Cargo placement method, device, equipment, storage medium and program product

Abstract

The application discloses a goods placing method, device, equipment, storage medium and program product. The method comprises the following steps: determining a first moving direction and a first moving distance of a goods taking and placing mechanism according to the position of a target storage location and first position information of a carrying device, then controlling the goods taking and placing mechanism to move in the first moving direction by a first moving distance, and scanning the identification information on the goods shelf through a sensor on the carrying device to obtain second position information of the carrying device. Then, the first adjustment information of the goods taking and placing mechanism is determined according to the second position information and the position of the target storage location. The accuracy of goods placing is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent warehousing, and in particular to a goods placement method, device, equipment, storage medium and program product. BACKGROUND

[0002] With the rapid development of artificial intelligence technology, automation technology and information technology, the intelligent degree of terminal logistics will continue to improve, and intelligent logistics terminal is an inevitable trend of the development of terminal logistics, and robots are one of the main equipment for realizing automatic handling operation of intelligent logistics terminal, so that the heavy physical labor of human beings can be reduced through robots.

[0003] In the existing warehousing system, the robot usually receives a system task during the process of handling goods, and then determines the shelf and the location of the goods to be accessed according to the task, and then moves to the side of the location of the shelf to access the goods to be accessed.

[0004] However, due to the inertia and external force of the robot when taking and placing goods, the goods may not be placed in place, and when the placement error reaches a certain value, not only the robot may not work stably, but also the goods may fall off and other risks may occur. SUMMARY

[0005] The present application provides a goods placement method, device, equipment, storage medium and program product to solve the problem of inaccurate placement of goods by robots in the prior art.

[0006] In a first aspect, the present application provides a goods placement method, comprising:

[0007] According to the position of the target location and the first position information of the handling device, the first moving direction and the first moving distance of the goods taking and placing mechanism are determined, and the goods taking and placing mechanism is located on the handling device.

[0008] The goods taking and placing mechanism is controlled to move in the first moving direction by a first moving distance, and the second position information of the handling device is obtained by scanning the identification information on the shelf through the sensor on the handling device.

[0009] According to the second position information and the position of the target location, the first adjustment information of the goods taking and placing mechanism is determined.

[0010] According to the first adjustment information, the goods taking and placing mechanism is controlled to place the goods to be placed in the target location.

[0011] In a possible implementation, the goods placement method provided by the present application embodiment comprises:

[0012] According to the second position information and the position of the target storage location, a second moving direction and a second moving distance of the goods taking and placing mechanism are determined.

[0013] In a possible implementation, the goods placing method provided by the embodiment of the application comprises the following steps of: determining first adjustment information of the goods taking and placing mechanism according to the second position information and the position of the target storage location, wherein the first adjustment information comprises at least one of the following: a first moving direction of the goods taking and placing mechanism, a first moving distance of the goods taking and placing mechanism, a first rotating direction of the goods taking and placing mechanism, and a first rotating angle of the goods taking and placing mechanism.

[0014] The real-time position of the carrying device is obtained by scanning the identification information on the shelf through the sensor on the carrying device; and the first adjustment information of the goods taking and placing mechanism is determined in real time according to the position relationship between the carrying device and the target storage location.

[0015] In a possible implementation, the goods placing method provided by the embodiment of the application comprises the following steps of: determining first adjustment information of the goods taking and placing mechanism according to the second position information and the position of the target storage location, wherein the first adjustment information comprises at least one of the following: a first moving direction of the goods taking and placing mechanism, a first moving distance of the goods taking and placing mechanism, a first rotating direction of the goods taking and placing mechanism, and a first rotating angle of the goods taking and placing mechanism.

[0016] The position of the carrying device is obtained by scanning the identification information on the shelf through the sensor on the carrying device every interval preset time; and the first adjustment information of the goods taking and placing mechanism is determined according to the position relationship between the latest position of the carrying device and the target storage location.

[0017] In a possible implementation, the goods placing method provided by the embodiment of the application further comprises the following steps of: before the second position information of the carrying device is determined, the following steps are further included.

[0018] The height of the target storage location and the weight of the goods to be placed are determined.

[0019] The second adjustment information is determined according to the height of the target storage location and the weight of the goods to be placed.

[0020] The goods taking and placing mechanism is adjusted according to the second adjustment information.

[0021] In a possible implementation, the goods placing method provided by the embodiment of the application comprises the following steps of: determining the second adjustment information according to the height of the target storage location and the weight of the goods to be placed.

[0022] An adjustment information table is determined, and the adjustment information table comprises the relationship among the height of the target storage location, the weight of the goods to be placed and the second adjustment information.

[0023] The second adjustment information is determined in the adjustment information table.

[0024] In a possible implementation, the goods placing method provided by the embodiment of the application comprises the following steps of: controlling the goods taking and placing mechanism to place the goods to be placed in the target storage location according to the first adjustment information.

