Laser ranging logistics robot picking system based on truck cargo hold

Abstract

The application discloses a laser ranging logistics robot goods taking system based on a truck cargo hold, relates to the technical field of logistics goods taking, and comprises a mobile robot, a robot goods taking system and a robot goods taking method. When a truck arrives at a predetermined logistics point, the truck identification code of the truck is acquired, the goods that the truck needs to be unloaded at the predetermined logistics point corresponding to the truck identification code is parsed, and the coordinates are positioned until the mobile robot corresponds to the goods and executes a goods taking operation to complete the goods taking. The whole goods taking process is intelligent and accurate in positioning, and the goods taking is efficiently completed by the mobile robot, thereby effectively solving the problems of low work efficiency and high labor cost of traditional manual work. In the laser ranging logistics robot goods taking system based on the truck cargo hold, the mobile robot can conveniently take goods in the truck cargo hold in the logistics, thereby greatly facilitating the goods taking work of the truck cargo hold.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of logistics goods taking, in particular to a laser ranging logistics robot goods taking system based on a truck cargo compartment. BACKGROUND

[0002] Logistics refers to the planning, implementation and management of the whole process from the production place of goods to the consumption place of goods to meet the needs of customers at the lowest cost through transportation, storage, distribution and other means. Logistics is a system that controls raw materials, finished products, finished products and information. From the beginning of supply to the transfer and possession of various intermediate links to the hands of the final consumer, the physical movement realizes the clear goals of the organization. Modern logistics is the product of economic globalization and an important service industry that promotes economic globalization. Modern logistics not only considers the problem of goods distribution from producers to consumers, but also considers the procurement of raw materials from suppliers to producers, and transportation, storage and information in the product manufacturing process of the producer itself, comprehensively and comprehensively improves the economic benefit and efficiency. Therefore, modern logistics is a strategic measure that considers manufacturing, transportation, sales and other market conditions as a whole. At present, with the rapid development of the e-commerce industry in China, the market demand and supply of the supporting industry of e-commerce, the warehousing industry, are rapidly increasing. The rapid development of e-commerce brings opportunities to the existing warehousing and logistics system, but also poses some problems, such as the diversification of commodity types, the individualization of demand, and the rapid sorting of time efficiency.

[0003] The traditional manual sorting method adopts the "person-to-goods" mode, that is, the sorter walks to the goods shelf according to the order information to manually pick goods. This mode has a complex operation process and requires high proficiency of manual work, which is not suitable for the requirements of modern warehousing. With the development of Internet of Things technology, robot technology and computer technology, the application of multi-robot control system to the sorting link of automatic warehouse system has become the development trend of logistics sorting.

[0004] Generally, goods need to be transported to the predetermined logistics point by large trucks, and each predetermined logistics point corresponds to some goods that need to be picked up or put down. When the truck arrives, manual work is needed to climb the truck cargo compartment and move to the predetermined position for picking up goods. Not only is the work efficiency low, but also the labor cost is high. Therefore, we propose a laser ranging logistics robot goods taking system based on a truck cargo compartment to solve the problems in the prior art. SUMMARY

[0005] The present application relates to the technical field of logistics goods taking, in particular to a laser ranging logistics robot goods taking system based on a truck cargo compartment.

[0006] To achieve the above object, the present application provides the following technical solutions:

[0007] The laser ranging logistics robot picking system based on a truck cargo compartment comprises a mobile robot, a picking system and a robot picking method, the mobile robot is provided with a laser emitter, and the picking system comprises a preset module, a detection module, an identification module, a cargo information acquisition module, a conveying mechanism module, a positioning module, a calculation module, a distance detection module, a first control module, a correction module and a second control module.

