[0101] Taking the warehouse robot A walking along the central axis of the lane C as an example, if the ground where the lane C is located is flat, i.e., the ground is parallel to the horizontal plane, if the width of the lane C is L2, the width of the warehouse robot A is L1, and the maximum deviation amount of the non-traveling error of the robot is S3, then the distance S1 between the fork device of the warehouse robot A and the shelf is 1 / 2*(L2-L1), and the minimum extension amount of the support is S1-S3=1 / 2*(L2-L1)-S3.

[0102] If the ground where the tunnel C is located is uneven, that is, an inclined angle β is formed between the ground and the horizontal plane, the angle between the moving base 300 of the storage robot A and the horizontal plane is also β. Since the fork device 400 of the storage robot A is arranged in a direction parallel to the moving base 300, the pitch angle of the fork device 400 is equal to the angle between the moving base 300 and the horizontal plane, that is, the pitch angle of the fork device 400 is β. Then:

[0103] The distance S1 between the fork device 400 and the shelf B is 1 / 2*L2+tanβ*H.

[0104] The minimum extension amount S2 of the support member is (S1-S3) / cosβ=(1 / 2*L2+tanβ*H-S3) / cosβ.

[0105] The maximum extension amount S3 of the support member is (S1+S3) / cosβ=(1 / 2*L2+tanβ*H+S3) / cosβ.

[0106] S450, control the first support mechanism and the second support mechanism to operate, and determine whether the support member of the support mechanism is supported by the external support body. If it is detected, S460 is executed. If it is not detected, S470 is executed.

[0107] S460, if it is detected that the support member of the first support mechanism is supported by the external support body, the second support mechanism is stopped, the first support mechanism continues to extend in the extension amount range, and if the visual identification code of the target position is detected during the process of the first support mechanism continuing to extend in the extension amount range, the first support mechanism is stopped, and the second support mechanism is controlled to operate, so that the support member of the second support mechanism is supported by the corresponding external support body.

[0108] In this step, the first support mechanism and the second support mechanism are controlled to operate simultaneously in the first state, after it is detected that the support member of the first support mechanism is supported by the external support body, the first support member continues to operate and the second support mechanism is stopped, the support member of the first support mechanism first abuts against the shelf, and in the process of continuing to extend afterwards, the attitude of the fork device can be gradually adjusted by the reaction of the shelf. During the process of the support member of the first support mechanism continuing to extend, it is determined whether the visual identification code is within the detection range of the visual detection device. If the visual identification code is not within the detection range of the visual detection device, the support member of the first support mechanism continues to extend; if the visual identification code is within the detection range of the visual detection device, the support member of the first support mechanism is controlled to stop extending, and the second support mechanism is controlled to operate, and when the support member of the second support mechanism is supported by the external support body, the second support mechanism is stopped. At this time, the moving object is in the second state after attitude adjustment, and is supported by the first support mechanism and the second support mechanism on both sides.

[0109] S470, if the support of the support mechanism is not detected to be supported by the external support body in the range of the elongation, an error processing is performed.

[0110] If the support of the support mechanism is not detected to be supported by the external support body in the range of the elongation, it indicates that there is a problem with the large inclination, for example, the support may extend between the shelf layers, and an error processing is performed.

[0111] It can be seen that, in the scheme of the embodiment of the application, when the fork device is inclined, the inclination data of the column assembly or the fork device can be obtained, the attitude of the fork device is adjusted according to the inclination data, and then the identification code is in the detection range of the visual detection device, and the detection efficiency of the visual identification code is improved.

[0112] Referring to Figure 14 , accordingly, the application also provides a fork device, which comprises a fork body 500; a visual detection device 520, an attitude sensor 540 and a telescopic stabilizing device 530 arranged on the fork body; and a controller 510 as in the above embodiment.

[0113] In the embodiment, the controller 510 is electrically connected with the visual detection device 520, the attitude sensor 540 and the driving motor of the stabilizing device 530.

[0114] Accordingly, the application also provides a warehouse robot, which comprises a mobile base, a column assembly mounted on the mobile base, and a fork device as in the above embodiment, and the fork device is mounted on the column assembly in a liftable manner.