[0025] when the first adjustment information is less than a first threshold value, controlling the taking and placing mechanism to place the to-be-placed goods on the target storage location according to the first adjustment information;

[0026] when the first adjustment information is greater than a second threshold value, controlling the taking and placing mechanism to continue to acquire the position information of the carrying device according to the first adjustment information until the first adjustment information is less than the first threshold value.

[0027] The following introduces a goods placing device, an electronic device, a computer readable storage medium and a computer program product provided by an embodiment of the present application.

[0028] In a second aspect, the present application provides a goods placing device, comprising:

[0029] a first determination module configured to determine a first moving direction and a first moving distance of a taking and placing mechanism according to a position of a target storage location and first position information of a carrying device, the taking and placing mechanism being located on the carrying device.

[0030] a first control module configured to control the taking and placing mechanism to move in the first moving direction by the first moving distance, and to acquire second position information of the carrying device by scanning, through a sensor on the carrying device, identification information on a storage rack.

[0031] a second determination module configured to determine first adjustment information of the taking and placing mechanism according to the second position information and the position of the target storage location.

[0032] a second control module configured to control the taking and placing mechanism to place to-be-placed goods on the target storage location according to the first adjustment information.

[0033] In a possible implementation, the goods placing device provided by an embodiment of the present application comprises a second determination module, which is specifically configured to:

[0034] determine a second moving direction and a second moving distance of the taking and placing mechanism according to the second position information and the position of the target storage location.

[0035] In a possible implementation, the goods placing device provided by an embodiment of the present application comprises a second determination module, which is specifically configured to:

[0036] acquire real-time position information of the carrying device by scanning, through a sensor on the carrying device, identification information on a storage rack, and determine first adjustment information of the taking and placing mechanism in real time by using a position relationship between the carrying device and the target storage location.

[0037] In a possible implementation, the goods placing device provided by an embodiment of the present application comprises a second determination module, which is specifically configured to:

[0038] Every interval preset time, the position of the carrying device is acquired by scanning the identification information on the shelf through the carrying device sensor, and the first adjustment information of the goods taking and placing mechanism is determined according to the positional relationship between the latest position of the carrying device and the target shelf.

[0039] In a possible implementation, the goods placing device provided by the embodiment of the application further includes a first adjustment module, which is configured to:

[0040] determine the height of the target storage location and the weight of the goods to be placed, determine the second adjustment information according to the height of the target storage location and the weight of the goods to be placed, and adjust the goods taking and placing mechanism according to the second adjustment information.

[0041] In a possible implementation, the first adjustment module of the goods placing device provided by the embodiment of the application is specifically configured to:

[0042] determine an adjustment information table, the adjustment information table including the relationship among the height of the target storage location, the weight of the goods to be placed, and the second adjustment information, and determine the second adjustment information in the adjustment information table.

[0043] In a possible implementation, the goods placing device provided by the embodiment of the application further includes a second control module, which is specifically configured to:

[0044] when the first adjustment information is less than a first threshold value, control the goods taking and placing mechanism to place the goods to be placed on the target storage location according to the first adjustment information;

[0045] when the first adjustment information is greater than a second threshold value, control the goods taking and placing mechanism to continue to acquire the position information of the carrying device according to the first adjustment information until the first adjustment information is less than the first threshold value.

[0046] In a third aspect, the embodiment of the application provides an electronic device, which includes:

[0047] a processor and a memory connected with the processor in communication;

[0048] the memory stores computer execution instructions;

[0049] the processor executes the computer execution instructions stored in the memory to implement the goods placing method provided in the first aspect or the implementation manner of the first aspect.

[0050] In a fourth aspect, the embodiment of the application provides a computer readable storage medium, which stores computer execution instructions, and the computer execution instructions are executed by a processor to implement the goods placing method provided in the first aspect or the implementation manner of the first aspect.

[0051] In a fifth aspect, an embodiment of the present application provides a computer program product, comprising computer execution instructions, which, when executed by a processor, are used to implement the goods placing method according to the first aspect or the implementation manner of the first aspect.

[0052] The goods placing method, device, equipment, storage medium and program product provided by the present application are used to determine the first moving direction and the first moving distance of the goods taking and placing mechanism according to the position of the target storage location and the first position information of the carrying device, then control the goods taking and placing mechanism to move in the first moving direction by the first moving distance, and obtain the second position information of the carrying device by scanning the identification information on the goods shelf through the sensor on the carrying device. Furthermore, the first adjustment information of the goods taking and placing mechanism is determined according to the second position information and the position of the target storage location. Finally, the goods taking and placing mechanism is controlled to place the goods to be placed in the target storage location according to the first adjustment information. Since the position information of the carrying device is obtained again to adjust the goods taking and placing mechanism after the goods taking and placing mechanism is controlled to move according to the position information of the target storage location and the carrying device, the accuracy of the goods placing is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0053] The accompanying drawings, which are incorporated herein and form a part of the specification, illustrate embodiments consistent with the present application and, together with the description, further serve to explain the principles of the present application.