[0008] As a further scheme of the present application: the preset module (10) is used to establish coordinates with the center point of the bottom wall of the truck cargo compartment and locate the coordinate position of the goods in the truck cargo compartment, that is, each cargo compartment has a unique coordinate value, and the coordinates of the goods are located after loading; the detection module (11) is used to detect whether a truck arrives at the predetermined logistics point; the identification module (12) is used to obtain the truck identification code of the truck when it is detected that the truck arrives at the predetermined logistics point, and analyze the goods that the truck corresponding to the truck identification code needs to unload at the predetermined logistics point; the goods information acquisition module (13) is used to acquire the goods coordinate A of the goods that need to be picked up in the truck cargo compartment; the conveying mechanism module (14) is used to control the movement of the mobile robot on the conveying mechanism so that the mobile robot moves to the truck cargo compartment through the conveying mechanism, and one end of the conveying mechanism is telescopic and can be extended into the truck cargo compartment; the positioning module (15) is used to locate the first coordinate point B of the mobile robot when it is determined that the mobile robot moves to the truck cargo compartment, and randomly acquire the second coordinate point C in the truck cargo compartment, it should be understood that the first coordinate point B is the coordinate point of the mobile robot in the truck, and the second coordinate point C is any point in the truck cargo compartment; the calculation module (16) is used to calculate the distance between the first coordinate point B and the goods coordinate A and the distance between the second coordinate point C and the goods coordinate A, and count whether the direction from the first coordinate point B to the second coordinate point C is closer to the goods coordinate A or the direction from the second coordinate point C to the first coordinate point B is closer to the goods coordinate A through the calculation result; the distance detection module (17) is used to emit laser to measure the distance between the mobile robot and the side of the truck cargo compartment when it is determined that the direction from B to C is closer to the goods coordinate A; the first control module (18) is used to control the movement of the mobile robot in the first direction according to the distance; the correction module (19) is used to continuously acquire new coordinate points during the movement and calculate whether the distance between the new coordinate points and the goods coordinate A is gradually decreasing, if so, continue to move, if the distance gradually increases, make the mobile robot return along the original path and stop at the nearest point; the second control module (20) is used to change the moving direction of the mobile robot when it stops at the nearest point, and move in the second direction until it stops at the nearest distance from the goods coordinate A and performs the picking operation, and returns along the original path after the picking is completed; when the mobile robot is an intelligent forklift, the bottom of the goods of the truck is provided with a pallet, and the pallet is provided with a socket, that is, the cross section of the pallet is in the shape of M, so that when the intelligent forklift picks up the goods, the fork arm of the intelligent forklift is inserted into the socket of the pallet at the bottom of the goods, and the pallet is lifted after the insertion to take away the goods.In addition, when the intelligent forklift moves to the nearest point of the goods, the method further comprises: identifying the position of the pallet by the intelligent forklift and identifying the jack of the pallet, identifying whether the face of the pallet is in the shape of M, that is, the insertion arm of the intelligent forklift is provided with a scanner, and whether there is a pallet can be scanned by the scanner, if the object in the shape of M is scanned, it is determined that it is a pallet, and when it is determined that it is a pallet, it is further determined whether the insertion direction of the insertion arm of the forklift and the depth direction of the jack of the pallet are in the same straight line direction, and at the same time after identifying the jack of the pallet, it is adjusted whether the fork arm of the intelligent forklift corresponds to the jack of the pallet, so that the insertion direction of the insertion arm of the forklift and the depth direction of the jack of the pallet are in the same straight line, so that the fork arm can be smoothly inserted into the jack.

[0009] As a further scheme of the present application: the method steps of the robot picking method are as follows:

[0010] S1: When a truck arrives at a predetermined logistics point, obtain the truck identification code of the truck, and analyze the goods that the truck needs to deliver at the predetermined logistics point corresponding to the truck identification code;

[0011] S2: Obtain the goods coordinates A of the goods in the truck that need to be picked up in the truck;

[0012] S3: Control the mobile robot to move to the truck, locate the first coordinate point B of the robot, and randomly obtain the second coordinate point C in the truck;

[0013] S4: Calculate the distance between the first coordinate point B and the goods coordinates A and the distance between the second coordinate point B and the goods coordinates A, and through the calculation result, it is determined whether the direction from the first coordinate point B to the second coordinate point C is close to the goods coordinates A or the direction from the second coordinate point C to the first coordinate point B is close to the goods coordinates A;

[0014] S5: If it is determined that the direction from the first coordinate point B to the second coordinate point C is close to the goods coordinates A, the laser emitter of the mobile robot is used to emit laser to measure the distance between the mobile robot and the side of the truck, and the mobile robot is controlled to move along the first direction according to the distance;

[0015] S6: In the moving process, new coordinate points are constantly obtained, and it is calculated whether the distance between the new coordinate points and the goods coordinates A is gradually smaller, if so, continue to move, if the distance gradually increases, let the mobile robot return along the original route and stop at the nearest point;

[0016] S7: When the mobile robot stops at the nearest point, change the moving direction of the mobile robot, and move according to the second direction until the nearest distance to the goods coordinates A is reached, and then perform the picking operation, and after the picking is completed, return along the original route.

