Container taking and placing method and device

Abstract

The present application provides a container picking and placing method and device, wherein the container picking and placing method is applied to a container picking and placing device, the container picking and placing device includes a container picking and placing component and an image acquisition device, and the method includes: the container picking and placing device determines a target container in response to a container picking and placing instruction, and moves to a target storage position corresponding to the target container; controls the container picking and placing component to move to a first position, and starts to perform a picking and placing operation for the target container at the first position, and there is a preset height difference between the first position and the target storage position; performs image acquisition on the target container based on the image acquisition device, and determines the current position of the target container according to the image acquisition result; when the current position is at the preset position, adjusts the container picking and placing component to a second position, controls the container picking and placing component to perform a picking and placing operation for the target container at the second position, until the container picking and placing instruction is completed, and there is a target height difference between the second position and the target storage position, and the target height difference is less than the preset height difference.

Description

Technical Field

[0001] The present application relates to the field of storage technology, and in particular to a container picking and placing method. The present application also relates to a container picking and placing device, a computing device, and a computer-readable storage medium. Background Art

[0002] In warehousing application scenarios, different robots are usually configured to work in the storage area. For example, a handling robot is configured to carry goods and boxes, and a sorting robot is configured to sort goods. The pick-and-place operation of the box is generally completed by the box robot. In the process of performing the task, the box robot needs to take the box from the shelf and place it in its own fork, or put the box from its own fork back to the shelf. In actual applications, when moving the box, there will be a certain height difference between the shelf and the fork of the box robot itself to ensure that the box can be moved between the shelf and the fork.

[0003] When moving the material box from a high position to a low position, due to the height difference, when the rear part of the material box is completely separated from the starting device, the weight of the material box will be all pressed on the receiving device, causing greater noise and vibration. The accumulation of vibration may cause the position and angle of the adjacent material box to shift, resulting in subsequent failure to be removed normally. Summary of the invention

[0004] In view of this, the embodiment of the present application provides a container picking and placing method. The present application also relates to a container picking and placing device, a computing device, and a computer-readable storage medium to solve the above problems existing in the prior art.

[0005] According to a first aspect of an embodiment of the present application, a container picking and placing method is provided, which is applied to a container picking and placing device, wherein the container picking and placing device includes a container picking and placing component and an image acquisition device, and the method includes:

[0006] The container picking and placing device determines a target container in response to a container picking and placing instruction, and moves to a target storage location corresponding to the target container;

[0007] Controlling the container picking and placing component to move to a first position, and starting to perform a picking and placing operation on the target container at the first position, wherein there is a preset height difference between the first position and the target storage position;

[0008] Capturing an image of the target container using an image acquisition device, and determining a current position of the target container according to the image acquisition result;

[0009] When the current position is at the preset position, the container picking and placing component is adjusted to a second position, and the container picking and placing component is controlled to perform a picking and placing operation on the target container at the second position until the container picking and placing instruction is completed, wherein there is a target height difference between the second position and the target storage position, and the target height difference is less than the preset height difference.

[0010] According to a second aspect of an embodiment of the present application, a container picking and placing device is provided, which is applied to a container picking and placing device. The container picking and placing device includes a container picking and placing component and an image acquisition device. The device includes:

[0011] A moving module, configured to cause the container picking and placing device to determine a target container in response to a container picking and placing instruction, and to move the target container to a target storage location corresponding to the target container;

[0012] A first pick-and-place module is configured to control the container pick-and-place component to move to a first position and start to perform a pick-and-place operation for the target container at the first position, wherein there is a preset height difference between the first position and the target storage position;

[0013] A collection module, configured to collect images of the target container based on an image collection device, and determine a current position of the target container according to the image collection result;

[0014] The second pick-and-place module is configured to adjust the container pick-and-place component to a second position when the current position is at a preset position, and control the container pick-and-place component to perform a pick-and-place operation on the target container at the second position until the container pick-and-place instruction is completed, wherein there is a target height difference between the second position and the target storage position, and the target height difference is less than the preset height difference.

[0015] According to a third aspect of an embodiment of the present application, a computing device is provided, comprising a memory, a processor, and computer instructions stored in the memory and executable on the processor, wherein the processor implements the steps of the container picking and placing method when executing the computer instructions.

[0016] According to a fourth aspect of an embodiment of the present application, a computer-readable storage medium is provided, which stores computer instructions, and when the computer instructions are executed by a processor, the steps of the container picking and placing method are implemented.

[0017] The container picking and placing method provided in the present application is applied to a container picking and placing device, wherein the container picking and placing device includes a container picking and placing component and an image acquisition device, and the method includes: the container picking and placing device determines a target container in response to a container picking and placing instruction, and moves to a target storage position corresponding to the target container; controls the container picking and placing component to move to a first position, and starts to perform a picking and placing operation for the target container at the first position, wherein there is a preset height difference between the first position and the target storage position; performs image acquisition on the target container based on the image acquisition device, and determines the current position of the target container according to the image acquisition result; when the current position is at the preset position, adjusts the container picking and placing component to a second position, controls the container picking and placing component to perform a picking and placing operation for the target container at the second position, until the container picking and placing instruction is completed, wherein there is a target height difference between the second position and the target storage position, and the target height difference is less than the preset height difference.

[0018] An embodiment of the present application can detect the position of the container in real time during the process of moving the container from a high position to a low position, thereby adjusting the height of the container picking and placing component according to the position of the container, reducing the height difference between the container picking and placing component and the target storage position, thereby reducing the vibration caused by the container hitting the container carrier due to the height difference between the container picking and placing component and the target storage position. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is an application scenario diagram of a container picking and placing method provided by an embodiment of the present application;

[0020] Figure 2 is a flow chart of a container picking and placing method provided by an embodiment of the present application;

[0021] Figure 3 It is a scene processing schematic diagram of a container picking and placing method provided by an embodiment of the present application;

[0022] Figure 4 It is a schematic diagram of scene processing of another container picking and placing method provided by an embodiment of the present application;

[0023] Figure 5 It is a structural schematic diagram of a container picking and placing device provided in one embodiment of the present application;

[0024] Figure 6 This is a processing flow chart of a container picking and placing method applied to a warehousing scenario provided by an embodiment of the present application;

[0025] Figure 7 It is a processing flow chart of another container picking and placing method applied to a warehousing scenario provided by an embodiment of the present application;

[0026] Figure 8 It is a structural schematic diagram of a container picking and placing device provided in one embodiment of the present application;

[0027] Fig. 9 It is a structural block diagram of a computing device provided in one embodiment of the present application.