[0054] Figure 1 is an exemplary application scenario architecture provided by an embodiment of the present application;

[0055] Figure 2 is a flowchart of a goods placing method provided by an embodiment of the present application;

[0056] Figures 3A-3D is a schematic diagram of a robot placing goods provided by an embodiment of the present application;

[0057] Figure 4 is a flowchart of a goods placing method provided by another embodiment of the present application;

[0058] Figure 5 is a flowchart of a goods placing method provided by yet another embodiment of the present application;

[0059] Figure 6 is a structural schematic diagram of a goods placing device provided by an embodiment of the present application;

[0060] Figure 7 is a structural schematic diagram of a goods placing device provided by another embodiment of the present application;

[0061] Figure 8 is a structural schematic diagram of a goods placing device provided by yet another embodiment of the present application;

[0062] Figure 9 is a structural schematic diagram of an electronic device provided by an embodiment of the present application.

[0063] The above drawings have shown the specific embodiments of the present application, which will be described in more detail hereinafter. These drawings and the written description are not intended to restrict the scope of the present application by any means, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0064] The exemplary embodiments will be described in detail herein with reference to the attached drawings. In the following description, the same numbers are used to indicate the same or similar components. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the present application as detailed in the appended claims.

[0065] The terms "first", "second", etc. in the specification and claims of the present application and the above drawings are used to distinguish similar objects, and do not necessarily mean a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented, for example, in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or apparatus including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or apparatuses.

[0066] With the rapid development of artificial intelligence technology, automation technology and information technology, the intelligent degree of terminal logistics will continue to improve, and intelligent logistics terminal is an inevitable trend of the development of terminal logistics, and robots are one of the main equipment that can realize intelligent logistics terminal to carry out automatic handling operation, so that the heavy physical labor of human beings can be reduced through robots. In the process of carrying goods, the robot usually receives a system task, then determines the storage rack and storage location of the to-be-accessed goods according to the task, and then moves to the side of the storage rack and storage location to access the to-be-accessed goods. However, in the prior art, due to the inertia and external force of the robot when taking and placing goods, the goods may not be placed in place, and when the placing error reaches a certain value, not only the robot may not work stably, but also it may cause the risk of falling of the material box.

[0067] To solve the above technical problems, the application provides a method and device for placing goods, equipment, a storage medium and a program product, and the application concept is that the position information of the carrying device is acquired again after the taking and placing structure is controlled to move according to the target goods location and the position information of the carrying device, and the taking and placing structure is adjusted, so that the accuracy of placing goods is ensured.

[0068] In the following, an example application scenario of the embodiments of the application is introduced.

[0069] The method for placing goods provided by the embodiments of the application can be executed by the device for placing goods provided by the embodiments of the application. The device for placing goods provided by the embodiments of the application can be integrated on a robot, for example, can be a processor of the robot, or the device for placing goods can be the robot itself. The embodiments of the application do not limit the specific type and structure of the robot.

[0070] The method, device, equipment, storage medium and program product for placing goods provided by the embodiments of the application can be applied in a warehouse system. Figure 1 is an example application scenario architecture diagram provided by the embodiments of the application, as Figure 1 shown, the architecture mainly includes shelves, robots and lanes. The warehouse can include multiple rows of shelves, each row of shelves includes multiple shelves, and there can be lanes for robot movement between the shelves. The robot moves between the lanes to reach the goods location for accessing goods. Each shelf can include multiple rows and multiple columns of goods locations. The user can number the shelves and the goods locations of the shelves according to the types of goods. When the server issues a task to the robot, the target goods location can be sent to the robot together. The robot places the goods at the target goods location according to the task, or takes the goods from the target goods location, etc. The embodiments of the application do not limit the number and arrangement of the shelves in the warehouse system, the number of robots, the task issuing mode of the server, etc. The specific settings can be made according to the requirements. The embodiments of the application are only taken as examples and are not limited thereto. Figure 1

[0071] The technical solutions of the application and how the technical solutions of the application solve the above technical problems will be described in detail in the following specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes can not be described in detail in some embodiments. The embodiments of the application will be described in conjunction with the drawings.

[0072] Figure 2 is a flowchart of the method for placing goods provided by an embodiment of the application. The method can be executed by a device for placing goods. The device can be realized by software and / or hardware. The method for placing goods is described below with the robot as the execution subject. As Figure 2 ​As shown, the goods placement method provided by the embodiments of the present application can include:

[0073] Step S101: According to the position of the target storage location and the first position information of the carrying device, the first moving direction and the first moving distance of the goods taking and placing mechanism are determined, and the goods taking and placing mechanism is located on the carrying device.

[0074] It should be noted that the carrying device involved in the embodiments of the present application can be any device that moves goods, for example, a fork, a robot, etc. The goods taking and placing mechanism exists on the carrying device, and the goods taking and placing mechanism can be a mechanical arm of the carrying device.