[0017] The S1, when a truck arrives at a predetermined logistics point, acquires the truck identification code of the truck, and analyzes the goods of the truck corresponding to the truck identification code that need to be unloaded at the predetermined logistics point, that is, each time a truck arrives, there is a specific goods that need to be unloaded, so each truck is unloaded at different logistics points.

[0018] In the S2, the goods coordinates A of the goods in the truck warehouse that need to be picked up are acquired, and before the step S2, the following steps are set in advance: the center point of the bottom wall of the truck warehouse is established as a coordinate, and the coordinate position of the goods in the truck warehouse is located.

[0019] In the S3, the mobile robot is controlled to move into the truck warehouse, the first coordinate point B of the mobile robot is located, and the second coordinate point C in the truck warehouse is randomly acquired, that is, the first coordinate point B is the coordinate point of the mobile robot in the truck, and the second coordinate point C is an arbitrary point in the truck warehouse, wherein the mobile robot is controlled to move into the truck warehouse in particular: the conveying mechanism is controlled to move into the truck warehouse, and the mobile robot is controlled to move on the conveying mechanism, so that the mobile robot moves into the truck warehouse through the conveying mechanism.

[0020] In the S4, the distance between the first coordinate point B and the goods coordinates A is calculated, and the distance between the second coordinate point B and the goods coordinates A is calculated, and the result is calculated to determine whether the direction from the first coordinate point B to the second coordinate point C is closer to the goods coordinates A or the direction from the second coordinate point C to the first coordinate point B is closer to the goods coordinates A.

[0021] In the S5, if it is determined that the direction from B to C is closer to the goods coordinates A, the laser emitter of the mobile robot is used to emit laser to measure the distance between the mobile robot and the side of the truck, and the mobile robot is controlled to move along the first direction according to the distance, wherein the first direction is parallel to the first side of the truck, that is, the first side can be one of the two sides of the truck, when the first direction of the mobile robot has an obstacle, the mobile robot will move in the second direction for a distance, to determine that the first direction of the mobile robot has no obstacle, the laser emitter of the mobile robot re-emits laser to measure another distance between the mobile robot and the side of the truck, and the mobile robot is controlled to move along the first direction according to the other distance.

[0022] In the S6, the mobile robot continuously acquires new coordinate points during movement, and calculates whether the distance between the new coordinate points and the goods coordinates A is gradually smaller, if so, continue to move, if the distance gradually increases, let the mobile robot return along the original path and stop at the nearest point.

[0023] In S7, when the mobile robot stops at the nearest point, the moving direction of the mobile robot is changed, and the mobile robot moves in the second direction until it stops at the nearest distance from the goods coordinate A, and performs the goods taking operation, and returns along the original route after the goods taking is completed, wherein the nearest point is the coordinate point closest to the goods coordinate A, and the second direction is the direction parallel to the second side of the warehouse, and the second side is the bottom side of the warehouse, that is, the first side is perpendicular to the second side.

[0024] Compared with the prior art, the beneficial effects of the present application are:

[0025] In the present application, when a truck arrives at a predetermined logistics point, the truck identification code of the truck is obtained, and the goods that the truck needs to deliver at the predetermined logistics point corresponding to the truck identification code are analyzed, and the coordinates are positioned until the mobile robot is controlled to correspond to the goods, and the goods taking operation is performed, and the goods taking is completed. The whole goods taking process is intelligent and accurate in positioning, and the mobile robot can efficiently complete the goods taking, thereby effectively solving the problems of low work efficiency and high labor cost of traditional manual work. In the laser ranging logistics robot goods taking system based on the truck warehouse in the present application, the mobile robot can realize convenient goods taking work in the truck warehouse, which brings great convenience to the goods taking work of the truck warehouse. BRIEF DESCRIPTION OF DRAWINGS

[0026] Fig. 1 The method flowchart of the robot goods taking method in the laser ranging logistics robot goods taking system based on the truck warehouse.

