Mobile carrier and method for determining its eligibility

Abstract

Embodiments of the present application provide a mobile carrier and a method for determining the eligibility of the mobile carrier. The mobile carrier comprises a support frame, a first storage structure arranged in the support frame and forming a first storage space configured to store standard items, and a second storage structure arranged in the support frame and forming a second storage space configured to store special-shaped items, and the height between the second storage space and a moving platform of the mobile carrier is a first height. When the mobile carrier is docked with a workstation, the standard items are picked at a first picking position and the special-shaped items are picked at a second picking position. The picking methods of the first picking position and the second picking position are different, and the picking height of the second picking position is adapted to the first height. The mobile carrier provided by the embodiments of the present application can store standard items and special-shaped items, and the two types of items can be picked by different picking methods, thereby improving the applicability of the mobile carrier.

Description

Technical Field

[0001] This application belongs to the field of logistics and warehousing technology, specifically relating to a mobile vehicle and a method for determining its conformity. Background Technology

[0002] In warehousing systems, to improve the efficiency of goods picking, goods are usually stored in mobile carriers such as mobile shelves, and then the entire mobile shelf is moved to the workstation by a handling robot for picking of the goods on the entire mobile shelf.

[0003] In related technologies, the storage locations of mobile shelves can only store standard goods (such as standard bins). Correspondingly, the mode of docking mobile shelves with workstations is only applicable to standard bins and cannot store or pick non-standard irregular goods. Summary of the Invention

[0004] This application provides a mobile vehicle and a method for determining its conformity, which can store standard items and irregularly shaped items, and can select these two types of items through different picking methods, thereby improving the applicability of the mobile vehicle.

[0005] On one hand, embodiments of this application provide a mobile vehicle, including:

[0006] Supporting framework;

[0007] The first storage location structure is set within the supporting frame and forms a first storage location, which is configured to store standard items.

[0008] The second cargo space structure is set within the support frame and forms a second cargo space. The second cargo space is configured to store irregularly shaped items, and the height between it and the mobile platform of the mobile vehicle is the first height.

[0009] When the mobile vehicle is configured to dock with the workstation, it picks standard items at the first picking station and irregularly shaped items at the second picking station; wherein the picking methods of the first picking station and the second picking station are different, and the picking height of the second picking station is adapted to the first height.

[0010] In some implementations, irregularly shaped articles include articles with irregular dimensions;

[0011] The second storage location structure includes a shelf, and the second storage location includes a first sub-storage location formed on the shelf, the first sub-storage location being configured to store irregularly shaped items.

[0012] In some embodiments, the mobile vehicle further includes:

[0013] A stop is located on the outer perimeter of the first sub-cargo location and is configured to confine irregularly sized items within the first sub-cargo location.

[0014] In some embodiments, the side of the support frame has a retrieval opening communicating with the first sub-cargo bay, and a stop is located at least at the retrieval opening, and the stop at the retrieval opening is detachably connected to the support frame.

[0015] In some embodiments, the support frame is also formed with lateral openings opposite each other along a first direction, the lateral openings communicating with a first sub-cargo location, and the retrieval and return openings being located between the two lateral openings; the first direction intersects with the height direction of the mobile vehicle.

[0016] The stop is also installed at the side opening.

[0017] In some embodiments, the stop includes multiple spaced-apart fishtail ribbons;

[0018] At least one end of the fish ribbon located at the retrieval opening is detachably connected to the support frame.

[0019] In some embodiments, the support frame has opposing two-sided retrieval openings along a second direction; the second direction intersects the height direction of the mobile vehicle;

[0020] The shelf includes a first shelf and a second shelf arranged sequentially along a second direction, wherein one of the retrieval openings is located on one side of a first sub-cargo location formed by the first shelf and is configured to retrieve irregularly shaped items on the first shelf, and the other retrieval opening is located on one side of a first sub-cargo location formed by the second shelf and is configured to retrieve irregularly shaped items on the second shelf.

[0021] In some embodiments, the mobile vehicle also includes a first tie rod;

[0022] The first tie rod runs longitudinally through the gap between the first and second shelves and is connected to the support frames on the upper and lower sides of the shelf.

[0023] In some implementations, the irregularly shaped object includes a hanging irregularly shaped object;

[0024] The second storage location structure includes a suspension beam, and the second storage location includes a second sub-storage location formed below the suspension beam, the second sub-storage location being configured to store irregularly shaped items that can be suspended.

[0025] In some embodiments, the support frame has opposite two-sided retrieval openings along the second direction;

[0026] The suspension beam includes a first suspension beam and a second suspension beam arranged sequentially along a second direction. One of the two retrieval openings is located on one side of the second sub-cargo location formed by the first suspension beam and is configured to retrieve and return irregularly shaped items that can be suspended on the first suspension beam. The other retrieval opening is located on one side of the second sub-cargo location formed by the second suspension beam and is configured to retrieve and return irregularly shaped items that can be suspended on the second suspension beam.

[0027] In some implementations, the irregularly shaped object includes a vehicle frame;

[0028] The second cargo space structure includes a chassis storage fixture, which has multiple fasteners arranged side by side along a first direction. The second cargo space includes a third sub-cargo space formed on the fasteners, which is configured to store a chassis.

[0029] In some embodiments, the chassis storage fixture includes a first fixed frame and a second fixed frame spaced apart along the height direction of the mobile vehicle, and the fixing members include a top fixing member and a bottom fixing member, with the top fixing member disposed on the first fixed frame and the bottom fixing member disposed on the second fixed frame;

[0030] The top of the frame is fixed to the top fastener, and the bottom of the frame is fixed to the bottom fastener.

[0031] In some embodiments, the top fastener includes a first top fastener and a second top fastener, the first top fastener being spaced apart on a first side of the first fastener frame, and the second top fastener being spaced apart on a second side of the first fastener frame;

[0032] The bottom fixing component includes a first bottom fixing component and a second bottom fixing component. The first bottom fixing component is spaced apart on the first side of the second fixing frame, and the second bottom fixing component is spaced apart on the second side of the second fixing frame.