[0075] For example, after receiving the task issued by the server, the robot obtains task information, which can include the type of the task, such as taking goods or placing goods, and can also include the target storage location of the task, for example, the target storage location is the Mth row and Nth column of the 2nd shelf in the first area of the warehouse, and can also include the goods information of the goods to be accessed, such as the type of the goods, the packaging form of the goods, the weight of the goods, the size of the goods, etc. The embodiments of the present application are only used as an example and are not limited thereto.

[0076] After the robot determines the position of the target storage location, the first position information of the carrying device is obtained, which can include the relative position relationship between the carrying device and the target storage location, or the relative position relationship between the carrying device and the target shelf, and then according to the position of the target storage location and the first position information of the carrying device, the first moving direction and the first moving distance of the goods taking and placing mechanism are determined.

[0077] Step S102: The goods taking and placing mechanism is controlled to move in the first moving direction by the first moving distance, and the second position information of the carrying device is obtained by scanning the identification information on the shelf through the sensor on the carrying device.

[0078] The sensor can be any device that can obtain identification information, such as a camera, a code scanning gun, etc. The above-mentioned identification information can be a two-dimensional code, a bar code, etc.

[0079] For the convenience of understanding, Figures 3A-3D is a schematic diagram of the robot placing goods provided by the embodiments of the present application, as Figure 3A As shown, the robot moves the carrying device upward to the position of the target storage location at the position of the shelf column where the target storage location is located, and then moves the goods taking and placing mechanism in the first moving direction by the first moving distance. As Figure 3A , Figure 3B and Figure 3CAs shown, since there are goods on both sides of the shelf, and the target goods location is on the left side of the aisle, the first moving direction of the goods taking and placing mechanism is leftward movement, and then the goods taking and placing mechanism is extended into the target goods location by moving leftward by a first moving distance, so as to place the goods in the target goods location. In a possible implementation, since the robot can rotate by 360 degrees, and the carrying device can also be tilted up and down and the like, the first moving direction can be any direction, and is not limited to the left direction or the right direction, and is determined according to actual conditions.

[0080] In the process of placing the goods according to the first position information, since the robot is too high, the force arm of the goods on the robot is large, which causes the robot to be tilted or subjected to other external forces, and in this case, the carrying device tilts with the robot, so the goods can not be placed at the pre-set position. In order to solve the above problem, the embodiment of the application obtains the second position information of the carrying device by scanning the identification information on the shelf through the sensor on the carrying device after controlling the goods taking and placing mechanism to move by the first moving distance in the first moving direction. The robot has a positioning module for determining the second position information of the carrying device and the shelf or the target goods location.

[0081] Step S103: determining first adjustment information of the goods taking and placing mechanism according to the second position information and the position of the target goods location.

[0082] In the case that the position of the goods location is high, or the goods are heavy, or the volume of the goods is large, the goods taking and placing mechanism of the robot can not accurately place the goods in the goods location in the process of moving the goods due to the inertia of the goods or the movement error of the carrying device. In view of the above situation, the embodiment of the application determines the first adjustment information of the goods taking and placing mechanism according to the second position information and the position of the target goods location. In a possible implementation, the first adjustment information can include a second moving direction and a second moving distance of the goods taking and placing mechanism, and the goods taking and placing mechanism is adjusted according to the first adjustment information, so that the goods are accurately placed on the goods location. In another possible implementation, the error between the position of the carrying device and the target goods location can be small and meet the pre-set standard, so the first adjustment information can be 0, that is, the goods taking and placing mechanism of the carrying device does not need to be adjusted again, which not only ensures the accuracy of placing the goods, and further ensures the safety of the warehouse personnel, but also saves the cost.

[0083] The embodiment of the application does not limit the specific implementation of how to determine the first adjustment information of the goods taking and placing mechanism according to the second position information and the position of the target goods location. In a possible implementation, the goods placing method provided by the embodiment of the application includes:

[0084] The real-time position of the handling device is obtained by scanning the identification information on the shelf using the sensors of the handling device; the first adjustment information of the picking and placing mechanism is determined in real time by utilizing the positional relationship between the handling device and the target storage location.

[0085] In this embodiment of the application, by acquiring the real-time position of the handling device and utilizing the real-time positional relationship between the handling device and the target cargo location, the first adjustment information of the picking and placing mechanism can be determined, which can further ensure the reliability of the adjustment information and thus ensure the accuracy of cargo placement.

[0086] In another possible implementation, the cargo placement method provided in this application, based on the second location information and the location of the target cargo location, determines the first adjustment information of the picking and placing mechanism, including:

[0087] At preset intervals, the position of the handling device is obtained by scanning the identification information on the shelf through the sensor of the handling device. The positional relationship between the latest position of the handling device and the target shelf is used to determine the first adjustment information of the picking and placing mechanism.