[0027] Fig. 2 The structure schematic diagram of the robot goods taking system in the laser ranging logistics robot goods taking system based on the truck warehouse.

[0028] Fig. 3 The local forklift cross section schematic diagram when the mobile robot is an intelligent forklift in the laser ranging logistics robot goods taking system based on the truck warehouse.

[0029] Fig. 4 The running environment schematic diagram of the laser ranging logistics robot goods taking system based on the truck warehouse.

[0030] As shown in the figure: preset module 10, detection module 11, identification module 12, goods information acquisition module 13, conveying mechanism module 14, positioning module 15, calculation module 16, distance detection module 17, first control module 18, correction module 19, second control module 20. DETAILED DESCRIPTION

[0031] Clearly, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0032] Please refer to Figs. 1-4 In the embodiments of the present application, the laser ranging logistics robot picking system based on the truck cargo compartment comprises a mobile robot, a robot picking system and a robot picking method. The mobile robot is provided with a laser emitter. The robot picking system comprises a preset module 10, a detection module 11, an identification module 12, a cargo information acquisition module 13, a conveying mechanism module 14, a positioning module 15, a calculation module 16, a distance detection module 17, a first control module 18, a correction module 19 and a second control module 20.

[0033] Specifically, the preset module 10 is used to establish coordinates with the center point of the bottom wall of the truck compartment, and the coordinate position of the goods in the truck compartment is located, that is, each compartment has a unique coordinate value, and the coordinates of the goods are located after loading. The detection module 11 is used to detect whether a truck arrives at a predetermined logistics point. The identification module 12 is used to obtain the truck identification code of the truck when it is detected that the truck arrives at the predetermined logistics point, and analyze the goods that the truck corresponding to the truck identification code needs to unload at the predetermined logistics point. The goods information acquisition module 13 is used to obtain the goods coordinate A of the goods that need to be picked up in the truck compartment. The conveying mechanism module 14 is used to control the movement of the mobile robot on the conveying mechanism, so that the mobile robot moves to the truck compartment through the conveying mechanism, and one end of the conveying mechanism is telescopic and can be extended into the truck compartment. The positioning module 15 is used to determine that the mobile robot moves to the truck compartment, locate the first coordinate point B of the robot, and randomly obtain the second coordinate point C in the truck compartment. It should be understood that the first coordinate point B is the coordinate point of the mobile robot in the truck, and the second coordinate point C is any point in the truck compartment. The calculation module 16 is used to calculate the distance between the first coordinate point B and the goods coordinate A, and the distance between the second coordinate point C and the goods coordinate A, and through the calculation result, it is calculated that the direction from the first coordinate point B to the second coordinate point C is close to the goods coordinate A or the direction from the second coordinate point C to the first coordinate point B is close to the goods coordinate A. The distance detection module 17 is used to determine that the direction from B to C is close to the goods coordinate A, and emit laser to measure the distance between the mobile robot and the side of the truck compartment. The first control module 18 is used to control the movement of the mobile robot along the first direction according to the distance. The correction module 19 is used to continuously obtain new coordinate points during movement, and calculate whether the distance between the new coordinate points and the goods coordinate A is gradually decreasing. If so, continue to move. If the distance gradually increases, the mobile robot returns along the original path and stops at the nearest point. The second control module 20 is used to change the moving direction of the mobile robot when the mobile robot stops at the nearest point, and move along the second direction until the nearest distance to the goods coordinate A is reached, and perform the picking operation. After the picking is completed, it returns along the original path.