[0115] When the ground of the warehouse area does not have a height difference or has a small height difference, the column assembly is in a vertical state, and when the ground of the warehouse area has a large height difference, the column assembly will be inclined. The scheme provided by the application can enable the attitude sensor of the fork device to sense the inclination data of the column assembly, adjust the attitude of the column assembly by supporting the support on the external support body, and adjust the column assembly from the inclined state to the vertical state. In the vertical state, the visual identification code is in the detection range of the visual detection device, and the detection efficiency of the visual identification code is improved.

[0116] The application also provides a warehouse system, which comprises: a plurality of shelves for placing containers, and the shelves and / or the containers are provided with visual identification codes; and a warehouse robot as in the above embodiment, which adjusts the inclined attitude by supporting the support on the shelves.

[0117] The above introduces the method of the embodiment of the application, and accordingly, the application also provides a stabilizing device.

[0118] The stabilizing device provided by an embodiment of the present application comprises a mounting base plate which can be mounted on a moving object, and at least one set of supporting mechanisms arranged on the mounting base plate. The supporting mechanisms comprise supporting members and at least one driving mechanism. The supporting members can be extended or retracted relative to the mounting base plate under the driving of the at least one driving mechanism, so as to support external support bodies and adjust the posture of the moving object. The stabilizing device of the present embodiment can support the moving object, and thus keep the moving object in a stable posture.

[0119] In some embodiments, the at least one supporting mechanism comprises a first supporting mechanism and a second supporting mechanism. The first supporting mechanism and the second supporting mechanism are respectively mounted on two ends of the stabilizing device along the extension and retraction direction. The running directions of the supporting members of the first supporting mechanism and the second supporting mechanism are along the same straight line, and are opposite to each other, so as to support the external support bodies on both sides of the moving object respectively.

[0120] In some embodiments, the at least one driving mechanism comprises a first driving mechanism and a second driving mechanism. The first driving mechanism and the second driving mechanism are both connected with the supporting members.

[0121] In some embodiments, the first driving mechanism comprises a first driving motor and a first transmission mechanism, and the second driving mechanism comprises a second driving motor and a second transmission mechanism.

[0122] In some embodiments, the first transmission mechanism comprises a belt transmission mechanism, and the second transmission mechanism comprises a lead screw transmission mechanism.

[0123] In some embodiments, the rated output power of the first driving motor is smaller than the rated output power of the second driving motor.

[0124] In some embodiments, the stabilizing device further comprises a connecting seat 120 which is movably mounted on the mounting base plate 150 and connected with the supporting member 140.

[0125] In some embodiments, the supporting mechanism 100 further comprises a transmission limiting mechanism 130 which is connected between the first transmission mechanism 114 and the connecting seat 120. The transmission limiting mechanism 130 is used to move the connecting seat 120 under the driving of the first transmission mechanism 114, and limit the connecting seat 120 at a preset position of the mounting base plate 150 along the extension and retraction direction.

[0126] In some embodiments, the transmission limiting mechanism 130 comprises a first moving part 131 and a second moving part 132, the connecting seat 120 is driven by the first moving part 131 or the second moving part 132; the first transmission mechanism 114 is connected with the first moving part 131, and is used to drive the first moving part 131 to move along the first direction X, the first direction X being the telescopic direction; the second moving part 132 is in contact with the first moving part 131, and is used to move along the second direction Y under the driving of the first moving part 131; when the second moving part 132 moves to a preset stop position along the second direction Y, the connecting seat 120 is limited in the preset position.

[0127] In some embodiments, the first driving mechanism 110 comprises a first driving motor 111 and a first transmission mechanism driven by the first driving motor 111, the transmission limiting mechanism 130 is connected between the second moving part 132 and the connecting seat 120, and is used to move the connecting seat 120 under the driving of the second moving part 132, and limit the connecting seat 120 in the preset position of the mounting bottom plate 150 in the first direction. The first direction may, for example, be the direction shown by X in FIG. 1. Figure 6

[0128] The first transmission mechanism may, for example, be a belt transmission mechanism, which comprises a driving wheel 112 connected with the output shaft of the power source 111, a driven wheel 113, and a transmission belt wound around the driving wheel 112 and the driven wheel 113, a straight running part is arranged on the transmission belt, and the driving part 131 is fixedly connected with the transmission belt through a connecting part. It can be understood that the first transmission mechanism may, for example, not be limited to a belt transmission mechanism, but may, for example, also be a gear transmission mechanism, such as a wheel and a rack cooperation mechanism.