[0033] A first top fixing member and a first bottom fixing member, which are arranged correspondingly along the height direction of the mobile vehicle, together form a third sub-cargo space on the first side. A second top fixing member and a second bottom fixing member, which are arranged correspondingly along the height direction of the mobile vehicle, together form a third sub-cargo space on the second side. The first side and the second side are arranged opposite to each other along the second direction of the mobile vehicle.

[0034] In some implementations, the mobile vehicle also includes a second tie rod;

[0035] The second tie rod is set horizontally and is offset from the third sub-cargo location along the height direction. The second tie rod is connected to the support frame.

[0036] On the other hand, embodiments of this application also provide a method for determining the qualification of a mobile vehicle, including:

[0037] The total torque of the mobile vehicle is determined based on the torque of each layer of cargo space set along the height direction in the mobile vehicle.

[0038] The anti-overturning moment of the mobile vehicle is determined based on the weight of the mobile vehicle, the dimensions of the mobile vehicle on the first plane, and the weight of all items stacked along the height direction; wherein the height direction intersects the first plane; wherein the items include standard items and irregularly shaped items;

[0039] Based on the total moment and the anti-overturning moment, the overturning qualification of the mobile vehicle is determined, and the qualification includes the overturning qualification.

[0040] In some implementations...

[0041] Based on the weight of the mobile vehicle, its dimensions on the first plane, and the weight of all items placed along the height direction in each layer, the overturning moment of the mobile vehicle is determined, including:

[0042] Based on the weight of the mobile vehicle, the length of the mobile vehicle along the first direction, and the weight of the items in each column along the first direction, the first anti-overturning moment of the mobile vehicle in the first direction is determined.

[0043] The second anti-overturning moment of the mobile vehicle in the second direction is determined based on the weight of the mobile vehicle, the width of the mobile vehicle in the second direction, and the weight of the items in each row in the second direction.

[0044] The overturning moment includes the first overturning moment and the second overturning moment.

[0045] In some implementations, a first anti-overturning moment of the mobile vehicle in the first direction is determined based on the weight of the mobile vehicle, the length of the mobile vehicle along the first direction, and the weight of the articles in each column along the first direction, including:

[0046] Based on the weight of the mobile vehicle, the length of the mobile vehicle along the first direction, the weight of each column of items along the first direction, and the position of each column of items in the first direction, the first eccentricity of the mobile vehicle in the first direction is determined.

[0047] The first anti-overturning moment is determined based on the first eccentricity, the length of the moving vehicle along the first direction, and the total weight of the moving vehicle and the items.

[0048] In some implementations, the first eccentricity l L The following formula is used to determine it:

[0049] Absolute value {L / 2-[m l1 ×X1+m l2 ×X2+m l3 ×X3+……+m ln ×X n +m 载×L / 2] / m 总}(1);

[0050] In the above formula (1), L is the length of the moving vehicle along the first direction, m ln Let X be the total weight of the items in the nth column of the items arranged along the first direction. n Let m be the distance m of each column of items arranged along the first direction from the side of the moving vehicle in the first direction. 载 m is the weight of the mobile vehicle. 总 The total weight of the moving vehicle and items.

[0051] In some implementations, the first anti-overturning moment M limit-L The following formula is used to determine it:

[0052] m 总 ×(L / 2-l L (2);

[0053] In the above formula (2), m 总 l is the total weight of the moving vehicle and goods. L Let L be the first eccentricity, and L be the length of the moving vehicle along the first direction.

[0054] In some implementations, a second anti-overturning moment of the mobile vehicle in the second direction is determined based on the weight of the mobile vehicle, the width of the mobile vehicle along the second direction, and the weight of the items in each row along the second direction, including:

[0055] The second eccentricity of the mobile vehicle in the second direction is determined based on the weight of the mobile vehicle, the width of the mobile vehicle along the second direction, the weight of each row of items along the second direction, and the position of each row of items in the second direction.

[0056] The second anti-overturning moment is determined based on the second eccentricity, the width of the moving vehicle along the second direction, and the total weight of the moving vehicle and the items.

[0057] In some implementations, the second eccentricity lw is determined using the following formula:

[0058] Absolute value {W / 2-[m w1 ×Y1+m w2 ×Y2+m w3 ×Y3+……+m wn ×Y n +m 载 [×W / 2] / m 总}(3);

[0059] In the above formula (3), W is the width of the moving vehicle along the second direction, m wn Y represents the total weight of the items in the nth row of items arranged along the second direction.n Let m be the distance (in meters) of each row of items arranged along the second direction from the side of the moving vehicle in the second direction. 载 m is the weight of the mobile vehicle. 总 The total weight of the moving vehicle and items.

[0060] In some implementations, the second anti-overturning moment M limit-w The following formula is used to determine it:

[0061] m 总 ×(W / 2-l w (4);

[0062] In the above formula (4), m 总 l is the total weight of the moving vehicle and goods. w The second eccentricity is W, where W is the width of the moving vehicle along the second direction.

[0063] In some implementations, the torque of each layer of goods is determined by the total weight of the goods on each layer, the height of each layer of goods from the working plane when the moving vehicle is in motion, and the motion coefficient.

[0064] In some implementations, the torque M at each cargo level n The following formula is used to determine it:

[0065] m n ×H n ×a(5);

[0066] In the above formula (5), m n H represents the total weight of the items on each layer. n denoted as , where is the height of each layer of goods from the working plane when the mobile carrier moves, and 'a' is the motion coefficient of the handling robot, which is configured to move the mobile carrier.

[0067] In some implementations, the rollover resistance qualification of a mobile vehicle is determined based on the total moment and the rollover resistance moment, including:

[0068] The overturning coefficient is determined based on the total moment and the anti-overturning moment;

[0069] The rollover resistance qualification of the mobile vehicle is determined based on the rollover coefficient; wherein the rollover resistance moment includes a first rollover resistance moment and a second rollover resistance moment, and the rollover coefficient is the first rollover coefficient and the second rollover coefficient.