[0034] The method steps of the laser ranging logistics robot picking system based on the truck compartment are as follows:

[0035] S1: When a truck arrives at a predetermined logistics point, obtain the truck identification code of the truck, and analyze the goods that the truck corresponding to the truck identification code needs to unload at the predetermined logistics point;

[0036] S2: Obtain the goods coordinate A of the goods that need to be picked up in the truck compartment;

[0037] S3: controlling the mobile robot to move into the warehouse, locating the first coordinate point B of the robot, and randomly obtaining the second coordinate point C in the warehouse;

[0038] S4: calculating the distance between the first coordinate point B and the goods coordinate A, and the distance between the second coordinate point B and the goods coordinate A, and determining whether the first coordinate point B-second coordinate point C direction is closer to the goods coordinate A or the second coordinate point C-first coordinate point B direction is closer to the goods coordinate A through the calculation result;

[0039] S5: if it is determined that the first coordinate point B-second coordinate point C direction is closer to the goods coordinate A, then the laser emitter of the mobile robot is used to emit laser to measure the distance between the mobile robot and the side of the warehouse, and the mobile robot is controlled to move along the first direction according to the distance;

[0040] S6: continuously obtaining new coordinate points during the movement, and calculating whether the distance between the new coordinate points and the goods coordinate A is gradually smaller, if so, continue to move, if the distance gradually increases, then let the mobile robot return along the original path and stop at the nearest point;

[0041] S7: when the mobile robot stops at the nearest point, change the moving direction of the mobile robot, and move according to the second direction until the nearest distance from the goods coordinate A, and then stop and perform the goods taking operation, and return along the original path after the goods taking operation is completed.

[0042] Specifically, in S1, when a truck arrives at the predetermined logistics point, the truck identification code of the truck is obtained, and the goods that the truck needs to unload at the predetermined logistics point corresponding to the truck identification code is parsed, that is, each time a truck arrives, there is a specific goods that needs to be unloaded, so each truck unloads different goods at different logistics points. Among them, the truck cargo compartment is in the shape of a rectangular solid, the accommodation space in the truck cargo compartment is also in the shape of a rectangular solid, the truck cargo compartment is relatively long, and the goods in the present application are also in the shape of a box, which contains many articles, and the height of the goods is also relatively high, slightly lower than the truck cargo compartment.

[0043] Specifically, in S2, the goods coordinate A of the goods in the truck cargo compartment that needs to be taken is obtained. Before step S2, the pre-set steps are: establishing a coordinate with the center point of the bottom wall of the truck cargo compartment, and locating the coordinate position of the goods in the truck cargo compartment, that is, each cargo compartment has a unique coordinate value, and the coordinates of the goods are located after loading.

[0044] Specifically, in S3, the mobile robot is controlled to move into the warehouse, a first coordinate point B of the mobile robot is located, and a second coordinate point C in the warehouse is randomly obtained, that is, the first coordinate point B is a coordinate point of the mobile robot in the warehouse, and the second coordinate point C is an arbitrary point in the warehouse, wherein the mobile robot is controlled to move into the warehouse in particular as follows: the conveying mechanism is controlled to move into the warehouse, and the mobile robot is controlled to move on the conveying mechanism, so that the mobile robot moves into the warehouse through the conveying mechanism, that is, one end of the conveying mechanism is telescopic and can be extended into the warehouse.

[0045] Specifically, in S4, the distance between the first coordinate point B and the cargo coordinate A is calculated, and the distance between the second coordinate point C and the cargo coordinate A is calculated, and it is determined whether the cargo coordinate A is closer from the first coordinate point B to the second coordinate point C or from the second coordinate point C to the first coordinate point B according to the calculation results.

[0046] Specifically, in S5, if it is determined that the cargo coordinate A is closer from the first coordinate point B to the second coordinate point C, a laser emitter of the mobile robot is used to emit laser to measure the distance between the mobile robot and the side of the warehouse, and the mobile robot is controlled to move along a first direction according to the distance, wherein the first direction is a direction parallel to a first side of the warehouse, that is, the first side can be one of the two side surfaces of the warehouse. It is worth noting that when the first direction in which the mobile robot moves has an obstacle, the mobile robot will move along a second direction for a distance, so as to determine that the first direction in which the mobile robot moves has no obstacle, and then the laser emitter of the mobile robot re-emits laser to measure another distance between the mobile robot and the side of the warehouse, and the mobile robot is controlled to move along the first direction according to the other distance.