[0028] Reference numerals:

[0029] (1) Chassis components;

[0030] (2) Gantry assembly;

[0031] (3) Pick up and place components;

[0032] (31) base;

[0033] (32) Container access components;

[0034] (4) Support components. DETAILED DESCRIPTION

[0035] Many specific details are described in the following description to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar generalizations without violating the connotation of the present application, so the present application is not limited by the specific implementation disclosed below.

[0036] The terms used in one or more embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit one or more embodiments of the present application. The singular forms of "a", "said" and "the" used in one or more embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used in one or more embodiments of the present application refers to and includes any or all possible combinations of one or more associated listed items.

[0037] It should be understood that, although the terms first, second, etc. may be used to describe various information in one or more embodiments of the present application, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of one or more embodiments of the present application, the first may also be referred to as the second, and similarly, the second may also be referred to as the first. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0038] First, the terms involved in one or more embodiments of the present application are explained.

[0039] Material box robot: a warehouse robot that uses material boxes as operating units.

[0040] In actual application scenarios, the picking and placing operations of material boxes are usually completed by material box robots. When performing tasks, material box robots often need to take material boxes from the shelf to their own forks, or put the material boxes from the forks back to the shelf. Because there is a gap between the forks and the shelf, considering the deformation of the material box or the result of the shelf, generally when moving the material box, there will be a certain height difference between the shelf and the forks to ensure that the material box can move between the shelf and the forks. Generally speaking, the original position of the material box is slightly higher than the target position. Therefore, when taking the material box from the shelf, the height of the forks should be lower than the height of the shelf; when putting the material box on the shelf, the height of the forks should be higher than the height of the shelf.

[0041] When moving a material box from a high position to a low position, due to the height difference, when the rear of the material box is completely separated from the starting device, the weight of the material box will be completely pressed on the receiving device, causing greater noise and vibration. The vibration of the shelf will be transmitted to the material box next to it. The accumulation of vibration may cause the position and angle of the material box next to it to shift, resulting in the subsequent inability to be taken out normally.

[0042] In the present application, a container picking and placing method is provided. The present application also relates to a container picking and placing device, a computing device, and a computer-readable storage medium, which are described in detail one by one in the following embodiments.

[0043] See also Figure 1 , Figure 1 The following diagram shows an application scenario of a container picking and placing method provided according to an embodiment of the present application. Taking the storage scenario as an example, combined with Figure 1 A container picking and placing method provided in one embodiment of the present application is explained. In the warehousing scenario, the container picking and placing equipment is a material box robot, the container picking and placing component is a fork, the target container is the material box, and the target storage position is the storage position or cache position on the shelf corresponding to the material box.

[0044] Specifically, when the material box robot receives a pick-and-place task for a material box, it first needs to determine the material box to be picked up and placed, and move to the shelf corresponding to the material box. Figure 1 h) controls the fork of the material box robot to be lowered from the height of the storage position or cache position corresponding to the material box to the first position (i.e. Figure 1The robot can detect the height of the fork during the process of picking up the material box (as shown in the figure), and control the fork to move the material box from the storage position or the cache position to the fork at the first position. During the movement, the material box robot can capture images of the material box through its own installed image acquisition device to determine the position of the material box during the movement according to the image acquisition results. If it is determined that the front end of the material box has entered the fork, at this time, in order to reduce the vibration caused by the height difference between the shelf and the fork, the material box robot can raise the height of the fork to reduce the height difference between the shelf and the fork, until the height difference between the fork and the shelf is very small, or the height of the fork is slightly higher than the height of the shelf, then stop raising the fork.

[0045] During the process of raising the height of the fork, the material box can be continuously moved to the fork, or the material box can be continuously moved to the fork after the height of the fork is stopped. When the material box is completely moved to the fork, the task of taking the material box is completed.

[0046] When the material box robot performs the task of returning the material box, the material box robot Figure 1 h) controls the fork of the material box robot to rise from the height of the storage position or cache position corresponding to the material box to the first position (i.e. Figure 1 The material box robot can also detect the height of the holding fork during the material box loading process (as shown in the figure), and control the holding fork to move the material box from the holding fork to the storage position or cache position in the first position. During the movement, the material box robot can also use its own installed image acquisition device to capture images of the material box, so as to determine the position of the material box during the movement according to the image acquisition results. If it is determined that the front end of the material box has entered the storage position or cache position, at this time, in order to reduce the vibration caused by the height difference between the shelf and the holding fork, the material box robot can lower the height of the holding fork so that the height difference between the shelf and the holding fork is reduced, until the height difference between the holding fork and the shelf is very small, or the height of the holding fork is slightly lower than the height of the shelf, then stop lowering the holding fork.

[0047] While lowering the fork height, you can continue to move the box to the shelf, or you can stop lowering the fork height and continue to move the box to the shelf. When the box is completely moved to the shelf, the task of returning the box is completed.

[0048] The container picking and placing method provided by the present application can detect the position of the container in real time during the process of moving the container from a high position to a low position, thereby adjusting the height of the container picking and placing component according to the position of the container, reducing the height difference between the container picking and placing component and the target storage position, thereby reducing the vibration caused by the container hitting the container carrier due to the height difference between the container picking and placing component and the target storage position.

[0049] Figure 2A flow chart of a container picking and placing method provided according to an embodiment of the present application is shown. The container picking and placing method is applied to a container picking and placing device, and the container picking and placing device includes a container picking and placing component and an image acquisition device, and specifically includes the following steps:

[0050] Step 202: The container picking and placing device determines a target container in response to a container picking and placing instruction, and moves to a target storage location corresponding to the target container.

[0051] In actual applications, whether it is goods out of the warehouse, goods in the warehouse, or sorting the inventory of goods, it will involve the storage or removal of material boxes. When performing the sorting task of the material boxes, the corresponding material box sorting task is generally performed by the material box robot.

[0052] Among them, the container picking and placing device refers to an intelligent mobile device that performs storage or retrieval tasks on containers. The container picking and placing device can be a material box robot, or other intelligent mobile devices that have the function of picking and placing containers.