[0129] In the present application, the supporting part 140 may, for example, be an integral part that cannot be disassembled, or may, for example, be an integral whole formed by assembling a plurality of parts, and may, for example, comprise a supporting plate, a supporting block, or a roller, and acts on an external supporting point through the supporting plate, the supporting block, or the roller. In some embodiments, the second moving part 132 is a transmission part connected with the output end of the first driving motor 111, and may, for example, comprise but is not limited to a gear, a rack, or a synchronous belt.

[0130] It can be understood that, in the present application, the external supporting point may, for example, also include an external supporting surface, such as a warehouse shelf.

[0131] According to the embodiments of the present application, when the moving object moves to the target position, the supporting part 140 of the supporting mechanism is extended to act on an external supporting point, and the movement of the supporting part 140 is limited by the transmission limiting mechanism, so as to stabilize the moving object and avoid or reduce the shaking of the moving object.

[0132] ​Taking the application in the warehouse robot as an example, in the related technology, when the fork device takes and places the box at different heights, it will be subjected to a vertical load opposite to the running direction of the fork device, thereby causing the warehouse robot to shake, affecting the stability of the warehouse robot. The scheme provided in the embodiments of the present application can avoid the shaking of the warehouse robot when the warehouse robot approaches the storage shelf and transfers the box located on the storage shelf, and improve the stability of the warehouse robot when taking and placing goods.

[0133] According to the embodiments of the present application, when the support mechanism is fixed to the column assembly and / or the fork device of the warehouse robot, the driving mechanism can drive the support piece 140 to extend or retract in the first direction X relative to the column assembly. When the fork device of the warehouse robot takes and places the box on the storage shelf, the driving mechanism can drive the support piece 140 to extend relative to the column assembly, and limit the support piece 140 to a preset position in the first direction X through the transmission limiting mechanism 130, thereby enabling the support piece 140 to be supported on the storage shelf in the first direction X. In this way, the shaking of the warehouse robot in the first direction X can be avoided, and the stability of the warehouse robot when taking and placing the box is improved.

[0134] Referring to Figure 8 In some embodiments, one end of the support piece 140 close to the connecting seat 120 is fixedly connected to the connecting seat 120 through the connecting rod 141, and the support piece 140 includes a support roller 142 arranged at the end away from the connecting seat 120. When applied to the warehouse robot, the support roller 142 can be supported on the shelf, and when the warehouse robot moves, the support roller 142 can roll along the shelf, thereby achieving continuous lateral support when the warehouse robot moves.

[0135] In some embodiments, the support mechanism can be arranged close to the top of the column assembly of the warehouse robot, so that the warehouse robot has better stability. In other embodiments, the support mechanism can also be arranged at the middle or other parts of the warehouse robot, which is not limited in the present application.

[0136] In some embodiments, the moving object is provided with a first support mechanism and a second support mechanism, the first support mechanism and the second support mechanism are installed at both ends of the installation bottom plate 150 along the first direction, the support pieces 140 of the first support mechanism and the second support mechanism have the same straight line direction of movement, and the directions of movement are opposite. When the warehouse robot is in the passage between the two adjacent storage shelves, the support pieces 140 of the two support mechanisms can move linearly towards the two sides of the storage shelves respectively, thereby enabling the two support pieces 140 to abut against the two sides of the storage shelves at the same time or in sequence. In this way, the warehouse robot is supported on both sides, further improving the stability of the warehouse robot.

[0137] In some embodiments, when two sets of driving mechanisms are provided, the first driving motor 111 of the first support mechanism and the second support mechanism are arranged close to each other and close to the middle of the mounting base 150, and the support 140 of the first support mechanism and the second support mechanism are arranged far away from each other and at the two ends of the mounting base 150 along the length direction, so as to be able to extend or retract at the two ends of the mounting base 150 along the length direction.

[0138] Referring to Figure 8 and Figure 9 In an implementation, the transmission limiting mechanism comprises a third moving part (also referred to as a driving part) 131 and a fourth moving part (also referred to as a driven part) 132, and the connecting seat 120 is driven by the driving part 131 or the driven part 132. The second moving part 132 is connected with the driving part 131 to drive the driving part 131 to move along the first direction X, the driving part 131 is in contact with the driven part 132, and the driven part 132 is used to move along the second direction Y under the driving of the driving part 131; when the driven part 132 moves along the second direction Y to a preset stop position, the connecting seat 120 is limited to the preset position.