[0088] In this embodiment of the application, during the adjustment process, by setting an appropriate preset time interval, the position of the handling device is obtained at each preset time interval, and the positional relationship between the handling device and the target cargo location is used to determine the first adjustment information of the picking and placing mechanism. While ensuring the reliability of the adjustment information and the accuracy of cargo placement, energy consumption can also be reduced and costs saved.

[0089] Step S104: According to the first adjustment information, control the picking and placing mechanism to place the goods to be placed in the target storage location.

[0090] like Figure 3D As shown, after determining the first adjustment information, the robot controls the picking and placing mechanism to place the goods to be placed in the target storage location. It should be noted that... Figures 3A-3D This is merely an illustrative example, and the embodiments described in this application are not limited thereto.

[0091] In one possible implementation, controlling the picking and placing mechanism to place the goods to be placed in the target storage location according to the first adjustment information includes: when the first adjustment information is less than a first threshold, controlling the picking and placing mechanism to place the goods to be placed in the target storage location according to the first adjustment information; when the first adjustment information is greater than a second threshold, controlling the picking and placing mechanism to adjust according to the first adjustment information and continue to acquire the position information of the handling device until the first adjustment information is less than the first threshold.

[0092] It should be understood that the embodiments of this application do not limit the first threshold and the second threshold, and can be set according to the actual situation. In some embodiments, the first threshold is less than the second threshold.

[0093] The goods placing method provided in the application determines the first moving direction and the first moving distance of the goods taking and placing mechanism according to the position of the target storage location and the first position information of the carrying device, then controls the goods taking and placing mechanism to move in the first moving direction by the first moving distance, and obtains the second position information of the carrying device by scanning the identification information on the goods shelf through the carrying device sensor. Then, the first adjustment information of the goods taking and placing mechanism is determined according to the second position information and the position of the target storage location. Finally, the goods taking and placing mechanism is controlled to place the goods to be placed at the target storage location according to the first adjustment information. Since the position information of the carrying device is obtained again to adjust the goods taking and placing mechanism after the goods taking and placing mechanism is controlled to move according to the position information of the target storage location and the carrying device, the accuracy of the goods placing is ensured.

[0094] In Figure 2 Based on the embodiment shown in the figure, in a possible implementation manner, Figure 4 is a flowchart of a goods placing method provided in another embodiment of the application. The method can be executed by a goods placing device, which can be realized in the form of software and / or hardware. The goods placing method is described below by taking a robot as the execution subject, as shown in the figure. The goods placing method provided in the embodiment of the application further comprises the following steps before the second position information of the carrying device is determined: Figure 4

[0095] Step S201: determining the height of the target storage location and the weight of the goods to be placed.

[0096] Step S202: determining the second adjustment information according to the height of the target storage location and the weight of the goods to be placed.

[0097] Step S203: adjusting the goods taking and placing mechanism according to the second adjustment information.

[0098] If the height of the target storage location is high, when the carrying device of the robot moves to the height of the target storage location and the goods taking and placing mechanism of the carrying device controlled by the robot is extended to the target storage location to take and place the goods, the goods taking and placing mechanism may shake due to being too high, and then errors are generated, which leads to inaccurate goods placing or the goods taking and placing mechanism colliding with the goods shelf. In addition, the greater the weight of the goods to be placed is, the more likely the goods taking and placing mechanism shakes, and then the errors are greater. Therefore, by determining the height of the target storage location and the weight of the goods to be placed, and determining the second adjustment information according to the height of the target storage location and the weight of the goods to be placed, and adjusting the goods taking and placing mechanism directly according to the second adjustment information, the scheme is simple and easy to implement, and the adjustment efficiency of the goods taking and placing mechanism is improved.

[0099] ​The embodiment of the present application does not limit the specific implementation manner of how to determine the second adjustment information according to the height of the target storage location and the weight of the to-be-placed goods. In one possible implementation manner, the adjustment displacement of the second adjustment information is positively correlated with the height of the target storage location and the weight of the to-be-placed goods. In another possible implementation manner, the goods placing method provided by the embodiment of the present application determines the second adjustment information according to the height of the target storage location and the weight of the to-be-placed goods, and includes the following steps.

[0100] determining an adjustment information table, wherein the adjustment information table includes the relationship among the height of the target storage location, the weight of the to-be-placed goods, and the second adjustment information; and determining the second adjustment information in the adjustment information table.

[0101] In the embodiment of the present application, the relationship among the height of the target storage location, the weight of the to-be-placed goods, and the second adjustment information can be determined by determining the adjustment information table, and then the second adjustment information corresponding to the height of the target storage location and the weight of the to-be-placed goods can be determined by searching the adjustment information table, so as to realize the determination of the second adjustment information.

[0102] In Figure 2 or Figure 4 another possible implementation manner based on the embodiment shown in Figure 5 is a flowchart of a goods placing method provided by another embodiment of the present application. The method can be executed by a goods placing device, which can be implemented in the form of software and / or hardware. The goods placing method is described below by taking a robot as an execution subject, as shown in Figure 5 The goods placing method provided by the embodiment of the present application further includes the following steps.