[0053] Container placement instructions refer to instructions for executing placement operations on containers, including container storage instructions and container extraction instructions. Container storage instructions refer to operation instructions for storing containers in corresponding storage locations; container extraction instructions refer to operation instructions for extracting containers from corresponding target storage locations.

[0054] The target container refers to the container that needs to be picked and placed. The target container can be an inventory container, that is, a container located in the inventory area for storing goods; it can be an order container, that is, a container located in the seed wall for storing goods hit by the order; it can be a temporary storage container, that is, a container for temporarily storing goods taken from the shelf, etc. The specific type of the target container needs to be determined according to the actual application business scenario. For example, if the business scenario is a goods picking scenario, the target container can be an order container or an inventory container.

[0055] The target storage location refers to the storage location for storing the target container. Corresponding to the type of the target container, if the target container is an inventory container, the target storage location is a storage location or a cache location on a shelf for storing the inventory container; if the target container is an order container, the target storage location is a storage location on a seeding wall for storing the order container; if the target container is a temporary storage container, the target storage location is a temporary storage location on a temporary storage shelf for temporarily storing the temporary storage container, etc.

[0056] Specifically, after receiving the container pick-and-place instruction, the container pick-and-place device needs to determine the target container on which the pick-and-place operation needs to be performed according to the container pick-and-place instruction, and move to the target storage location corresponding to the target container, so as to perform the pick-and-place operation for the container pick-and-place instruction on the target container.

[0057] In a specific embodiment provided in the present application, the container picking and placing device determines a target container in response to a container picking and placing instruction, and moves to a target storage location corresponding to the target container, including:

[0058] The container pick-and-place device determines a target container and a target storage location corresponding to the target container in response to a container pick-and-place instruction, and moves to a target container carrier corresponding to the target storage location;

[0059] The container picking and placing component is controlled to move to an initial position corresponding to the target storage position.

[0060] The target container carrier refers to a shelf, temporary storage rack or seed wall corresponding to the target storage location. The initial position refers to an operation position corresponding to the target storage location, and the height of the initial position is the same as or slightly different from the height of the target storage location.

[0061] Specifically, after receiving the container picking and placing instruction, the container picking and placing device responds to the container picking and placing instruction, determines the target container on which the picking and placing operation needs to be performed, and the target storage position corresponding to the target container, and then moves to the target container carrier corresponding to the target storage position, and controls the container picking and placing component to move to the initial position corresponding to the target storage position.

[0062] Take the container picking and placing device as a material box robot, and the target container as a material box stored on a shelf in the inventory area as an example. The material box robot receives the container picking and placing instruction, determines the material box that needs to be picked and placed according to the container picking and placing instruction, and the storage position for storing the material box, and then moves to the shelf corresponding to the storage position, and controls the fork to move to the initial position corresponding to the storage position, so as to perform subsequent picking and placing operations on the material box.

[0063] The container picking and placing method provided in the present application is applied to a container picking and placing device. The container picking and placing device receives a container picking and placing instruction, determines a target container and a target storage position corresponding to the target container, and then moves to an initial position corresponding to the target storage position, so as to perform subsequent picking and placing operations on the target container.

[0064] Step 204: Control the container picking and placing component to move to a first position, and start to perform a picking and placing operation for the target container at the first position, wherein there is a preset height difference between the first position and the target storage position.

[0065] The first position refers to the height of the position at which the container pick-up and placement component performs a pick-up and placement operation on the target container based on a preset height difference. The preset height difference refers to the difference between the preset height of the first position and the height of the target storage position, and the preset height difference can be a positive value or a negative value. If the preset height difference is a positive value, it means that the height of the first position is higher than the height of the target storage position; if the preset height difference is a negative value, it means that the height of the first position is lower than the height of the target storage position.

[0066] In practical applications, the height of the first position is determined according to different container placement scenarios. For example, for a container storage scenario, in order to allow the container to be smoothly stored in the corresponding storage location, the height of the first position can be made higher than the height of the storage location; for a container removal scenario, the height of the first position can be made lower than the height of the storage location.

[0067] In a specific embodiment provided in the present application, the container access instruction includes a container storage instruction;

[0068] Controlling the container pick-up and placement component to move to a first position includes:

[0069] Get the preset height difference;

[0070] A first position is determined according to the preset height difference and the initial position, and the container picking and placing component is controlled to rise from the initial position to the first position.

[0071] Specifically, in the case where the container pick-and-place instruction is a container storage instruction, that is, the container pick-and-place device needs to respond to the container storage instruction and store the target container from the container pick-and-place component to the corresponding target storage position. After the container pick-and-place device moves to the initial position corresponding to the target storage position in response to the container storage instruction, it needs to obtain a preset height difference and control the container pick-and-place component to rise from the initial position to the first position according to the preset height difference, so that the container pick-and-place component can smoothly push the target container to the target storage position.

[0072] After the container picking and placing component is raised to the first position, the container picking and placing component can be controlled to perform a storage operation on the target container at the first position, that is, to push the target container to a target storage position corresponding to the target container at the first position.

[0073] In a specific embodiment provided in the present application, performing a pick-and-place operation on the target container at the first position includes:

[0074] The container picking and placing component is controlled to be at the first position, and the target container is moved from the container picking and placing component to the target storage position.

[0075] After the container picking and placing device controls the container picking and placing component to rise to the first position, the container picking and placing component can be controlled to move the target container from the container picking and placing component to the target storage position.

[0076] It should be noted that, in the process of the container picking and placing component moving the target container from the container picking and placing component to the target storage location at the first position, the target container is not directly and completely moved to the target storage location.

[0077] Correspondingly, in the application scenario of container removal, the container placement instruction is the container removal instruction, and the specific implementation method is as follows:

[0078] In another specific embodiment provided in the present application, the container placement instruction includes a container removal instruction;

[0079] Controlling the container pick-up and placement component to move to a first position includes:

[0080] Get the preset height difference;

[0081] A first position is determined according to the preset height difference and the initial position, and the container picking and placing component is controlled to be lowered from the initial position to the first position.

[0082] Specifically, in the case where the container pick-up and placement instruction is a container extraction instruction, that is, the container pick-up and placement device needs to respond to the container extraction instruction, extract the target container from the target storage location and place it in the container pick-up and placement component. After the container pick-up and placement device moves to the initial position corresponding to the target storage location in response to the container extraction instruction, it needs to obtain a preset height difference, and control the container pick-up and placement component to lower from the initial position to the first position according to the preset height difference, so that the container pick-up and placement component can smoothly extract the target container from the target storage location.