[0047] Specifically, in S6, the mobile robot continuously obtains new coordinate points during movement, and calculates whether the distance between the new coordinate points and the cargo coordinate A is gradually smaller, if so, the movement continues, if the distance gradually increases, the mobile robot returns along the original path and stops at the nearest point.

[0048] Specifically, in S7, when the mobile robot stops at the nearest point, the moving direction of the mobile robot is changed, and the mobile robot moves along a second direction until it stops at the nearest distance from the cargo coordinate A, and performs a picking operation, and then returns along the original path after the picking operation is completed, wherein the nearest point is a coordinate point closest to the cargo coordinate A, and the second direction is a direction parallel to a second side of the warehouse, and the second side is a bottom side of the warehouse, that is, the first side and the second side are perpendicular.

[0049] It can be understood that when picking up the goods, first find the coordinates A of the goods, and at the same time locate the coordinates B of the mobile robot, and also randomly locate a coordinate C. By calculating the first coordinate point B-second coordinate point C direction as the direction close to the coordinate A, the distance L1 between the mobile robot and the first side of the goods warehouse is calculated. According to the distance L1 between the mobile robot and the first side, move along the first direction, when moving to the obstacle D, move a little distance along the second direction, recalculate the distance L2 between the mobile robot and the first side, and continue to move along the first direction according to the distance L2 between the forklift and the first side. When moving along the first direction to the closest coordinate A, change the moving direction, and calculate the distance H1 between the forklift and the second side. According to the distance H1 between the forklift and the second side, move along the second direction H1 to the coordinate A. The mobile robot will pick up the goods and return along the original path.

[0050] Embodiment 1

[0051] The mobile robot can be an intelligent forklift. When the mobile robot is an intelligent forklift, the goods are lifted by the intelligent forklift and returned along the original path. Further, the mobile robot can also be a mobile vehicle with a clamp. When the mobile robot is a mobile vehicle with a clamp, the goods can be clamped by the clamp of the mobile vehicle. When the mobile robot is an intelligent forklift, the bottom of the goods of the forklift is provided with a pallet, and the pallet is provided with a socket (i.e. the cross section of the pallet is in the shape of M). Therefore, when the intelligent forklift picks up the goods, the fork arm of the intelligent forklift is inserted into the socket of the pallet at the bottom of the goods, and the pallet is lifted after insertion to take away the goods. In addition, when the intelligent forklift moves to the closest point of the goods, the method further comprises: identifying the position of the pallet and identifying the socket of the pallet by the intelligent forklift (by identifying whether the surface of the pallet is in the shape of M). That is, the fork arm of the intelligent forklift is provided with a scanner, which can scan whether there is a pallet (such as scanning that there is an object in the shape of M to determine that it is a pallet, and further determining whether the insertion direction of the fork arm of the forklift and the depth direction of the socket of the pallet are in the same straight line direction when it is determined that it is a pallet). At the same time, after identifying the socket of the pallet, it is adjusted whether the fork arm of the intelligent forklift corresponds to the socket of the pallet, so that the insertion direction of the fork arm of the forklift and the depth direction of the socket of the pallet are in the same straight line, thereby facilitating the smooth insertion of the fork arm into the socket.

[0052] Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can modify the technical solutions described in the foregoing embodiments or make equivalent replacements to some of the technical features, as long as they are within the spirit and principles of the present application. Any modification, equivalent replacement, improvement, etc. made within the scope of the present application shall be included in the protection scope of the present application.