[0139] In the embodiment, the first direction X is the extension direction of the support 140, and the second direction Y is perpendicular to the first direction X.

[0140] In some embodiments, the driving part 131 and the driven part 132 are movably arranged in the connecting seat 120, and the driving part 131 drives the driven part 132 to move along the connecting seat 120, thereby driving the connecting seat 120 to extend out of the mounting base 150 along the first direction X.

[0141] In the embodiment, the transmission limiting mechanism further comprises a fixed part 133 fixed relative to the mounting base 150, and the driven part 132 moves to the preset stop position when the driven part 132 moves along the second direction Y to abut against the fixed part 133, that is, the connecting seat 120 is locked at the preset position of the mounting base 150.

[0142] The fixed part 133 is fixedly arranged relative to the mounting base 150, and the driven part 132 is arranged between the driving part 131 and the fixed part 133 along the second direction Y; the second moving part 132 is connected with the driving part 131, the driving part 131 is provided with a sliding contact part 1311, and the driving part 131 is used to drive the driven part 132 to move towards the fixed part 133 through the sliding contact part 1311.

[0143] In some embodiments, the driven part 132 is provided with a guide inclined surface 1321, and the sliding contact part 1311 of the driving part 131 is in sliding contact with the guide inclined surface 1321 of the driven part 132.

[0144] In some embodiments, the second moving part 132 is arranged at one side of the driving part 131 along the second direction; the driving part 131 and the second moving part 132 are connected by a connecting part 1141, which can be, but is not limited to, a fixed block.

[0145] In some embodiments, the second moving part 132 is provided with a linear running part, the second moving part 132 is fixedly connected with the driving part 131 at the linear running part, the running direction of the linear running part is along the first direction X, and when the linear running part runs, the driving part 131 can be driven to run along the first direction X.

[0146] Continuing to refer to Figure 8 , by configuring the sliding contact part 1311 of the driving part 131 to slide with the guide inclined surface 1321 of the passive part 132, when the driving part 131 extends along the first direction X, the passive part 132 is pushed to move along the second direction Y by the guide inclined surface 1321 exerting a second direction pushing force on the passive part 132; since the passive part 132 is arranged between the driving part 131 and the fixed part 133, when the passive part 132 moves to contact the fixed part 133, the passive part 132 can abut against the fixed part 133, at this time, the driving part 131 is limited by the passive part 132, so that the supporting part 140 moves to the limit position along the first direction X.

[0147] In some embodiments, the driving part 131 and the passive part 132 are arranged on the connecting seat 120. The driving part 131 and the connecting seat 120 are limited in the second direction Y and can move relative to each other along the first direction X; the passive part 132 and the connecting seat 120 are limited in the first direction X and can move relative to each other along the second direction Y.

[0148] Referring to Figure 6 and Figure 9 , in some embodiments, the mounting bottom plate 150 is provided with a first guide rail 151, the first guide rail 151 is arranged along the first direction X, and the connecting seat 120 is in sliding fit with the first guide rail 151; in an implementation, the bottom of the connecting seat 120 is provided with a supporting seat 122, and the supporting seat 122 is in sliding fit with the first guide rail 151.

[0149] Referring to Figure 10 , the connecting seat 120 is provided with a second guide rail 121 and a third guide rail 123; the second guide rail 121 is arranged along the first direction X, and the driving part 131 is in sliding fit with the second guide rail 121. For example, the bottom of the driving part 131 is provided with a sliding groove, and the driving part 131 is installed on the second guide rail 121 through the sliding groove. The third guide rail 123 extends along the second direction Y, and the passive part 132 is in sliding fit with the third guide rail 123, for example, the bottom of the passive part 132 is provided with a sliding groove, and the passive part 132 is installed on the third guide rail 123 through the sliding groove.

[0150] In some embodiments, the connecting seat 120 is further provided with a sliding installation portion 124, which is used to support the passive element 132 in the first direction X when the support element 140 extends in the first direction X, thereby improving the stability of the passive element 132.

[0151] In an implementation manner, the sliding installation portion 124 is provided with a guide groove, and the side of the passive element 132 facing the support element 140 is provided with a guide block which is integrated with the passive element 132, the guide block is accommodated in the guide groove, and the guide block abuts against the inner wall of the guide groove in the first direction X.