[0083] After the container picking and placing component is lowered to the first position, the container picking and placing component can be controlled to perform a taking-out operation on the target container at the first position, that is, taking the target container out from the target storage position corresponding to the target container at the first position and placing it into the container picking and placing component.

[0084] Accordingly, in another specific embodiment provided in the present application, performing a pick-and-place operation on the target container at the first position includes:

[0085] The container picking and placing component is controlled to be at the first position, and the target container is moved from the target storage position to the container picking and placing component.

[0086] After the container picking and placing device controls the container picking and placing component to be lowered to the first position, the container picking and placing component can be controlled to move the target container from the target storage position to the container picking and placing component.

[0087] It should be noted that, in the process of the container picking and placing component moving the target container from the target storage position to the container picking and placing component at the first position, the target container is not directly and completely moved to the container picking and placing component.

[0088] The container picking and placing method provided in the present application can determine the operating position height to which the container picking and placing component needs to be moved according to the specific business scenario, i.e., the container storage scenario or the container retrieval scenario, and start the picking and placing operation on the target container at the corresponding operating position height.

[0089] Step 206: Capture an image of the target container using an image acquisition device, and determine the current position of the target container according to the image acquisition result.

[0090] After the container picking and placing component reaches the first position and starts to perform the corresponding container picking and placing operation on the target container at the first position, it is necessary to detect the position of the target container and adjust the position of the container picking and placing component according to the position of the target container to reduce the vibration generated by the target container.

[0091] The image acquisition device refers to a device with image acquisition function used to acquire images of the target container during movement, such as a camera, a panoramic camera, a pinhole camera, a camera, etc. The image acquisition device is installed on the container pick-and-place device.

[0092] The image acquisition result refers to the image of the target container in the moving process acquired by the image acquisition device. The image acquisition result may include one target container image or multiple target container images.

[0093] The current position is the position of the target container based on the image acquisition result obtained by the image acquisition device at the current moment. For example, the target container is imaged at time t1 using a camera, and the position of the target container determined based on the target container image at time t1 is the current position of the target container.

[0094] In a specific implementation provided in the present application, an image acquisition device is used to acquire an image of the target container, and according to the image acquisition result, the current position of the target container is determined, including:

[0095] Capturing an image of the target container based on an image acquisition device to obtain a position image of the target container;

[0096] The current position of the target container is determined according to the position image.

[0097] The position image refers to an image of each position of the target container during movement acquired by an image acquisition device.

[0098] Specifically, after the container picking and placing device controls the container picking and placing component to start performing the corresponding picking and placing operation on the target container at the first position, the image acquisition device installed in the container picking and placing device can be used to detect the position of the target container in real time, that is, based on the image acquisition device, the image of the target container is acquired, so that one or more position images of the target container can be obtained. According to the position image of the target container, the position of the target container at each time is determined.

[0099] The container picking and placing method provided in the present application can realize image acquisition of the target container by using the image acquisition device of the container picking and placing device, so as to obtain the moving position information of the target during the picking and placing operation.

[0100] Step 208: When the current position is at the preset position, adjust the container picking and placing component to a second position, and control the container picking and placing component to perform a picking and placing operation on the target container at the second position until the container picking and placing instruction is completed, wherein there is a target height difference between the second position and the target storage position, and the target height difference is less than the preset height difference.

[0101] The position of the target container is detected by an image acquisition device to determine whether the position height of the container picking and placing component needs to be adjusted to reduce the preset height difference between the target storage position and the container picking and placing component.

[0102] The preset position refers to the target container arrival position preset in the target storage position or container pick-and-place component. The preset position can be one-fourth, one-third, etc. of the target storage position or container pick-and-place component. The size of the preset position can be set according to the actual application situation, and this application does not limit it here.

[0103] The second position refers to the height of the position at which the container pick-and-place component performs a pick-and-place operation on the target container based on the target height difference. The target height difference refers to the difference between the height of the second position and the height of the target storage position, and the target height difference is less than the preset height difference. The target height difference can be positive, negative, or zero. If the target height difference is positive, it means that the height of the second position is slightly higher than the height of the target storage position; if the target height difference is negative, it means that the height of the second position is slightly lower than the height of the target storage position; if the target height difference is zero, it means that the height of the second position is the same as the height of the target storage position.

[0104] In practical applications, the height of the second position is determined according to different container placement scenarios. For example, for a container storage scenario, in order to allow the container to be smoothly stored in the corresponding storage location, the height of the second position can be made the same as the height of the target storage location, or slightly lower than the height of the storage location; for a container removal scenario, the height of the second position can be made the same as the height of the target storage location, or slightly higher than the height of the storage location.

[0105] In a specific embodiment provided in the present application, when the container pick-up and placement instruction includes a container storage instruction, the preset position is a preset position corresponding to the target storage position;

[0106] When the current position is at the preset position, adjusting the container pick-up and placement component to a second position, and controlling the container pick-up and placement component to perform a pick-up and placement operation on the target container at the second position, includes:

[0107] When the current position is located at a preset position corresponding to the target storage position, controlling the container picking and placing component to be lowered from the first position to a second position;

[0108] The container picking and placing component is controlled to be at the second position, and the target container is moved from the container picking and placing component to the target storage position.

[0109] The preset position corresponding to the target storage location is the target container arrival position preset in the target storage location. The preset position corresponding to the target storage location may be one quarter, one third, etc. of the target storage location.

[0110] Specifically, in the case where the container pick-and-place instruction is a container storage instruction, that is, the container pick-and-place device needs to respond to the container storage instruction and store the target container from the container pick-and-place component to the corresponding target storage position. After the container pick-and-place device obtains the current position of the target container, if it is determined that the target container has reached the preset position corresponding to the target storage position, for example, the front end of the target container has entered the position of one-third of the target storage position, the container pick-and-place device can control the container pick-and-place component to be lowered from the first position to the second position, and control the container pick-and-place component in the second position to continue to move the target container from the container pick-and-place component to the target storage position.

[0111] Further, in a specific embodiment provided in the present application, controlling the container placing and retrieving component to be at the second position and moving the target container from the container placing and retrieving component to the target storage position includes:

[0112] During the process of lowering the container placing and retrieving component from the first position to the second position, moving the target container from the container placing and retrieving component to the target storage position; or

[0113] After the container picking and placing component is lowered from the first position to the second position, the target container is moved from the container picking and placing component to the target storage location.