Claims

1. A laser ranging logistics robot picking system based on a truck cargo warehouse, comprising a mobile robot, a picking system, and a robot picking method, characterized in that: The mobile robot is equipped with a laser emitter. The cargo retrieval system includes a preset module (10), a detection module (11), an identification module (12), a cargo information acquisition module (13), a conveying mechanism module (14), a positioning module (15), a calculation module (16), a distance detection module (17), a first control module (18), a correction module (19), and a second control module (20). The steps of the robot cargo retrieval method are as follows: S1: When a truck arrives at the designated logistics point, obtain the truck identification code of the truck and parse out the goods that the truck corresponding to the truck identification code needs to release at the designated logistics point; S2: Obtain the coordinates A of the goods to be picked up in the cargo hold of the truck; S3: Control the mobile robot to move into the warehouse, locate the robot's first coordinate point B, and randomly obtain the second coordinate point C in the warehouse; S4: Calculate the distance between the first coordinate point B and the cargo coordinate A, and calculate the distance between the second coordinate point C and the cargo coordinate A. Based on the calculation results, determine whether the direction from the first coordinate point B to the second coordinate point C is closer to the cargo coordinate A or the direction from the second coordinate point C to the first coordinate point B is closer to the cargo coordinate A. S5: If it is determined that the direction from the first coordinate point B to the second coordinate point C is closer to the cargo coordinate A, then the laser emitter of the mobile robot is used to emit a laser to measure the distance between the mobile robot and the side of the warehouse, and the mobile robot is controlled to move along the first direction according to the distance. S6: During the movement, continuously acquire new coordinate points and calculate whether the distance between the new coordinate point and the cargo coordinate A is gradually decreasing. If so, continue moving. If the distance is gradually increasing, let the mobile robot return along the original path and stop at the nearest point. S7: When the mobile robot stops at the nearest point, change the direction of movement of the mobile robot and move in the second direction until it is closest to the cargo coordinate A before stopping and performing the cargo retrieval operation. After the cargo retrieval is completed, return along the original route.

2. The laser ranging logistics robot picking system based on a truck cargo warehouse according to claim 1, characterized in that: The preset module (10) is used to establish coordinates based on the center point of the bottom wall of the truck's cargo compartment and locate the coordinate position of the goods in the cargo compartment. That is, each cargo compartment has a unique coordinate value, and the coordinates of these goods are located after loading. The detection module (11) is used to detect whether a truck has arrived at the predetermined logistics point. The identification module (12) is used to obtain the truck identification code of the truck when a truck is detected to have arrived at the predetermined logistics point, and to parse out the goods that the truck corresponding to the truck identification code needs to release at the predetermined logistics point. The goods information acquisition module (13) is used to obtain the coordinates of the goods that need to be picked up in the cargo compartment of the truck. A. The conveying mechanism module (14) is used to control the mobile robot to move on the conveying mechanism so that the mobile robot moves into the warehouse through the conveying mechanism. One end of the conveying mechanism is retractable and can extend into the warehouse. The positioning module (15) is used to locate the first coordinate point B of the mobile robot after determining that the mobile robot has moved into the warehouse, and randomly obtain the second coordinate point C in the warehouse. The first coordinate point B is the coordinate point of the mobile robot on the truck, and the second coordinate point C is any point in the warehouse of the truck. The calculation module (16) is used to calculate the distance between the first coordinate point B and the cargo coordinate A, and to calculate the distance between the second coordinate point C and the cargo coordinate A. The distance is calculated, and the result is used to determine whether the direction from the first coordinate point B to the second coordinate point C is closer to the cargo coordinate A or the direction from the second coordinate point C to the first coordinate point B is closer to the cargo coordinate A. The distance detection module (17) is used to emit a laser to measure the distance between the mobile robot and the side of the warehouse when it is determined that the direction from the first coordinate point B to the second coordinate point C is closer to the cargo coordinate A. The first control module (18) is used to control the mobile robot to move along the first direction according to the distance. The correction module (19) is used to continuously acquire new coordinate points during the movement and calculate whether the distance between the new coordinate point and the cargo coordinate A is gradually decreasing. If so, the movement continues. If the distance gradually increases, the mobile robot will return along the original path and stop at the nearest point. The second control module (20) is used to change the direction of movement of the mobile robot when it stops at the nearest point and move in the second direction until it stops at the closest distance to the cargo coordinate A and performs the picking operation. After picking up the cargo, it returns along the original path. When the mobile robot is an intelligent forklift, the bottom of the cargo of the truck is equipped with a pallet. The pallet is equipped with a socket, that is, the cross-section of the pallet is M-shaped. Therefore, when the intelligent forklift picks up the cargo, it controls the fork arm of the intelligent forklift to insert into the socket of the pallet at the bottom of the cargo and lifts the pallet after insertion to take away the cargo.In addition, when the intelligent forklift moves to the nearest point of the goods, the method further includes: identifying the position of the pallet and the pallet's insertion hole through the intelligent forklift; identifying whether the pallet's surface is M-shaped, that is, the intelligent forklift's fork arm is equipped with a scanner that can scan for the presence of a pallet; if an M-shaped object is scanned, it is identified as a pallet; when it is identified as a pallet, it is further determined whether the insertion direction of the forklift's fork arm is in the same straight line as the depth direction of the pallet's insertion hole; simultaneously, after identifying the pallet's insertion hole, the intelligent forklift's fork arm is adjusted to align with the pallet's insertion hole, so that the insertion direction of the forklift's fork arm is in the same straight line as the depth direction of the pallet's insertion hole, thereby facilitating the smooth insertion of the fork arm into the insertion hole.