[0152] In some embodiments, the connecting seat 120 is further provided with a blocking portion 125, which is arranged at the end of the driving element 131 away from the support element, and is used to block the driving element 131 when the driving element 131 retracts in the first direction, thereby avoiding the driving element 131 from disengaging from the connecting seat 120.

[0153] In some embodiments, the support mechanism is provided with two passive elements 132 and two fixing elements 133, and each side of the driving element 131 is provided with one passive element 132 and one fixing element 133 in the second direction Y; the driving element 131 is provided with two sliding contact portions 1311 which are in sliding contact with the guide inclined surfaces 1321 of the two passive elements 132 respectively, and the driving element 131 drives the two passive elements 132 to move to abut against the corresponding fixing elements 133 when the driving element 131 moves in the first direction.

[0154] When the driving element 131 moves in the first direction X towards the passive element 132, i.e., extends towards the support element 140, the two sliding contact portions 1311 can drive the passive elements 132 to move in opposite directions respectively, and the driving element 131 and the passive elements 132 are in a limiting state when the two passive elements 132 abut against the two fixing elements 133 respectively, and at this time, the support element 140 moves to the limit position in the first direction X.

[0155] The two passive elements 132 and the two fixing elements 133 arranged at the two sides of the driving element 131 can make the force on the two sides of the driving element 131 more uniform, and the two fixing elements 133 can self-adaptively clamp the passive elements 132 when the driving element 131 drives the passive elements 132, thereby further improving the operation stability and reliability of the transmission limiting mechanism 130.

[0156] Continuing to refer to Figure 8In some embodiments, the supporting mechanism further comprises elastic members 160 connected to the passive members 132 and configured to apply elastic force to the passive members 132, both ends of each elastic member 160 being connected to two passive members 132, such that the passive members 132 are in elastic contact with the active members 131, and such that the elastic members 160 reset the passive members 132 when the active members 131 retract in the first direction X.

[0157] The elastic members 160 can be springs, each spring having two connection ends connected to two passive members 132. When the active members 131 move in the extension direction of the supporting members 140 and push the two passive members 132 away from each other in the second direction Y, the springs 160 are in a stretched state. When the active members 131 move in the retraction direction of the supporting members 140, the two passive members 132 move closer to each other under the restoring force of the springs, such that the passive members 132 are always in contact with the sliding contact portions 1311 of the corresponding active members 131, improving the operation accuracy and stability of the supporting mechanism.

[0158] In this embodiment, the first guide rail 151 is fixedly arranged on the mounting base plate 150, and the two fixing members 133 can be limiting plates arranged in the vertical direction, the bottom of each limiting plate being connected to the mounting base plate 150 and the top extending in the vertical direction to a position corresponding to the passive member 132. The two limiting plates and the mounting base plate 150 define an accommodation space in which the connecting seat 120 is accommodated.

[0159] In one implementation, the fixing members 133 and the mounting base plate 150 can be an integrally formed member.

[0160] Referring to Figure 8 In some embodiments, the supporting mechanism further comprises a position sensor 170 fixedly arranged relative to the connecting seat 120 and configured to sense the position of the active members 131 in the first direction X, and a controller electrically connected to the position sensor 170 and the first driving motor 111 and configured to control the operation of the first driving motor 111 based on the position information collected by the position sensor 170.

[0161] It can be understood that in other embodiments, the two groups of supporting members 140 can be driven by a driving mechanism having two linear running portions with opposite running directions, the active members 131 of the two groups of supporting members 140 being connected to the two linear running portions, respectively, for driving the two groups of supporting members 140 to move in opposite directions.

[0162] Referring to Figure 6 to Figure 8 and Figure 11 to Figure 13In some embodiments, the stabilizing device has two sets of support mechanisms arranged at two ends, each set of support mechanisms including a first driving mechanism 110, a second driving mechanism 210 and a support member 140. When the stabilizing device is applied to a warehouse robot, the posture of the warehouse robot can be adjusted by arranging the support mechanisms on the uprights or the fork device of the warehouse robot. It can be understood that in other embodiments, the stabilizing device can only have one set of support mechanisms.