[0114] Specifically, in order to improve the efficiency of container storage, during the process of the container picking and placing device controlling the container picking and placing component to be lowered from the first position to the second position, the container picking and placing component can be continuously controlled to move the target container from the container picking and placing component to the target storage position until the target container completely enters the target storage position, and the container storage task is completed.

[0115] In order to more accurately reduce the height difference between the target storage position and the second position (i.e., the target height difference), after the container picking and placing device controls the container picking and placing component to be lowered from the first position to the second position, the container picking and placing component can continue to be controlled to move the target container from the container picking and placing component to the target storage position until the target container completely enters the target storage position, and the container storage task is completed.

[0116] Correspondingly, in the application scenario of container removal, the container placement instruction is the container removal instruction, and the specific implementation method is as follows:

[0117] In another specific embodiment provided in the present application, when the container placement instruction includes a container removal instruction, the preset position is a preset position corresponding to the container placement component;

[0118] When the current position is at the preset position, adjusting the container pick-up and placement component to a second position, and controlling the container pick-up and placement component to perform a pick-up and placement operation on the target container at the second position, includes:

[0119] When the current position is located at a preset position corresponding to the container picking and placing component, controlling the container picking and placing component to rise from the first position to a second position;

[0120] The container picking and placing component is controlled to be at the second position, and the target container is moved from the target storage position to the container picking and placing component.

[0121] Among them, the preset position corresponding to the container picking and placing component is the target container arrival position pre-set in the container picking and placing component. The preset position corresponding to the container picking and placing component can be one quarter, one third, etc. of the container picking and placing component.

[0122] Specifically, in the case where the container pick-up and placement instruction is a container extraction instruction, that is, the container pick-up and placement device needs to respond to the container extraction instruction, extract the target container from the target storage position, and place it in the container pick-up and placement component. After the container pick-up and placement device obtains the current position of the target container, if it is determined that the target container has reached the preset position corresponding to the container pick-up and placement component, for example, the front end of the target container has entered the quarter position of the container pick-up and placement component, the container pick-up and placement device can control the container pick-up and placement component to rise from the first position to the second position, and control the container pick-up and placement component in the second position to continue to move the target container from the target storage position to the container pick-up and placement component.

[0123] Further, in another specific embodiment provided by the present application, controlling the container pick-up and placement component to be at the second position and moving the target container from the target storage position to the container pick-up and placement component includes:

[0124] During the process of the container picking and placing component being raised from the first position to the second position, the target container is moved from the target storage position to the container picking and placing component; or

[0125] After the container picking and placing component is raised from the first position to the second position, the target container is moved from the target storage location to the container picking and placing component.

[0126] Specifically, in order to improve the efficiency of container retrieval, during the process of the container picking and placing device controlling the container picking and placing component to rise from the first position to the second position, the container picking and placing component can be continuously controlled to move the target container from the target storage position to the container picking and placing component until the target container completely enters the container picking and placing component, and the container retrieval task is completed.

[0127] In order to more accurately reduce the height difference between the target storage position and the second position (i.e., the target height difference), after the container picking and placing device controls the container picking and placing component to rise from the first position to the second position, it can continue to control the container picking and placing component to move the target container from the target storage position to the container picking and placing component until the target container completely enters the container picking and placing component, and the container retrieval task is completed.

[0128] The following combination Figure 3 The container picking and placing method provided in this application is further explained. Figure 3 FIG. 1 shows a schematic diagram of scene processing of a container picking and placing method provided according to an embodiment of the present application. Figure 3 As shown, the target container (i.e. Figure 3The container shown in FIG. 1 is located on the container pick-and-place component, which is located at the first position. There is a preset height difference between the container pick-and-place component and the target storage position. The container pick-and-place component performs the operation of moving the container from the container pick-and-place component to the target storage position. When the front end of the container reaches the preset position corresponding to the target storage position, the container pick-and-place device controls the container pick-and-place component to be lowered from the first position to the second position ( Figure 3 An example is shown in which the height of the second position is the same as the height of the target storage position), and the container picking and placing device continues to control the container picking and placing component to move the container from the container picking and placing component to the target storage position until the container completely enters the target storage position, indicating that the container storage task is completed.

[0129] The following combination Figure 4 The container picking and placing method provided in this application is further explained. Figure 4 FIG. 2 shows a schematic diagram of scene processing of another container picking and placing method provided according to an embodiment of the present application. Figure 4 As shown, the target container (i.e. Figure 4 The container shown in FIG. 1 is located at the target storage position, the container pick-up and placement component is located at the first position, and there is a preset height difference between the container pick-up and placement component and the target storage position. The container pick-up and placement component performs the operation of moving the container from the target storage position to the container pick-up and placement component. When the front end of the container reaches the preset position corresponding to the container pick-up and placement component, the container pick-up and placement device controls the container pick-up and placement component to rise from the first position to the second position ( Figure 4 An example is shown in which the height of the second position is the same as the height of the target storage position), and the container picking and placing device continues to control the container picking and placing component to move the container from the target storage position to the container picking and placing component until the container completely enters the container picking and placing component, indicating that the container retrieval task is completed.

[0130] Further, see Figure 5 , Figure 5 FIG. 1 shows a schematic structural diagram of a container picking and placing device provided according to an embodiment of the present application. Figure 5 As shown, the container picking and placing equipment comprises: a chassis assembly (1), a gantry assembly (2), a picking and placing assembly (3) and a support assembly (4), wherein the gantry assembly (2) is arranged on the chassis assembly (1); the picking and placing assembly (3) comprises a base (31) and a container picking and placing component (32), and the base (31) is configured to drive the container picking and placing component (32) to rise or fall along the gantry assembly (2); the support assembly (4) is arranged on the base (31) and is configured to move between a first position and a second position; the picking and placing assembly (3) is configured to move to different height positions along the height direction during the process of picking and placing a single container, and the support assembly (4) is configured to rise or fall along the gantry assembly (2) along with the picking and placing assembly (3).