[0070] In some implementations, the first overturning coefficient S L The following formula is used to determine it:

[0071] M 总 ÷M limit-L (6);

[0072] Second overturning coefficient S w The following formula is used to determine it:

[0073] M 总 ÷M limit-w (7).

[0074] In some implementations, conformity also includes conformity of weight;

[0075] The methods for determining conformity also include:

[0076] The weight qualification of the mobile vehicle is determined based on the total weight of the mobile vehicle and the goods.

[0077] The mobile carrier provided in this application embodiment, by setting a first storage location structure to store standard items in a first storage location formed by the first storage location structure, also sets a second storage location structure on the mobile carrier, the second storage location formed by the second storage location structure being configured to store irregularly shaped items, so that the mobile carrier can store both standard and irregularly shaped items, improving the applicability of the mobile carrier. When the mobile carrier docks with a workstation, standard items can be picked at the first picking location, and irregularly shaped items can be picked at the second picking location, so that the picking of the two types of items does not interfere with each other. In addition, the picking height of the second picking location can be set to match the height of the second storage location to facilitate manual picking of irregularly shaped items, and also improve the picking efficiency of irregularly shaped items.

[0078] Furthermore, the mobile vehicle qualification determination method provided in this application first determines the total moment of the mobile vehicle along the height direction, then determines the anti-overturning moment of the mobile vehicle in the horizontal direction based on the weight of the mobile vehicle, the horizontal dimensions of the mobile vehicle, and the weight of the stacked items along the height direction. Finally, based on the total moment and the anti-overturning moment of the mobile vehicle, the qualification of the mobile vehicle is determined, that is, the anti-overturning qualification of the mobile vehicle is determined. By calculating the total moment and the anti-overturning moment of the mobile vehicle, it is possible to more accurately and conveniently determine whether the mobile vehicle is anti-overturning in the horizontal direction, thus improving the efficiency of mobile vehicle qualification determination. In addition, when the mobile vehicle is unqualified, the factors determining the total moment or the anti-overturning moment, such as the weight of each layer of items, can be adjusted to make the anti-overturning moment of the mobile vehicle qualified, ensuring that the mobile vehicle will not overturn, thus making the qualification adjustment efficiency of the mobile vehicle even higher. Attached Figure Description

[0079] Figure 1 This is a schematic diagram of the structure of one of the mobile vehicles provided in an embodiment of this application;

[0080] Figure 2 This is a schematic diagram of the first cargo space structure provided in an embodiment of this application;

[0081] Figure 3 This is a schematic diagram of one embodiment of the second cargo space structure provided in this application;

[0082] Figure 4 This is a schematic diagram of another second cargo space structure provided in one embodiment of this application;

[0083] Figure 5 This is a schematic diagram of the structure of another mobile vehicle provided in one embodiment of this application;

[0084] Figure 6 yes Figure 5 The main view;

[0085] Figure 7 yes Figure 5 Side view;

[0086] Figure 8 This is a flowchart of a method for determining the conformity of a mobile vehicle according to an embodiment of this application;

[0087] Figure 9 This is a schematic diagram of the cargo layout of each layer of a mobile vehicle provided in one embodiment of this application.

[0088] Explanation of reference numerals in the attached figures:

[0089] 100 - Supporting frame; 200 - Cargo storage structure;

[0090] 10-Side opening; 11-Item retrieval opening; 11a-First item retrieval opening; 11b-Second item retrieval opening; 110-Crossbeam; 120-Longitudinal beam; 130-Reinforcing member; 140-First tie rod; 150-Second tie rod; 210-First cargo position structure; 220-Second cargo position structure;

[0091] 211-First cargo location; 212-First fixed frame; 213-Support component; 221-Second cargo location; 221a-First sub-cargo location; 221b-Second sub-cargo location; 221c-Third sub-cargo location; 222-Shelf; 222a-First shelf; 222b-Second shelf; 223-Stop component; 224-Suspension beam; 225-Fixed beam; 226-Chassis storage fixture; 227-Second fixed frame;

[0092] 223a - Fish ribbon; 223b - Folded edge; 224a - First suspension crossbeam; 224b - Second suspension crossbeam; 2261 - Fastener; 2262 - First fixing bracket; 2263 - Second fixing bracket;

[0093] 2261a - Top fastener; 2261b - Bottom fastener;

[0094] 226a - First top fastener; 226b - Second top fastener; 226c - First bottom fastener; 226d - Second bottom fastener. Detailed Implementation

[0095] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of this application.

[0096] It should be noted that many specific details are set forth in the following description in order to provide a full understanding of this application. However, this application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of this application is not limited to the specific embodiments disclosed below.

[0097] In the description of this application, it should be understood that the terms "upper," "lower," "horizontal," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. In this application, unless otherwise expressly specified and limited, the first feature being "upper" or "lower" than the second feature can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium.

[0098] In this application, unless otherwise expressly specified and limited, the terms "connected," "linked," and "fixed," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral unit; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. However, specifying a direct connection indicates that the two entities connected are not linked by an intermediate structure, but are simply connected to form a whole. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0099] In this application, the use of terms such as "first," "second," etc., is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features.

[0100] This application provides a warehousing system, including a work area and a storage area. The work area is configured to have workstations for sorting or picking items, and the storage area is configured to have carriers for storing items.

[0101] It should be noted that items may include, but are not limited to, empty bins, boxes loaded with goods, pallets, or the goods themselves; this application embodiment does not limit the type of items. Additionally, carriers may include, but are not limited to, shelves, containers, etc. Taking picking as an example, handling equipment such as a handling robot can transfer items from the storage area to the workstation. The picking object can receive the items and place them on the work platform for picking. After picking, the picking object can place the picked items into the sorting wall, transfer the remaining items to the handling robot, and then the handling robot removes the remaining items from the workstation.

[0102] It should be noted that the picking object can be a staff member or a picking robot such as a robotic arm, and this application embodiment does not limit this.