[0163] The first driving mechanism 110 includes a first driving motor 111 and a first transmission mechanism driven by the first driving motor 111, and the second driving mechanism 210 includes a second driving motor 211 and a second transmission mechanism driven by the second driving motor 211. The connecting seat 120 is movably mounted on the mounting bottom plate 150 and is fixedly connected with the support member 140. The first transmission mechanism 114 and the second transmission mechanism 212 are respectively connected in transmission with the support member 140 through the connecting seat 120, for selectively driving the support member 140 to extend or retract relative to the connecting seat 120.

[0164] In one specific implementation, the first transmission mechanism includes a belt transmission mechanism, and the second transmission mechanism includes a lead screw transmission mechanism.

[0165] The first driving mechanism 110 can be mounted on the bottom plate 150, and the bottom plate 150 is fixed to the moving object. When the first transmission mechanism 114 of the first driving mechanism 110 moves, the second driving mechanism 210 and the support member 140 are driven to move relative to the moving object.

[0166] The second transmission mechanism 212 includes a lead screw. The lead screw is fixed to the connecting seat 120 through a connecting side plate 213, is connected with the output end of the second driving motor 211, is supported by a baffle 215 fixed to the connecting seat 120, and is threadedly connected with the support member 140. The support member 140 is provided with a connecting protrusion 214, the connecting protrusion 214 is provided with a through hole, and the through hole is provided with an internal thread. The lead screw cooperates with the internal thread. When the second driving motor 211 drives the lead screw to rotate, the lead screw drives the support member 140 to extend or retract.

[0167] In the embodiments of the present application, the first driving motor 111 and / or the second driving motor 211 can be a reduction motor capable of rotating in a forward direction and a reverse direction. When the first motor as the first driving motor rotates in one direction, the driving member 131 moves towards the end of the mounting base 150, so that the support member 140 extends from the mounting base 150, and when the first motor rotates in the other direction, the driving member 131 moves towards the middle of the mounting base 150, so that the support member 140 retracts from the mounting base 150. When the second motor as the second driving motor 211 rotates in one direction, the support member 140 extends outwards through the screw drive mechanism, and when the second motor rotates in the other direction, the support member 140 retracts through the screw drive mechanism. The above describes the method and the stabilizing device provided by the embodiments of the present application, and accordingly, the present application further provides a controller 700, which is shown in Figure 15 The controller 700 includes a processor 720 and a memory 710 having executable code stored thereon, which, when executed by the processor, causes the processor to perform the method of any of the above embodiments. In the embodiments, the controller 700 is arranged on the mobile object or in communication connection with the mobile object. When the mobile object is a warehouse robot, the controller can be arranged on the main body of the warehouse robot or the fork device.

[0168] The processor 720 can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs) or other programmable logic devices, discrete gates or transistor logic, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0169] The memory 710 can include various types of storage units such as a system memory, a read-only memory (ROM), and a permanent storage device. Among them, the ROM can store static data or instructions required by the processor 720 or other modules of the computer. The permanent storage device can be a read-write storage device. The permanent storage device can be a non-volatile storage device that does not lose stored instructions and data even after the computer is powered off. In some embodiments, the permanent storage device uses a mass storage device (such as a magnetic or optical disk, a flash memory) as a permanent storage device. In some other embodiments, the permanent storage device can be a removable storage device (such as a floppy disk, an optical drive). The system memory can be a read-write storage device or a volatile read-write storage device, such as a dynamic random access memory. The system memory can store some or all of the instructions and data required by the processor during runtime. In addition, the memory 710 can include a combination of any computer readable storage media, including various types of semiconductor storage chips (such as DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), magnetic disks and / or optical disks. In some embodiments, the memory 710 can include a read and / or write removable storage device, such as a compact disc (CD), a read-only digital versatile disc (such as DVD-ROM, double-layer DVD-ROM), a read-only Blu-ray disc, an ultra-density optical disc, a flash memory card (such as an SD card, a min SD card, a Micro-SD card, etc.), a magnetic floppy disk, etc. The computer readable storage medium does not include a carrier wave and an instantaneous electronic signal transmitted by wireless or wired transmission.

[0170] The executable code stored on the memory 710 can cause the processor 720 to perform part or all of the above-mentioned methods when the executable code is processed by the processor 720.

[0171] In addition, the method according to the present application can also be implemented as a computer program or a computer program product, which includes computer program code instructions for executing part or all of the steps of the above-mentioned method of the present application.