[0131] The container picking and placing method provided in the present application is applied to a container picking and placing device, wherein the container picking and placing device includes a container picking and placing component and an image acquisition device, and the method includes: the container picking and placing device determines a target container in response to a container picking and placing instruction, and moves to a target storage position corresponding to the target container; controls the container picking and placing component to move to a first position, and starts to perform a picking and placing operation for the target container at the first position, wherein there is a preset height difference between the first position and the target storage position; performs image acquisition on the target container based on the image acquisition device, and determines the current position of the target container according to the image acquisition result; when the current position is at the preset position, adjusts the container picking and placing component to a second position, controls the container picking and placing component to perform a picking and placing operation for the target container at the second position, until the container picking and placing instruction is completed, wherein there is a target height difference between the second position and the target storage position, and the target height difference is less than the preset height difference.

[0132] An embodiment of the present application can detect the position of the container in real time during the process of moving the container from a high position to a low position, thereby adjusting the height of the container picking and placing component according to the position of the container, reducing the height difference between the container picking and placing component and the target storage position, thereby reducing the vibration caused by the container hitting the container carrier due to the height difference between the container picking and placing component and the target storage position.

[0133] The following combination Figure 6 , taking the application of the container picking and placing method provided by the present application in a warehousing scenario as an example, the container picking and placing method is further described. Figure 6 A processing flow chart of a container picking and placing method applied to a warehousing scenario provided by an embodiment of the present application is shown, which specifically includes the following steps:

[0134] Step 602: The material box robot determines a target material box and a target storage location corresponding to the target material box in response to a container storage instruction, and moves to a target shelf corresponding to the target storage location.

[0135] Step 604: Control the fork to move to the initial position corresponding to the target storage position.

[0136] Step 606: Obtain a preset height difference, determine a first position according to the preset height difference and the initial position, and control the fork to rise from the initial position to the first position.

[0137] Step 608: Control the fork to be in the first position, and move the target material box from the fork to the target storage position.

[0138] Step 610: Capture an image of the target material box based on an image acquisition device to obtain a position image of the target material box.

[0139] Step 612: Determine the current position of the target container based on the position image.

[0140] Step 614: When the current position is located at the preset position corresponding to the target storage position, control the fork to be lowered from the first position to the second position.

[0141] Step 616: Control the holding fork to be at the second position, and move the target material box from the holding fork to the target storage position until the container storage instruction is completed.

[0142] An embodiment of the present application can detect the position of the material box in real time during the process of moving the material box from a high position to a low position, thereby adjusting the height of the holding fork according to the position of the material box, reducing the height difference between the holding fork and the target storage position, thereby reducing the vibration caused by the material box hitting the shelf due to the height difference between the holding fork and the target storage position.

[0143] The following combination Figure 7 , taking the application of the container picking and placing method provided by the present application in a warehousing scenario as an example, the container picking and placing method is further described. Figure 7 A processing flow chart of another container picking and placing method applied to a warehousing scenario provided by an embodiment of the present application is shown, which specifically includes the following steps:

[0144] Step 702: The material box robot determines a target material box and a target storage location corresponding to the target material box in response to a container retrieval instruction, and moves to a target shelf corresponding to the target storage location.

[0145] Step 704: Control the fork to move to the initial position corresponding to the target storage position.

[0146] Step 706: Obtain a preset height difference, determine a first position according to the preset height difference and the initial position, and control the fork to be lowered from the initial position to the first position.

[0147] Step 708: Control the holding fork to be in the first position, and move the target material box from the target storage position to the holding fork.

[0148] Step 710: Capture an image of the target material box based on an image acquisition device to obtain a position image of the target material box.

[0149] Step 712: Determine the current position of the target container based on the position image.

[0150] Step 714: When the current position is at the preset position corresponding to the holding fork, control the holding fork to rise from the first position to the second position.

[0151] Step 716: Control the holding fork to be at the second position, and move the target material box from the target storage position to the holding fork until the container removal instruction is completed.

[0152] An embodiment of the present application can detect the position of the material box in real time during the process of moving the material box from a high position to a low position, thereby adjusting the height of the holding fork according to the position of the material box, reducing the height difference between the holding fork and the target storage position, thereby reducing the vibration caused by the material box hitting the shelf due to the height difference between the holding fork and the target storage position.

[0153] Corresponding to the above method embodiment, the present application also provides a container picking and placing device embodiment, Figure 8 FIG. 1 shows a schematic diagram of the structure of a container picking and placing device provided by an embodiment of the present application. Figure 8 As shown, the device is applied to a container picking and placing device, the container picking and placing device includes a container picking and placing component and an image acquisition device, and the device includes:

[0154] The moving module 802 is configured so that the container picking and placing device determines the target container in response to the container picking and placing instruction, and moves to the target storage location corresponding to the target container;

[0155] The first pick-and-place module 804 is configured to control the container pick-and-place component to move to a first position and start to perform a pick-and-place operation for the target container at the first position, wherein there is a preset height difference between the first position and the target storage position;

[0156] The acquisition module 806 is configured to acquire an image of the target container based on an image acquisition device, and determine the current position of the target container according to the image acquisition result;

[0157] The second pick-and-place module 808 is configured to adjust the container pick-and-place component to a second position when the current position is at a preset position, and control the container pick-and-place component to perform a pick-and-place operation on the target container at the second position until the container pick-and-place instruction is completed, wherein there is a target height difference between the second position and the target storage position, and the target height difference is less than the preset height difference.

[0158] Optionally, the moving module 802 is further configured to:

[0159] The container pick-and-place device determines a target container and a target storage location corresponding to the target container in response to a container pick-and-place instruction, and moves to a target container carrier corresponding to the target storage location;

[0160] The container picking and placing component is controlled to move to an initial position corresponding to the target storage position.

[0161] Optionally, the container retrieval instruction includes a container storage instruction;

[0162] The first pick-and-place module 804 is further configured as follows:

[0163] Get the preset height difference;

[0164] A first position is determined according to the preset height difference and the initial position, and the container picking and placing component is controlled to rise from the initial position to the first position.

[0165] Optionally, the first pick-and-place module 804 is further configured to:

[0166] The container picking and placing component is controlled to be at the first position, and the target container is moved from the container picking and placing component to the target storage position.

[0167] Optionally, when the container pick-and-place instruction includes a container storage instruction, the preset position is a preset position corresponding to the target storage position;

[0168] The second pick-and-place module 808 is further configured as follows:

[0169] When the current position is located at a preset position corresponding to the target storage position, controlling the container picking and placing component to be lowered from the first position to a second position;

[0170] The container picking and placing component is controlled to be at the second position, and the target container is moved from the container picking and placing component to the target storage position.