[0103] In some examples, the carrier, such as a fixed shelf, can be used. The handling robot can transfer items from the fixed shelf to the workstation in batches, and then pick them sequentially at the workstation. After picking is completed, the handling robot will then remove the remaining items from the workstation in batches.

[0104] In other examples, to improve picking efficiency, the carrier can be a mobile carrier, such as a mobile shelf. This carrier, driven by handling equipment such as a handling robot, can move on a mobile platform within the warehouse system, such as the ground, to move all items on the carrier at once. During picking, the handling robot can move the mobile carrier to a workstation, where the item being picked will be transferred from the mobile carrier to the workstation for picking. Once all items on the mobile carrier have been picked, the handling robot can move the mobile carrier out of the workstation and into another area, such as returning to the storage area.

[0105] In related technologies, storage compartments on mobile vehicles are configured to store standard items, such as standard bins, i.e., items with standard dimensions and shapes. It should be noted that standard bins can include standard straight bins and standard angled bins.

[0106] Correspondingly, the workstation can be equipped with automatic picking and unloading equipment. The picking and unloading equipment can only pick up and return standard boxes. For example, the standard boxes on the mobile carrier are transferred to the work platform by the loading and unloading equipment, and then the goods in the standard boxes are picked by the picking object. After the picking is completed, the loading and unloading equipment can transfer the standard boxes to the storage position of the mobile carrier. Finally, the handling robot moves the mobile carrier out of the work area.

[0107] Among them, the loading and unloading equipment can quickly transfer items between mobile carriers and work platforms to improve picking efficiency. In addition, the loading and unloading equipment can buffer standard bins on mobile carriers or unload them to buffer positions at workstations, so as to remove items to be picked from mobile carriers in a timely manner, enabling the mobile carriers to be transferred to other work areas in a timely manner, thereby improving the working efficiency of the entire warehousing system.

[0108] However, the storage locations of the aforementioned mobile vehicles can only store standard items. Consequently, the docking mode between the mobile vehicles and workstations is also only applicable to standard items, and cannot store or pick non-standard irregular items, thus making the applicability of the mobile vehicles and warehousing systems relatively narrow.

[0109] The mobile carrier provided in this application embodiment, by setting a first storage location structure 210 to store standard items in a first storage location 211 formed by the first storage location structure 210, also sets a second storage location structure 220 on the mobile carrier. The second storage location 221 formed by the second storage location structure 220 is configured to store irregularly shaped items, so that the mobile carrier can store both standard and irregularly shaped items, improving the applicability of the mobile carrier. When the mobile carrier docks with a workstation, standard items can be picked at the first picking location, and irregularly shaped items can be picked at the second picking location, so that the picking of the two types of items does not interfere with each other. In addition, the picking height of the second picking location can be set to match the height of the second storage location 221 to facilitate manual picking of irregularly shaped items and improve the picking efficiency of irregularly shaped items.

[0110] The specific structure of the mobile vehicle provided in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0111] Figure 1 This is a structural schematic diagram of one embodiment of a mobile vehicle provided in this application. (Refer to...) Figure 1 As shown, this application embodiment provides a mobile vehicle, including a support frame 100, in which a storage space is formed for storing items.

[0112] In some examples, the support frame 100 may include a plurality of longitudinal beams 120 and crossbeams 110, the plurality of longitudinal beams 120 being spaced apart circumferentially, and the crossbeams 110 being disposed between two adjacent longitudinal beams 120 arranged circumferentially, the longitudinal beams 120 and the crossbeams 110 together forming the support frame 100 of the mobile vehicle.

[0113] It is understood that the support frame 100 has multiple sides arranged circumferentially. For example, if the support frame 100 is a cuboid structure, then the support frame 100 has four sides. For ease of description, the two sides of the support frame 100 that are arranged opposite each other along the first direction can be referred to as the left side and the right side, and the two sides of the support frame 100 that are arranged opposite each other along the second direction can be referred to as the front side and the rear side.

[0114] In this embodiment, the first direction is the length direction of the moving vehicle (refer to...). Figure 1 Taking the x-direction as an example, the second direction is the width direction of the moving vehicle (refer to...). Figure 1 Taking the y-direction as an example. It can be understood that both the first and second directions are related to the height direction of the moving vehicle (refer to...). Figure 1 Intersecting (e.g., perpendicular) in the z-direction.

[0115] In some examples, the mobile vehicle can be a two-way retrieval vehicle. For example, the front and rear sides of the support frame 100 can be provided with retrieval openings, so that items inside the support frame 100 can be stored and retrieved from both the front and rear retrieval openings.

[0116] For example, to improve the structural stability of the mobile vehicle, the support frame 100 may also include a reinforcing member 130, such as a reinforcing rod, which can be fixed to the crossbeam 110 and longitudinal beam 120 on the left and right sides. The structure and extension direction of the reinforcing rod are not limited here, as long as they can provide a stabilizing effect on the crossbeam 110 and longitudinal beam 120.

[0117] In other examples, the mobile vehicle can be a four-way access vehicle. For example, the four sides of the support frame 100 can be provided with access openings, so that items inside the support frame 100 can be accessed from the four sides.

[0118] The mobile vehicle also includes a cargo storage structure 200 disposed within the accommodating space of the support frame 100. For example, multiple layers of cargo storage structures 200 may be spaced apart along the height direction of the support frame 100 to form multiple cargo storage areas, thereby increasing the storage density of the mobile vehicle.

[0119] For ease of description, the cargo space structures 200 on the mobile vehicle from bottom to top can be referred to as the first-level cargo space structure 200, the second-level cargo space structure 200, the third-level cargo space structure 200, etc., and correspondingly, the cargo spaces from bottom to top can be referred to as the first-level cargo space, the second-level cargo space, the third-level cargo space, etc.

[0120] In order to facilitate the transport of mobile vehicles, a certain space can be reserved below the lowest level storage structure 200, i.e., the first level storage structure 200. In other words, there is a certain distance between the first level storage structure 200 and the bottom of the support frame 100. In this way, at least part of the transport robot can be moved below the first level storage structure 200, and the mobile vehicle can be transported by lifting it.