[0103] Step S301: determining the relative position relationship between the to-be-placed goods and the target storage location.

[0104] Step S302: adjusting the to-be-placed goods by adjusting the goods taking and placing mechanism according to the relative position relationship.

[0105] In the embodiment of the present application, whether the to-be-placed goods are accurately stored in the target storage location can be determined by the position of the to-be-placed goods. Specifically, the relative position relationship between the to-be-placed goods and the target storage location can be determined, and then the to-be-placed goods can be adjusted by adjusting the goods taking and placing mechanism according to the relative position relationship. In the embodiment of the present application, the position of the to-be-placed goods can be determined by photographing the to-be-placed goods by a camera on the carrying device, or by recognizing a positioning mark on the to-be-placed goods. The positioning mark on the to-be-placed goods can be in the form of identification information, a bar code, or a special character, and the embodiment of the present application does not limit this.

[0106] The following is an apparatus embodiment of the present application, which can be used to execute the method embodiments of the present application. For details not disclosed in the apparatus embodiments of the present application, refer to the method embodiments of the present application.

[0107] Figure 6 FIG. 1 is a structural schematic diagram of a goods placing apparatus according to an embodiment of the present application. The apparatus can be implemented in a software and / or hardware manner, for example, can be implemented by a server. As shown in FIG. 1, the goods placing apparatus according to the embodiment of the present application can include a first determining module, a first control module, a second determining module, and a second control module. Figure 6

[0108] The first determining module is configured to determine a first moving direction and a first moving distance of a goods taking and placing mechanism according to a position of a target storage location and first position information of a carrying apparatus, the goods taking and placing mechanism being located on the carrying apparatus.

[0109] The first control module is configured to control the goods taking and placing mechanism to move in the first moving direction by the first moving distance, and to scan identification information on a shelf through a sensor on the carrying apparatus to obtain second position information of the carrying apparatus.

[0110] The second determining module is configured to determine first adjustment information of the goods taking and placing mechanism according to the second position information and the position of the target storage location.

[0111] The second control module is configured to control the goods taking and placing mechanism to place a to-be-placed goods on the target storage location according to the first adjustment information.

[0112] In a possible implementation, the second control module is specifically configured to: when the first adjustment information is less than a first threshold value, control the goods taking and placing mechanism to place the to-be-placed goods on the target storage location according to the first adjustment information; and when the first adjustment information is greater than a second threshold value, control the goods taking and placing mechanism to continue to obtain the position information of the carrying apparatus until the first adjustment information is less than the first threshold value.

[0113] In a possible implementation, the second determining module of the goods placing apparatus according to the embodiment of the present application is specifically configured to:

[0114] determine a second moving direction and a second moving distance of the goods taking and placing mechanism according to the second position information and the position of the target storage location.

[0115] In a possible implementation, the second determining module of the goods placing apparatus according to the embodiment of the present application is specifically configured to:

[0116] obtain a real-time position of the carrying apparatus by scanning the identification information on the shelf through the sensor of the carrying apparatus, and determine the first adjustment information of the goods taking and placing mechanism in real time by using a position relationship between the carrying apparatus and the target storage location. ​

[0117] In a possible implementation, the goods placing device provided by the embodiment of the application includes a second determination module, which is specifically configured to:

[0118] Every interval preset time, the position of the carrying device is obtained by scanning the identification information on the shelf through the carrying device sensor, and the first adjustment information of the goods taking and placing mechanism is determined according to the positional relationship between the latest position of the carrying device and the target shelf.

[0119] The device of the embodiment can perform the method embodiment shown in Figure 2 The technical principles and technical effects of the method embodiment shown in

[0120] On the basis of the embodiment shown in Figure 6 Further, Figure 7 is a structural schematic diagram of the goods placing device provided by another embodiment of the application. The device can be implemented in a software and / or hardware manner, for example, can be implemented by a robot, as shown in Figure 7 The goods placing device provided by the embodiment of the application can further include a first adjustment module.

[0121] The first adjustment module is configured to: determine the height of the target storage location and the weight of the goods to be placed; determine the second adjustment information according to the height of the target storage location and the weight of the goods to be placed; and adjust the goods taking and placing mechanism according to the second adjustment information.

[0122] In a possible implementation, the goods placing device provided by the embodiment of the application includes a first adjustment module, which is specifically configured to:

[0123] The adjustment information table includes the relationship among the height of the target storage location, the weight of the goods to be placed, and the second adjustment information. In the adjustment information table, the second adjustment information is determined.

[0124] The device of the embodiment can perform the method embodiment shown in Figure 4 The technical principles and technical effects of the method embodiment shown in

[0125] On the basis of the embodiment shown in Figure 6 or Figure 7 Further, Figure 8 is a structural schematic diagram of the goods placing device provided by another embodiment of the application. The device can be implemented in a software and / or hardware manner, for example, can be implemented by a robot, as shown in Figure 8 The goods placing device provided by the embodiment of the application can further include a second adjustment module,

[0126] The second adjusting module is configured to determine a relative position relationship between the to-be-placed goods and the target goods location, and adjust the to-be-placed goods by adjusting the goods taking and placing mechanism according to the relative position relationship.