[0171] Optionally, the second pick-and-place module 808 is further configured to:

[0172] During the process of lowering the container placing and retrieving component from the first position to the second position, moving the target container from the container placing and retrieving component to the target storage position; or

[0173] After the container picking and placing component is lowered from the first position to the second position, the target container is moved from the container picking and placing component to the target storage location.

[0174] Optionally, the container placement instruction includes a container retrieval instruction;

[0175] The first pick-and-place module 804 is further configured as follows:

[0176] Get the preset height difference;

[0177] A first position is determined according to the preset height difference and the initial position, and the container picking and placing component is controlled to be lowered from the initial position to the first position.

[0178] Optionally, the first pick-and-place module 804 is further configured to:

[0179] The container picking and placing component is controlled to be at the first position, and the target container is moved from the target storage position to the container picking and placing component.

[0180] Optionally, when the container placement instruction includes a container take-out instruction, the preset position is a preset position corresponding to the container placement component;

[0181] The second pick-and-place module 808 is further configured as follows:

[0182] When the current position is located at a preset position corresponding to the container picking and placing component, controlling the container picking and placing component to rise from the first position to a second position;

[0183] The container picking and placing component is controlled to be at the second position, and the target container is moved from the target storage position to the container picking and placing component.

[0184] Optionally, the second pick-and-place module 808 is further configured to:

[0185] During the process of the container picking and placing component being raised from the first position to the second position, the target container is moved from the target storage position to the container picking and placing component; or

[0186] After the container picking and placing component is raised from the first position to the second position, the target container is moved from the target storage location to the container picking and placing component.

[0187] Optionally, the acquisition module 806 is further configured to:

[0188] Capturing an image of the target container based on an image acquisition device to obtain a position image of the target container;

[0189] The current position of the target container is determined according to the position image.

[0190] The container picking device provided in the present application is applied to a container picking and placing device, wherein the container picking and placing device includes a container picking and placing component and an image acquisition device, and the device includes: a moving module, configured for the container picking and placing device to determine a target container in response to a container picking and placing instruction, and move to a target storage position corresponding to the target container; a first picking and placing module, configured to control the container picking and placing component to move to a first position, and start to perform a picking and placing operation for the target container at the first position, wherein there is a preset height difference between the first position and the target storage position; an acquisition module, configured to perform image acquisition on the target container based on the image acquisition device, and determine the current position of the target container according to the image acquisition result; a second picking and placing module, configured to adjust the container picking and placing component to a second position when the current position is at a preset position, and control the container picking and placing component to perform a picking and placing operation for the target container at the second position until the container picking and placing instruction is completed, wherein there is a target height difference between the second position and the target storage position, and the target height difference is less than the preset height difference.

[0191] An embodiment of the present application can detect the position of the container in real time during the process of moving the container from a high position to a low position, thereby adjusting the height of the container picking and placing component according to the position of the container, reducing the height difference between the container picking and placing component and the target storage position, thereby reducing the vibration caused by the container hitting the container carrier due to the height difference between the container picking and placing component and the target storage position.

[0192] The above is a schematic scheme of a container picking and placing device of this embodiment. It should be noted that the technical scheme of the container picking and placing device and the technical scheme of the container picking and placing method described above are of the same concept, and the details not described in detail in the technical scheme of the container picking and placing device can be referred to the description of the technical scheme of the container picking and placing method described above.

[0193] Fig. 9 The structure block diagram of a computing device 900 provided according to an embodiment of the present application is shown. The components of the computing device 900 include but are not limited to a memory 910 and a processor 920. The processor 920 is connected to the memory 910 via a bus 930, and the database 950 is used to store data.

[0194] The computing device 900 also includes an access device 940, which enables the computing device 900 to communicate via one or more networks 960. Examples of these networks include a public switched telephone network (PSTN), a local area network (LAN), a wide area network (WAN), a personal area network (PAN), or a combination of communication networks such as the Internet. The access device 940 may include one or more of any type of network interface (e.g., a network interface card (NIC)) of wired or wireless, such as an IEEE 802.11 wireless local area network (WLAN) wireless interface, a world-wide interoperability for microwave access (Wi-MAX) interface, an Ethernet interface, a universal serial bus (USB) interface, a cellular network interface, a Bluetooth interface, a near field communication (NFC) interface, and the like.

[0195] In one embodiment of the present application, the above components of the computing device 900 and Fig. 9 Other components not shown in the figure may also be connected to each other, for example, via a bus. It should be understood that Fig. 9 The computing device structure block diagram shown is only for the purpose of illustration, and is not intended to limit the scope of the present application. Those skilled in the art may add or replace other components as needed.

[0196] The computing device 900 may be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., a tablet computer, a personal digital assistant, a laptop computer, a notebook computer, a netbook, etc.), a mobile phone (e.g., a smart phone), a wearable computing device (e.g., a smart watch, smart glasses, etc.), or other types of mobile devices, or a stationary computing device such as a desktop computer or a personal computer (PC). The computing device 900 may also be a mobile or stationary server.

[0197] When the processor 920 executes the computer instructions, the steps of the container picking and placing method are implemented.

[0198] The above is a schematic scheme of a computing device of this embodiment. It should be noted that the technical scheme of the computing device and the technical scheme of the container picking and placing method described above are of the same concept, and the details not described in detail in the technical scheme of the computing device can be referred to the description of the technical scheme of the container picking and placing method described above.

[0199] An embodiment of the present application further provides a computer-readable storage medium storing computer instructions, which, when executed by a processor, implement the steps of the container picking and placing method as described above.

[0200] The above is a schematic scheme of a computer-readable storage medium of this embodiment. It should be noted that the technical scheme of the storage medium and the technical scheme of the container picking and placing method described above are of the same concept, and the details not described in detail in the technical scheme of the storage medium can be referred to the description of the technical scheme of the container picking and placing method described above.

[0201] The above describes specific embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0202] The computer instructions include computer program codes, which may be in source code form, object code form, executable files or some intermediate forms, etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0203] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described action sequence, because according to the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0204] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0205] The preferred embodiments of the present application disclosed above are only used to help explain the present application. The optional embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of the present application. The present application selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present application, so that those skilled in the art can understand and use the present application well. The present application is only limited by the claims and their full scope and equivalents.