[0121] For example, the handling robot can be a lifting robot, which can move as a whole to below the first-level storage structure 200 and raise the bearing surface of the handling robot so that the bearing surface contacts the first-level storage structure 200. The bearing surface continues to rise so that the bottom end of the support frame 100 is lifted off the ground. Thus, by controlling the movement of the handling robot, the mobile carrier can move on the ground.

[0122] During setup, the storage location structure 200 may include a first storage location structure 210, which is disposed within the support frame 100, i.e., disposed within the accommodating space, and connected to the support frame 100. The first storage location structure 210 forms a first storage location 211, which is configured to store standard items. It is understood that the height of the first storage location 211 may be greater than or equal to the height of the standard items, so that the standard items can be easily stored in the first storage location 211.

[0123] Figure 2 This is a schematic diagram of the first cargo space structure provided in an embodiment of this application. (Refer to...) Figure 2 As shown, in some examples, the first storage location structure 210 may include a first fixing frame 212 and support members 213. The first fixing frame 212 is fixed to the support frame 100, and the support members 213 are fixed to the first fixing frame 212 to support standard items. There may be multiple support members 213, which are spaced apart along at least one of a first direction and a second direction. For example, multiple support members 213 are spaced apart along the first direction so that a first storage location 211 for carrying standard items is formed above the multiple support members 213.

[0124] It is understandable that the first storage location structure 210 is a hollow structure and is configured to store standard items. The size of the standard item is larger than the through holes formed between the supports 213, but smaller than the size of the support area formed by the supports 213.

[0125] It should be noted that the specific configuration of the first cargo position structure 210 can be found in the relevant technical content, and will not be elaborated here.

[0126] In some examples, the first storage location structure 210 has multiple first storage locations 211 formed along a first direction, and each first storage location 211 stores one standard item. For example, the first storage location structure 210 may have three first storage locations 211 along the first direction, then the first storage location structure 210 can store three standard items along the first direction. In some examples, the support frame 100 may have multiple first storage locations 211 in a second direction. Taking two first storage locations 211 as an example, two first storage locations 211 can be formed by one first storage location structure 210. In other words, two first storage locations 211 can be formed on the first storage location structure 210.

[0127] Of course, in some examples, one storage location structure 200 can correspond to one first storage location 211, so two first storage location structures 210 can be set on the support frame 100 along the second direction to facilitate the placement of two standard items.

[0128] In some examples, there can be multiple first storage structures 210, and multiple first storage structures 210 can be spaced apart along the height direction of the support frame 100 so that the mobile vehicle can store multiple standard items along the height direction, thereby increasing the storage density of the mobile vehicle.

[0129] Reference Figure 1 As shown, the cargo space structure 200 of this application embodiment also includes a second cargo space structure 220. The second cargo space structure 220 is disposed within the support frame 100. The second cargo space structure 220 forms a second cargo space 221. The second cargo space 221 is configured to store irregularly shaped items, and the height between it and the mobile platform of the mobile vehicle, such as the ground, is a first height.

[0130] It is understandable that the height of the second storage location 221 can be greater than or equal to the height of the irregularly shaped items, so that the irregularly shaped items can be stored smoothly on the second storage location 221.

[0131] The second storage location structure 220 differs from the first storage location structure 210. The second storage location 221 formed by the second storage location structure 220 can store non-standard items, i.e., irregularly shaped items. Among them, irregularly shaped items include two categories: the first category is items whose size is different from that of standard items, and the second category is items whose shape is different from that of standard items.

[0132] For ease of description, the first type of irregularly shaped items can be called irregularly sized items, and the second type of irregularly shaped items can be called irregularly shaped items. Among them, the size of irregularly sized items can be smaller than the size of standard items, such as small packages or small containers, or larger than the size of standard items.

[0133] By setting a second storage location structure 220 within the support frame 100 to store irregularly shaped items, not only can irregularly shaped items be stored and transported, but they also do not interfere with the storage location of standard items. This makes it easier to use other modes to pick irregularly shaped items when interfacing with workstations.

[0134] In some examples, the second storage structure 220 may be spaced apart from the first storage structure 210 along the height of the mobile vehicle to store standard and irregular items on different levels of the mobile vehicle.

[0135] For example, the second cargo space structure 220 can be located between adjacent first cargo space structures 210 arranged along the height direction. For instance, the second cargo space structure 220 can be located in the middle area of ​​the mobile vehicle along the height direction to facilitate the retrieval and placement of irregularly shaped items on the second cargo space 221. Of course, the second cargo space structure 220 can also be located above the uppermost first cargo space structure 210, that is, the uppermost cargo space structure 200 of the mobile vehicle is the second cargo space structure 220 and is configured to store irregularly shaped items, or it can be located below the lowermost first cargo space structure 210, that is, the lowermost cargo space structure 200 of the mobile vehicle is the second cargo space structure 220 to store irregularly shaped items.

[0136] Taking a mobile vehicle with 10 cargo bays as an example, at least one second cargo bay structure 220 can be set in the middle layer, so that at least one second cargo bay 221 serves as an intermediate cargo bay, or it can be set in the first layer, so that the second cargo bay 221 serves as a first-layer cargo bay. Of course, at least one second cargo bay structure 220 can also be set in the top layer, so that at least one second cargo bay 221 serves as a top-layer cargo bay.

[0137] This application embodiment does not limit the number of layers of the second cargo space structure 220. It can be one layer or multiple layers. The multiple layers of the second cargo space structure 220 can be arranged adjacent to each other or separated by the first cargo space structure 210.

[0138] In some examples, multiple second storage locations 221 can be provided in the second direction of the mobile vehicle. Taking two second storage locations 221 as an example, one second storage location structure 220 can form two second storage locations 221 arranged along the second direction, that is, at least two irregularly shaped items can be stored on one second storage location structure 220 along the second direction. In some examples, one second storage location structure 220 corresponds to one second storage location 221. In this way, two second storage location structures 220 can be provided in the second direction of the mobile vehicle to store at least two irregularly shaped items in the second direction, thereby increasing the storage density of irregularly shaped items of the mobile vehicle.