[0172] Alternatively, the present application can also be implemented as a computer readable storage medium (or non-transitory machine readable storage medium or machine readable storage medium) having executable code (or computer program or computer instruction code) stored thereon, which, when executed by a processor of an electronic device (or server, etc.), causes the processor to perform part or all of the steps of the above-mentioned method according to the present application.

[0173] The present application also provides a fork device, which comprises a fork body, a visual detection device, a posture sensor and a stabilizing device as described in the above embodiments provided on the fork body, and a controller as described in the above embodiments.

[0174] The application also provides a storage system, comprising: a plurality of shelves for placing the containers, the shelves and / or the containers being provided with visual identification codes; and a storage robot, the storage robot adjusting an inclined posture by supporting a support on the shelves.

[0175] The above has described various embodiments of the application, the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes are obvious to those skilled in the art without departing from the scope and spirit of the described embodiments. The selection of the terms used herein is intended to best explain the principles, practical application, or improvement of the technology in the market of the embodiments, or to enable other ordinary skilled in the art to understand the embodiments disclosed herein.

Claims

1. A method of adjusting a posture of a mobile object, characterized by, A stabilizing device for a mobile object, the stabilizing device comprising at least one set of support mechanisms, each support mechanism comprising a support member, a first driving mechanism and a second driving mechanism, the support member being extendable or retractable under the driving of the first and second driving mechanisms; wherein the speed of the support member driven by the first driving mechanism is greater than the speed of the support member driven by the second driving mechanism, and the output torque of the second driving mechanism is greater than the output torque of the first driving mechanism; The method comprises: determining, by a vision detection device provided on the mobile object, whether a visual identification code is detected at a target position when the mobile object is in a first state, wherein the target position is located on an external support body, and the external support body is a shelf; if the visual identification code is not detected, obtaining inclination data of the mobile object; determining an extension amount of the support member according to the inclination data, and controlling the support member to move towards the external support body according to the extension amount, so that the mobile object is in a second state after posture adjustment; wherein the method comprises: after detecting that the movement of the first driving mechanism meets a preset condition, stopping the first driving mechanism, and controlling the second driving mechanism to drive the support member to move towards the external support body, so as to adjust the posture of the mobile object and make the visual identification code within the detection range of the detection device.

2. The posture adjustment method of claim 1, wherein: the obtaining of the inclination data of the mobile object comprises: obtaining the inclination data of the mobile object by a posture sensor provided on the mobile object.

3. The posture adjustment method of claim 2, wherein: the obtaining of the inclination data of the mobile object by the posture sensor provided on the mobile object comprises: obtaining a pitch angle of the vision detection device by an inertial sensor provided on the mobile object.

4. The posture adjustment method of claim 1, wherein: the controlling of the movement of the support member according to the inclination data comprises: determining an extension amount range of the support member of the first support mechanism and the second support mechanism according to the inclination data, wherein the extension amount ranges of the support members of the first support mechanism and the second support mechanism are the same; controlling the first support mechanism and the second support mechanism to move; if the support member of the first support mechanism is detected to be supported on the external support body, stopping the second support mechanism, continuing to extend the first support mechanism within the extension amount range, and if the visual identification code of the target position is detected during the extension of the first support mechanism within the extension amount range, stopping the first support mechanism and controlling the second support mechanism to move, so that the support member of the first support mechanism is supported on the corresponding external support body; if the support member is not detected to be supported on the external support body within the extension amount range, performing error processing.

5. The posture adjustment method of claim 1, wherein: the detection of whether the support member is supported on the external support body is performed by: determining whether a current of a driving motor of the support member is greater than a set threshold value, and determining that the support member is supported by an external support body if the current is greater than the set threshold value.

6. A stabilizing device for a moving object for implementing the attitude adjustment method for a moving object according to any one of claims 1 to 5, characterized by The stabilizing device comprises: a mounting base mountable on the moving object, and at least one set of support mechanisms arranged on the mounting base; the support mechanisms comprise a support member, a first driving mechanism and a second driving mechanism, the support member being capable of extending or retracting relative to the mounting base under the driving of the first and second driving mechanisms, so as to adjust the posture of the moving object by supporting the support member on an external support body; the first driving mechanism comprises a first driving motor and a first transmission mechanism driven by the first driving motor, and the second driving mechanism comprises a second driving motor and a second transmission mechanism driven by the second driving motor; The stabilizing device further comprises: a connecting seat movably mounted on the mounting base and connected with the support member; a transmission limiting mechanism connected between the first transmission mechanism and the connecting seat, used for moving the connecting seat under the driving of the first transmission mechanism and limiting the connecting seat at a preset position of the mounting base in the extension and retraction direction; the first transmission mechanism and the second transmission mechanism are respectively connected with the support member through the connecting seat, and are used for selectively driving the support member to extend or retract relative to the connecting seat.