Claims

1. A container picking and placing method, characterized in that: Applied to a container picking and placing device, the container picking and placing device comprises a container picking and placing component and an image acquisition device, and the method comprises: The container picking and placing device determines a target container in response to a container picking and placing instruction, and moves to a target storage location corresponding to the target container; Controlling the container picking and placing component to move to a first position, and starting to perform a picking and placing operation on the target container at the first position, wherein there is a preset height difference between the first position and the target storage position; In the process of moving the target container from a high position to a low position, an image acquisition device is used to acquire an image of the target container, and a current position of the target container is determined according to the image acquisition result; When the current position is at the preset position, the container picking and placing component is adjusted to a second position, and the container picking and placing component is controlled to perform a picking and placing operation on the target container at the second position until the container picking and placing instruction is completed, wherein there is a target height difference between the second position and the target storage position, and the target height difference is less than the preset height difference.

2. The method according to claim 1, characterized in that The container picking and placing device determines a target container in response to a container picking and placing instruction, and moves to a target storage location corresponding to the target container, including: The container pick-and-place device determines a target container and a target storage location corresponding to the target container in response to a container pick-and-place instruction, and moves to a target container carrier corresponding to the target storage location; The container picking and placing component is controlled to move to an initial position corresponding to the target storage position.

3. The method according to claim 2, characterized in that The container placement instructions include container storage instructions; Controlling the container pick-up and placement component to move to a first position includes: Get the preset height difference; A first position is determined according to the preset height difference and the initial position, and the container picking and placing component is controlled to rise from the initial position to the first position.

4. The method according to claim 3, characterized in that Performing a pick-and-place operation on the target container at the first position includes: The container picking and placing component is controlled to be at the first position, and the target container is moved from the container picking and placing component to the target storage position.

5. The method according to claim 3, characterized in that In the case where the container pick-and-place instruction includes a container storage instruction, the preset position is a preset position corresponding to the target storage location; When the current position is at the preset position, adjusting the container pick-up and placement component to a second position, and controlling the container pick-up and placement component to perform a pick-up and placement operation on the target container at the second position, includes: When the current position is located at a preset position corresponding to the target storage position, controlling the container picking and placing component to be lowered from the first position to a second position; The container picking and placing component is controlled to be at the second position, and the target container is moved from the container picking and placing component to the target storage position.

6. The method according to claim 5, characterized in that Controlling the container placing and retrieving component to the second position and moving the target container from the container placing and retrieving component to the target storage position comprises: During the process of lowering the container placing and retrieving component from the first position to the second position, moving the target container from the container placing and retrieving component to the target storage position; or After the container picking and placing component is lowered from the first position to the second position, the target container is moved from the container picking and placing component to the target storage location.

7. The method according to claim 2, characterized in that The container placement instructions include container retrieval instructions; Controlling the container pick-up and placement component to move to a first position includes: Get the preset height difference; A first position is determined according to the preset height difference and the initial position, and the container picking and placing component is controlled to be lowered from the initial position to the first position.

8. The method according to claim 7, characterized in that Performing a pick-and-place operation on the target container at the first position includes: The container picking and placing component is controlled to be at the first position, and the target container is moved from the target storage position to the container picking and placing component.

9. The method according to claim 7, characterized in that In the case where the container placement instruction includes a container take-out instruction, the preset position is a preset position corresponding to the container placement component; When the current position is at the preset position, adjusting the container pick-up and placement component to a second position, and controlling the container pick-up and placement component to perform a pick-up and placement operation on the target container at the second position, includes: When the current position is located at a preset position corresponding to the container picking and placing component, controlling the container picking and placing component to rise from the first position to a second position; The container picking and placing component is controlled to be at the second position, and the target container is moved from the target storage position to the container picking and placing component.

10. The method according to claim 9, characterized in that Controlling the container pick-and-place component to be at the second position, and moving the target container from the target storage location to the container pick-and-place component, comprises: During the process of the container picking and placing component being raised from the first position to the second position, the target container is moved from the target storage position to the container picking and placing component; or After the container picking and placing component is raised from the first position to the second position, the target container is moved from the target storage location to the container picking and placing component.

11. The method according to claim 1, characterized in that Capturing an image of the target container based on an image acquisition device, and determining a current position of the target container according to the image acquisition result, including: Capturing an image of the target container based on an image acquisition device to obtain a position image of the target container; The current position of the target container is determined according to the position image.

12. The method according to any one of claims 1 to 11, characterized in that: The container picking and placing device comprises: Chassis components; A door frame assembly is arranged on the chassis assembly; A pick-and-place assembly, comprising a base and a container pick-and-place component, wherein the base is configured to drive the container pick-and-place component to rise or fall along the gantry assembly; A support assembly is disposed on the base and is configured to move between a first position and a second position; the pick-and-place assembly is configured to move to different height positions along a height direction during the process of picking and placing a single container, and the support assembly is configured to rise or fall along the gantry assembly along with the pick-and-place assembly.

13. A container picking and placing device, characterized in that: Applied to a container picking and placing device, the container picking and placing device comprises a container picking and placing component and an image acquisition device, and the device comprises: A moving module, configured to cause the container picking and placing device to determine a target container in response to a container picking and placing instruction, and to move the target container to a target storage location corresponding to the target container; A first pick-and-place module is configured to control the container pick-and-place component to move to a first position and start to perform a pick-and-place operation for the target container at the first position, wherein there is a preset height difference between the first position and the target storage position; A collection module is configured to collect images of the target container based on an image collection device during the process of moving the target container from a high position to a low position, and determine a current position of the target container according to the image collection result; The second pick-and-place module is configured to adjust the container pick-and-place component to a second position when the current position is at a preset position, and control the container pick-and-place component to perform a pick-and-place operation on the target container at the second position until the container pick-and-place instruction is completed, wherein there is a target height difference between the second position and the target storage position, and the target height difference is less than the preset height difference.

14. A computing device comprising a memory, a processor, and computer instructions stored in the memory and executable on the processor, characterized in that: When the processor executes the computer instructions, the steps of the method according to any one of claims 1 to 11 are implemented.

15. A computer-readable storage medium storing computer instructions, characterized in that: When the computer instructions are executed by a processor, the steps of the method described in any one of claims 1 to 11 are implemented.

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