[0139] To enable the picking of both standard and irregularly shaped items, in some examples, a workstation may include a first picking station and a second picking station. The first picking station is configured to pick standard items, and the second picking station is configured to pick irregularly shaped items. The picking methods of the first and second picking stations differ.

[0140] In some examples, a first loading and unloading device for automatic picking may be provided at the first picking position to transfer irregularly shaped items between the first picking position and the second storage location 221 of the mobile carrier, so that the picking method at the first picking position is automatic picking. The first loading and unloading device may be a loading and unloading device for picking standard items in related technologies.

[0141] For example, when standard items need to be picked, the handling robot moves the mobile carrier to the first loading and unloading equipment at the first picking position and faces the first loading and unloading equipment with the loading and unloading opening of the mobile carrier. The picking and placing mechanism of the first loading and unloading equipment transfers the standard items on the mobile carrier to the work platform of the first picking position for picking by the staff. After picking is completed, the picking and placing mechanism of the first loading and unloading equipment transfers the remaining standard items to the first storage position 211 of the mobile carrier.

[0142] In some examples, a second loading and unloading device may be provided at the second picking station, which is configured to transfer irregularly shaped items between the second picking stations by a mobile vehicle.

[0143] It should be noted that, due to the different items being loaded and unloaded, the structure of the second loading and unloading equipment is also different from that of the first loading and unloading equipment. The second loading and unloading equipment is suitable for loading and unloading irregularly shaped items. For example, if the irregularly shaped item is a small sheet-like package, the second loading and unloading equipment can be a robotic arm. The free end of the robotic arm has a mechanical gripper. The robotic arm drives the mechanical gripper to move in order to grab the irregularly shaped item.

[0144] For example, when it is necessary to pick irregularly shaped items, the handling robot moves the mobile carrier to the second loading and unloading equipment at the second picking position and faces the loading and unloading equipment with the object return opening of the mobile carrier. The mechanical gripper of the second loading and unloading equipment transfers the irregularly shaped items on the mobile carrier to the work platform of the second picking position for picking by the staff. After the picking is completed, the mechanical gripper of the second loading and unloading equipment transfers the remaining irregularly shaped items to the second storage position 221 of the mobile carrier.

[0145] Of course, in some other examples, the second picking position can be a manual picking position, i.e., without a second loading and unloading equipment. When the handling robot moves to the second picking position, the staff directly takes the irregular items from the second storage position 221 of the mobile carrier and places them on the work platform for picking. After picking, the remaining irregular items are then put into the second storage position 221 of the mobile carrier by the staff.

[0146] It should be noted that when the second picking position is a manual picking position, that is, when the picking method for irregularly shaped items is manual picking, the first height, that is, the height between the second storage position 221 and the ground, can be adapted to the picking height of the second picking position, so as to facilitate the staff to take the irregularly shaped items on the second storage position 221 of the mobile vehicle, or to put the irregularly shaped items back into the second storage position 221 of the mobile vehicle.

[0147] The first height can be the distance between the second storage location structure 220 and the ground, or the height between the center of the second storage location 221 and the ground. The picking height of the second picking location can be the height between the work platform where the second picking location is located and the ground.

[0148] The first height is taken as the distance between the center of the second storage location structure 220 and the ground. The first height can be equal to the height of the second picking location, or it can be higher or lower than the height of the second picking location, but the difference between the height of the first and second picking locations is within a suitable range so that staff can smoothly pick up or return irregular items on the second storage location 221.

[0149] Workstations can be configured in several ways. One possible configuration is to set up the first and second picking positions separately, meaning they are located in independent workstations. For example, the work area may include at least two workstations. One workstation, such as the first workstation, forms the first picking position and is configured to pick standard items. The other workstation, such as the second workstation, forms the second picking position and is configured to pick irregularly shaped items.

[0150] When standard items need to be picked, the handling robot moves the mobile carrier to the first loading and unloading equipment of the first workstation. The picking and placing mechanism of the first loading and unloading equipment transfers the standard items on the mobile carrier to the work platform of the first workstation for picking by the staff. After picking is completed, the picking and placing mechanism of the first loading and unloading equipment transfers the remaining standard items to the first storage position 211 of the mobile carrier.

[0151] When it is necessary to pick irregularly shaped items, the handling robot moves the mobile vehicle to the second workstation, and the staff transfers the irregularly shaped items from the mobile vehicle to the work platform of the second workstation for picking. After the picking is completed, the staff transfers the remaining irregularly shaped items to the second storage location 221 of the mobile vehicle.

[0152] It is understood that in the above setup, the first workstation is a standard item picking workstation. The specific structure and picking method of the first workstation can be referred to the standard item picking content in the relevant technology, which will not be repeated here.

[0153] In addition, the second workstation can be a manual picking workstation, which can pick irregularly shaped items on the mobile vehicle by manual picking.

[0154] As a second configuration, both the first and second picking positions can be located within a standard item picking workstation, such as the first workstation. For example, the first workstation includes a first work platform and a second work platform. The first work platform forms the first picking position and is configured to pick standard items. For instance, an automated loading and unloading device is installed at the first work platform, configured to transfer standard items between a mobile carrier and the first work platform. The second work platform is located beside the first work platform, forming the second picking position, and is configured to pick irregularly shaped items. For instance, the second work platform can be a manual picking platform.

[0155] For example, the first work platform and the second work platform can be arranged at an angle and can share a single worker.

[0156] For example, when standard items need to be picked, the handling robot moves the mobile carrier to the first loading and unloading equipment of the first working platform. The picking and placing mechanism of the first loading and unloading equipment transfers the standard items on the mobile carrier to the first working platform, where the first worker picks them. After the picking is completed, the picking and placing mechanism of the first loading and unloading equipment transfers the remaining standard items to the first storage location 211 of the mobile carrier.