[0127] The device of the embodiment can perform the above-mentioned Figure 5 The method embodiment shown in the embodiment has similar technical principles and technical effects to the above-mentioned embodiments, and details are not described herein.

[0128] The device embodiments provided in the present application are only schematic, Figure 6 、 Figure 7 and Figure 8 The module division in the above-mentioned embodiments is only a logical function division, and another division mode can be used in actual implementation. For example, a plurality of modules can be combined or integrated into another system. The coupling between the modules can be realized through some interfaces, which are usually electrical communication interfaces, but can also be mechanical interfaces or other forms of interfaces. Therefore, the modules described as separate components can be or can not be physically separated, and can be located in one place or distributed to different locations of the same or different devices.

[0129] Figure 9 is a structural schematic diagram of an electronic device provided by the embodiment of the present application. The electronic device can be a robot, as shown in Figure 9 The electronic device includes:

[0130] a receiver 50, a transmitter 51, a processor 52, a memory 53, and a computer program; the receiver 50 and the transmitter 51 realize data transmission with other devices, the computer program is stored in the memory 53 and is configured to be executed by the processor 52, and the computer program includes instructions for executing the above-mentioned goods placing method, and the content and effects thereof are described with reference to the method embodiment.

[0131] In a possible implementation, the robot includes a mobile chassis, a stand column arranged on the mobile chassis, a carrying device capable of ascending and descending along a height direction of the stand column, and a goods taking and placing mechanism arranged on the carrying device. The goods taking and placing mechanism can be a mechanical arm assembly, the mechanical arm assembly is composed of a plurality of mechanical arms, and both ends of a terminal mechanical arm are provided with push rods capable of pushing and pulling goods. The push rods can be provided with rotation functions at both ends in a direction perpendicular to an extension direction of the mechanical arm, or only one end is rotatable and the other end is arranged in a direction of goods entering and exiting. The goods taking and placing mechanism can also be a suction disc structure, which is a gas pressure type or a magnetic suction type. The goods taking and placing mechanism can also be a clamping structure, which can clamp goods to transfer the goods. The goods taking and placing mechanism can also be a hooking structure, which can cooperate with a structure arranged on the goods to take and place the goods.

[0132] In addition, the embodiment of the present application further provides a computer readable storage medium, and the computer readable storage medium stores computer execution instructions. When at least one processor of a user equipment executes the computer execution instructions, the user equipment executes the various possible methods.

[0133] In other words, as would be appreciated by the skilled person, the computer readable medium comprises both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media can be any available media that can be accessed by a general purpose or special purpose computer. By way of example, and not limitation, such computer readable media can comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired computer program code means in the form of computer-executable instructions or data structures and that can be accessed by a general-purpose or special-purpose computer, or a general-purpose or special-purpose processor. Also, any connection is properly termed a computer readable medium. For example, if the software is transmitted from a website, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or

[0134] Those skilled in the art can understand that all or part of the steps of the above-mentioned method embodiments can be completed by program instruction related hardware. The foregoing program can be stored in a computer readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the foregoing storage medium includes: ROM, RAM, magnetic disk or optical disk and various storage media that can store program codes.

[0135] The embodiment of the present application further provides a computer program product, which includes computer instructions, and the computer instructions are executed by a processor to implement each step in the cargo placement method in the above-mentioned embodiment.

[0136] Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the present application cover any and all variations of the application that come within the scope of the claims and their equivalents. It is intended that the specification and examples be considered exemplary only, with the true scope and spirit of the application indicated by the following claims.

[0137] It is to be understood that the application is not limited to the precise construction herein described and as shown in the attached drawings, and that various changes in the size and shape of the various elements can be made without departing from the scope of the application. The scope of the application is only limited by the appended claims.

Claims

1. A method for placing goods, applied to a handling robot, the handling robot comprising a handling device and a picking and placing mechanism disposed on the handling device, characterized in that, include: The handling robot controls the handling device to move to the target location based on the position of the shelf column where the target location is located. Based on the location of the target cargo location and the first location information of the handling device, the first moving direction and the first moving distance of the picking and placing mechanism are determined, and the picking and placing mechanism is located on the handling device; The picking and placing mechanism is controlled to move the first moving distance in the first moving direction, and the second position information of the handling device is obtained by scanning the identification information on the shelf through the sensor on the handling device. Based on the second location information and the location of the target storage location, the first adjustment information of the picking and placing mechanism is determined; According to the first adjustment information, the picking and placing mechanism is controlled to place the goods to be placed in the target storage location.

2. The method according to claim 1, characterized in that, Based on the second location information and the location of the target storage location, the first adjustment information of the picking and placing mechanism is determined, including: Based on the second location information and the location of the target cargo location, the second moving direction and the second moving distance of the picking and placing mechanism are determined.