3. The laser ranging logistics robot picking system based on a truck cargo warehouse according to claim 1, characterized in that: In step S1, when a truck arrives at a predetermined logistics point, the truck identification code of the truck is obtained, and the goods that the truck corresponding to the truck identification code needs to unload at the predetermined logistics point are parsed out. That is, every time a truck arrives, there are specific goods that need to be unloaded. Therefore, each truck unloads different goods at different logistics points.

4. The laser ranging logistics robot picking system based on a truck cargo warehouse according to claim 1, characterized in that: In step S2, the coordinates A of the goods to be picked up in the cargo compartment of the truck are obtained. Before step S2, the following steps are set in advance: establish coordinates with the center point of the bottom wall of the truck cargo compartment and locate the coordinate position of the goods in the truck cargo compartment.

5. The laser ranging logistics robot picking system based on a truck cargo warehouse according to claim 1, characterized in that: In step S3, by controlling the mobile robot to move into the warehouse, the first coordinate point B of the mobile robot is located, and the second coordinate point C in the warehouse is randomly obtained. That is, the first coordinate point B is the coordinate point of the mobile robot on the truck, and the second coordinate point C is any point in the warehouse of the truck. Specifically, controlling the mobile robot to move into the warehouse involves controlling the conveying mechanism to move into the warehouse and controlling the mobile robot to move on the conveying mechanism so that the mobile robot moves into the warehouse through the conveying mechanism.

6. The laser ranging logistics robot picking system based on a truck cargo warehouse according to claim 1, characterized in that: In step S4, the distance between the first coordinate point B and the cargo coordinate A and the distance between the second coordinate point C and the cargo coordinate A are calculated. The calculation results are used to determine whether the direction from the first coordinate point B to the second coordinate point C is closer to the cargo coordinate A or the direction from the second coordinate point C to the first coordinate point B is closer to the cargo coordinate A.

7. The laser ranging logistics robot picking system based on a truck cargo warehouse according to claim 1, characterized in that: In step S5, if it is determined that the direction from BC is closer to the cargo coordinate A, the laser emitter of the mobile robot emits a laser to measure the distance between the mobile robot and the side of the warehouse, and controls the mobile robot to move along the first direction according to the distance. The first direction is the direction parallel to the first side of the warehouse, that is, the first side can be one of the two sides of the warehouse. When there is an obstacle in the first direction in which the mobile robot moves, the mobile robot will move a distance along the second direction. When it is determined that there is no obstacle in the first direction in which the mobile robot moves, the laser emitter of the mobile robot emits a laser again to measure another distance between the mobile robot and the side of the warehouse, and controls the mobile robot to move along the first direction according to the other distance.

8. The laser ranging logistics robot picking system based on a truck cargo warehouse according to claim 1, characterized in that: In step S6, the mobile robot continuously acquires new coordinate points during its movement and calculates whether the distance between the new coordinate point and the cargo coordinate A is gradually decreasing. If so, it continues to move; if the distance is gradually increasing, the mobile robot returns along the original path and stops at the nearest point.

9. The laser ranging logistics robot picking system based on a truck cargo warehouse according to claim 1, characterized in that: In step S7, when the mobile robot stops at the nearest point, it changes its direction of movement and moves in the second direction until it is closest to the cargo coordinate A before stopping and performing a pickup operation. After pickup, it returns along the original path. The nearest point is the coordinate point closest to the cargo coordinate A, and the second direction is the direction parallel to the second side of the warehouse. The second side is the bottom side of the warehouse, that is, the first side is perpendicular to the second side.

Images