[0157] When it is necessary to pick irregularly shaped items, the handling robot moves the mobile vehicle to the second working platform, and the staff on the mobile vehicle transfers the irregularly shaped items from the mobile vehicle to the second working platform, where the second staff picks them. After the picking is completed, the staff transfers the remaining irregularly shaped items to the second storage location 221 of the mobile vehicle.

[0158] The first and second staff members can be the same person or different people, depending on the available space at the workstation.

[0159] It should be noted that when controlling the mobile vehicle to reach the corresponding workstation, it is preferable to complete the picking of all items in the order at the same workstation or on the same work platform, based on the order information. After all the order items are picked at the same workstation or on the same work platform, the mobile vehicle can then be moved to other workstations or on other work platforms to pick other order items.

[0160] Taking the first setup method as an example, when the order includes both standard and irregularly shaped items, the mobile vehicle can be moved to the first workstation first, and after all the standard items corresponding to the order have been picked, the mobile vehicle can be moved to the second workstation to pick all the irregularly shaped items corresponding to the order. Alternatively, the mobile vehicle can be moved to the second workstation first, and after all the irregularly shaped items corresponding to the order have been picked, the mobile vehicle can be moved to the first workstation to pick all the standard items corresponding to the order.

[0161] Taking the second setup as an example again, when the order includes both standard and irregularly shaped items, the mobile vehicle can be moved to the first work platform first, and after all the standard items corresponding to the order have been picked, the mobile vehicle can then be moved to the second work platform to pick all the irregularly shaped items corresponding to the order. Alternatively, the mobile vehicle can be moved to the second work platform first, and after all the irregularly shaped items corresponding to the order have been picked, the mobile vehicle can then be moved to the first work platform to pick all the standard items corresponding to the order.

[0162] Figure 3 This is a schematic diagram of one embodiment of the second cargo space structure provided in this application. (Refer to...) Figure 1 and Figure 3 As shown, in some examples, the second storage location structure 220 may include a shelf 222, and the second storage location 221 includes a first sub-storage location 221a formed on the shelf 222, the first sub-storage location 221a being configured to store irregularly sized items.

[0163] Because shelf 222 has no holes, it can store irregularly shaped items smaller than standard items, such as packaging boxes containing watches, compared to the first storage compartment structure 210 with its openwork structure.

[0164] It is understood that the upper surface of the shelf 222 is a support surface for bearing irregularly shaped items. Therefore, the first sub-cargo location 221a is located above the shelf 222. For example, the first sub-cargo location 221a can be the space between the upper surface of the shelf 222 of this layer and the lower surface of the upper-layer cargo location structure 200, such as the first cargo location structure 210.

[0165] In some examples, a shelf 222 may form one or more first sub-storage locations 221a along a first direction. For example, the shelf 222 may form six first sub-storage locations 221a along the first direction, and each first sub-storage location 221a may store an irregularly shaped item.

[0166] For example, the length of a first storage location 211 along the first direction can be equal to the length of multiple, such as two first sub-storage locations 221a. It is understood that the length of the first sub-storage location 221a along the first direction is determined by the length of an irregularly sized item. For example, the length of the first sub-storage location 221a along the first direction can be equal to or greater than the length of an irregularly sized item, as long as it can be ensured that the first sub-storage location 221a can store an irregularly sized item.

[0167] It is understandable that the number of first sub-positions 221a along the first direction of a shelf 222 can be adjusted according to the width of the irregularly shaped items.

[0168] In some examples, in order to enhance the stability of the connection between the shelf 221 and the support frame 100, a second fixing frame 227 can be provided below the shelf 221. The second fixing frame 227 is fixed to the support frame 100, and the shelf 221 is fixed to the second fixing frame 227. In this way, the stability of the shelf 221 can be improved.

[0169] Reference Figure 1 and Figure 3 As shown, in order to prevent irregularly sized items from falling off the outer periphery of shelf 222, in some examples, the moving vehicle may also include a stop 223. The stop 223 is located on the outer periphery of the first sub-cargo bay 221a and is configured to confine irregularly sized items within the first sub-cargo bay 221a, thereby preventing smaller irregularly sized items from falling off.

[0170] The support frame 100 has a retrieval opening 11 on its side, such as the front side, that communicates with the first sub-cargo location 221a.

[0171] Reference Figure 1 As shown, in some examples, the stop 223 is located at least at the retrieval opening 11, and the stop 223 located at the retrieval opening 11 is detachably connected to the support frame 100.

[0172] For example, the stop 223 can be a stop plate, which is openable and closable at the retrieval opening 11. The fixed end of the stop plate can be hinged to one side of the support frame 100, and the free end of the stop plate can be fastened to the other side of the support frame 100 by means of buckles, so as to facilitate the opening and closing of the stop plate.

[0173] For example, the stop 223 may include multiple spaced-apart fishing ribbons 223a, at least one end of which is detachably connected to the support frame 100 at the retrieval opening 11. Continuing with the example of the stop 223 located at the retrieval opening 11 on the front side of the support frame 100, multiple fishing ribbons 223a may be spaced along the height direction at the retrieval opening 11, and each fishing ribbon 223a may be arranged along a first direction to enclose the first sub-cargo location 221a.

[0174] For example, one end of the fishing ribbon 223a can be fixed to one side of the support frame 100 in a non-detachable manner, and the other end of the fishing ribbon 223a can be fixed to the other side of the support frame 100 in a detachable manner. In this way, when it is necessary to retrieve or return irregularly shaped items, only the other end of the fishing ribbon 223a can be removed from the support frame 100 without disassembling the entire fishing ribbon 223a. This makes it convenient to directly fix one end of the fishing ribbon 223a to one side of the support frame 100 after the retrieval or return work is completed, without having to reposition the fishing ribbon 223a, thus improving the assembly efficiency of the fishing ribbon 223a. In addition, it also avoids situations such as the fishing ribbon 223a becoming tangled or lost after being completely disassembled.

[0175] For example, a gourd-shaped hole can be provided on the support frame 100. One end of the fishing line 223a can be welded to one side of the support frame 100 through a connector, and the other end of the fishing line 223a can be snapped into the gourd-shaped hole on the other side of the support frame 100.