7. The stabilizing device according to claim 6, wherein: the at least one set of support mechanisms comprises a first support mechanism and a second support mechanism, the first support mechanism and the second support mechanism are respectively mounted on two ends of the stabilizing device along the extension and retraction direction, the support members of the first support mechanism and the second support mechanism have the same direction of movement and opposite directions of movement, and are respectively used for supporting the external support bodies on two sides of the moving object.

8. The stabilizing device according to claim 6, wherein: the transmission limiting mechanism comprises a first moving member and a second moving member, and the connecting seat is driven by the first moving member or the second moving member; the first transmission mechanism is connected with the first moving member, and is used for driving the first moving member to move in a first direction, the first direction being the extension and retraction direction; the second moving member is in contact with the first moving member, and is used for moving in a second direction under the driving of the first moving member; when the second moving member moves to a preset stop position in the second direction, the connecting seat is limited at the preset position.

9. The stabilizing device according to claim 8, wherein: the transmission limiting mechanism further comprises a fixed member fixed relative to the mounting base, and the second moving member moves to the preset stop position when the second moving member moves to abut against the fixed member in the second direction.

10. The stabilizing device according to claim 8, wherein: the first moving member is provided with a sliding contact portion, and the second moving member is provided with a guide inclined surface, the sliding contact portion is in sliding contact with the guide inclined surface, so that the first moving member drives the second moving member to move in the second direction.

11. The stabilizing device of claim 8, wherein: the mounting base is provided with a first guide rail arranged along the first direction, and the connecting seat is in sliding fit with the first guide rail; the connecting seat is provided with a second guide rail arranged along the first direction and a third guide rail arranged along the second direction, and the first moving member is in sliding fit with the second guide rail and the second moving member is in sliding fit with the third guide rail.

12. The stabilizing device of claim 10, wherein: the support mechanism comprises two second moving members and two fixed members fixed relative to the mounting base, and each side of the first moving member is provided with one second moving member and one fixed member; the first moving member is provided with two sliding contact portions in sliding contact with the guide slopes of the two second moving members respectively, and when the first moving member extends along the first direction, the two second moving members are pushed to move to abut against the corresponding fixed members respectively.

13. The stabilizing device of claim 12, wherein: the stabilizing device further comprises elastic members connected with the second moving members, and the elastic members are used to reset the second moving members when the first moving member retracts along the first direction; wherein two ends of the elastic members are connected with the two second moving members respectively.

14. The stabilizing device of claim 8, wherein: the stabilizing device further comprises a position sensor and a controller, the position sensor is fixedly arranged relative to the connecting seat, and the position sensor is used to sense the movement position of the first moving member along the first direction; the controller is electrically connected with the position sensor and the first driving motor, and is used to control the operation of the first driving motor according to the position information collected by the position sensor.

15. The stabilizing device of claim 6, wherein: the rated output power of the first driving motor is less than the rated output power of the second driving motor.

16. The stabilizing device of claim 6, wherein: the first transmission mechanism comprises a synchronous belt, and / or the second transmission mechanism comprises a lead screw.

17. A controller characterized by comprising: comprising: a processor; and a memory having stored thereon executable code that, when executed by the processor, causes the processor to perform the method of any one of claims 1-5. comprising:

18. A fork device, characterized in that a fork body; a vision detection device, an attitude sensor and the stabilizing device of any one of claims 7-16 arranged on the fork body; and the controller of claim 17. comprising: a moving base, a column assembly mounted on the moving base, and the fork device of claim 18, the fork device being mounted on the column assembly in a liftable manner.

19. A warehouse robot, characterized in that, comprising: a plurality of shelves for placing containers, the shelves and / or the containers being provided with visual identification codes; and 20. A warehousing system characterized by the warehouse robot of claim 19, the warehouse robot adjusting the inclined attitude by supporting the support members on the shelves. ​ ​ ​

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