3. The method according to claim 1, characterized in that, The step of determining the first adjustment information of the picking and placing mechanism based on the second location information and the location of the target storage location includes: The real-time location of the handling device is obtained by scanning the identification information on the shelf using sensors on the handling device. By utilizing the positional relationship between the handling device and the target cargo location, the first adjustment information of the picking and placing mechanism is determined in real time.

4. The method according to claim 1, characterized in that, The step of determining the first adjustment information of the picking and placing mechanism based on the second location information and the location of the target storage location includes: At preset intervals, the position of the handling device is obtained by scanning the identification information on the shelf through the sensor on the handling device. The first adjustment information of the picking and placing mechanism is determined by using the positional relationship between the latest position of the handling device and the target shelf.

5. The method according to claim 1 or 2, characterized in that, Before determining the second position information of the conveying device, the process also includes: Determine the height of the target storage location and the weight of the goods to be placed there; The second adjustment information is determined based on the height of the target storage location and the weight of the goods to be placed. The picking and placing mechanism is adjusted according to the second adjustment information.

6. The method according to claim 5, characterized in that, The step of determining the second adjustment information based on the height of the target storage location and the weight of the goods to be placed includes: An adjustment information table is determined, which includes the height of the target storage location, the weight of the goods to be placed, and the relationship between the second adjustment information. The second adjustment information is determined in the adjustment information table.

7. The method according to claim 3 or 4, characterized in that, The step of controlling the picking and placing mechanism to place the goods to be placed in the target storage location according to the first adjustment information includes: When the first adjustment information is less than the first threshold, the picking and placing mechanism is controlled to place the goods to be placed in the target storage location according to the first adjustment information; When the first adjustment information is greater than the second threshold, the picking and placing mechanism is controlled to adjust according to the first adjustment information and continue to acquire the position information of the handling device until the first adjustment information is less than the first threshold.

8. A cargo placement device for use in a handling robot, the handling robot comprising a handling device and a cargo picking and placing mechanism disposed on the handling device, characterized in that, include: The first determining module is used to determine the first moving direction and the first moving distance of the picking and placing mechanism based on the location of the target cargo location and the first position information of the handling device, wherein the picking and placing mechanism is located on the handling device; The first control module is used to control the picking and placing mechanism to move the first moving distance in the first moving direction, and to obtain the second position information of the handling device by scanning the identification information on the shelf through the sensor on the handling device. The second determining module is used to determine the first adjustment information of the picking and placing mechanism based on the second location information and the location of the target cargo location; The second control module is used to control the picking and placing mechanism to place the goods to be placed in the target storage location according to the first adjustment information; Before determining the first moving direction and first moving distance of the picking and placing mechanism based on the location of the target storage location and the first position information of the handling device, the handling robot controls the handling device to move to the location of the target storage location from the position of the shelf column where the target storage location is located.

9. The apparatus according to claim 8, characterized in that, The second determining module is specifically used for: Based on the second location information and the location of the target cargo location, the second moving direction and the second moving distance of the picking and placing mechanism are determined.

10. The apparatus according to claim 8 or 9, characterized in that, The second determining module is specifically used for: The real-time location of the handling device is obtained by scanning the identification information on the shelf using sensors on the handling device. By utilizing the positional relationship between the handling device and the target cargo location, the first adjustment information of the picking and placing mechanism is determined in real time.

11. The apparatus according to claim 8 or 9, characterized in that, The second determining module is specifically used for: At preset intervals, the position of the handling device is obtained by scanning the identification information on the shelf through the sensor on the handling device. The first adjustment information of the picking and placing mechanism is determined by using the positional relationship between the latest position of the handling device and the target shelf.

12. The apparatus according to claim 8 or 9, characterized in that, It also includes a first adjustment module, which is used for: Determine the height of the target storage location and the weight of the goods to be placed; determine second adjustment information based on the height of the target storage location and the weight of the goods to be placed; adjust the picking and placing mechanism according to the second adjustment information.

13. The apparatus according to claim 12, characterized in that, The first adjustment module is specifically used for: An adjustment information table is determined, which includes the height of the target storage location, the weight of the goods to be placed, and the relationship between the second adjustment information; the second adjustment information is determined in the adjustment information table.

14. The apparatus according to claim 8, characterized in that, The second control module is specifically used for: When the first adjustment information is less than the first threshold, the picking and placing mechanism is controlled to place the goods to be placed in the target storage location according to the first adjustment information; When the first adjustment information is greater than the second threshold, the picking and placing mechanism is controlled to adjust according to the first adjustment information and continue to acquire the position information of the handling device until the first adjustment information is less than the first threshold.

15. An electronic device comprising: A processor, and a memory communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the method as described in any one of claims 1-7.

16. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1-7.

17. A computer program product comprising computer-executable instructions that, when executed by a processor, implement the method of any one of claims 1-7.

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