[0176] Of course, this application embodiment does not exclude the possibility that both ends of the fishing line 223a can be detachably connected to the support frame 100.

[0177] In this embodiment, the support frame 100 also has lateral openings 10 facing each other along a first direction. It can be understood that the lateral openings 10 are hollow openings formed by the intersection of the side crossbeams 110 and longitudinal beams 120 of the support frame 100. The lateral openings 10 communicate with the first sub-cargo bay 221a. The retrieval and return opening 11 is located between the lateral openings 10 on both sides. For example, the retrieval and return opening 11 is located on the front side of the support frame 100, and the lateral openings 10 are located on the left and right sides of the support frame 100.

[0178] In some examples, the stop 223 is also positioned at the side opening 10 to prevent irregularly sized items from falling out of the side opening 10.

[0179] In some examples, when the support frame 100 is surrounded by retrieval openings 11, the side opening 10 can also be a retrieval opening 11.

[0180] It should be noted that the stop 223 located in the side opening 10 can be similar in structure and arrangement to the stop 223 set at the retrieval and return opening 11, and will not be described in detail here.

[0181] Reference Figure 3 As shown, in some other examples, the stop 223 can be a folded edge 223b provided around the edge of the shelf 222, through which irregularly shaped items inside the shelf 222 can be stopped.

[0182] For example, in order to improve the stopping effect on irregularly shaped items on the shelf 222, a folded edge 223b can be provided around the edge of the shelf 222. At the same time, a stop plate or other structure can be provided at the retrieval opening 11 of the support frame. Of course, either the stop plate or the folded edge can be provided. The embodiment of this application does not limit the way the stop member 223 is provided.

[0183] The support frame 100 of this application embodiment may have opposite two-sided retrieval openings 11 along the second direction. For example, retrieval openings 11 may be provided on both the front and rear sides of the support frame 100 (see reference). Figure 1 (As shown in 11a and 11b);

[0184] Reference Figure 1 and Figure 3 As shown, in some examples, shelf 222 may include a first shelf 222a and a second shelf 222b arranged sequentially along a second direction, wherein one retrieval opening 11 is located on one side of the first sub-position 221a formed by the first shelf 222a and is configured to retrieve irregularly shaped items on the first shelf 222a, and the other retrieval opening 11 is located on one side of the first sub-position 221a formed by the second shelf 222b and is configured to retrieve irregularly shaped items on the second shelf 222b.

[0185] For example, the retrieval opening 11 located on the front side can be referred to as the first retrieval opening 11a. This first retrieval opening 11a communicates with the first sub-storage location 221a on the first shelf 222a to retrieve irregularly shaped items from the first sub-storage location 221a. The retrieval opening 11 located on the rear side can be referred to as the second retrieval opening 11b. This second retrieval opening 11b communicates with the first sub-storage location 221a on the second shelf 222b to retrieve irregularly shaped items from the first sub-storage location 221a.

[0186] Thus, during the picking process, when it is necessary to pick irregularly shaped items on the first shelf 222a, the first retrieval opening 11a of the mobile carrier can be oriented towards the second picking position to facilitate the retrieval of irregularly shaped items from the first shelf 222a through the first retrieval opening 11a. When it is necessary to pick irregularly shaped items on the second shelf 222b, the second retrieval opening 11b of the mobile carrier can be oriented towards the second picking position to facilitate the retrieval of irregularly shaped items from the second shelf 222b through the second retrieval opening 11b.

[0187] To improve the structural stability of the mobile vehicle, in some examples, the mobile vehicle may also include a first tie rod 140; the first tie rod 140 passes through the gap between the first layer plate 222a and the second layer plate 222b, and one end is connected to the support frame 100 above the layer plate 222, and the other end is connected to the support frame 100 below the layer plate 222.

[0188] In the above example, there is a certain gap between the first layer plate 222a and the second layer plate 222b. The first tie rod 140 can pass through the gap, with one end extending towards the top of the support frame 100 and fixed to the support frame 100, for example, fixed to the side reinforcement 130 of the support frame 100, and the other end extending towards the bottom of the support frame 100 and fixed to the support frame 100, for example, fixed to the side reinforcement 130 of the support frame 100.

[0189] For example, there may be two first pull rods 140, and the two first pull rods 140 may be arranged crosswise. For example, the two first pull rods 140 may be arranged crosswise on a vertical plane perpendicular to the horizontal plane. Here, the horizontal plane can be understood as the plane formed by the first direction and the second direction, and the vertical plane can be the plane containing the height direction.

[0190] In other examples, at the same height, a shelf 222 can be provided, forming two first sub-cargo locations 221a arranged along a second direction, i.e., the two first sub-cargo locations 221a share a single shelf 222, to simplify the second cargo location structure 220. It is understood that in this example, the first tie rod 140 can be arranged horizontally on the support frame 100 to avoid interfering with the shelf 222.

[0191] Figure 4 This is a schematic diagram of another second cargo space structure provided in one embodiment of this application.

[0192] In some examples, the alien objects include suspendable alien objects. (See reference...) Figure 1 and Figure 4As shown, the second storage location structure 220 includes a suspension beam 224, and the second storage location 221 includes a second sub-storage location 221b formed below the suspension beam 224. The second sub-storage location 221b is configured to store irregularly shaped items that can be suspended. Among them, irregularly shaped items that can be suspended include, but are not limited to, clothing, clothes hangers (without clothing), and hanging hardware, etc. Clothing will be used as an example for the following description.

[0193] It is understandable that, since the irregularly shaped items can be suspended on the suspension beam 224, the second sub-cargo location 221b is located below the suspension beam 224. For example, the second sub-cargo location 221b can be formed by the space between the suspension beam 224 of this layer and the cargo location of the lower layer, such as the first cargo location 211.

[0194] For example, refer to Figure 1 As shown, the lower layer of the suspended beam 224 is a shelf 222, so the second sub-cargo location 221b can be formed by the space between the suspended beam 224 and the first sub-cargo location 221a on the lower layer.

[0195] It should be noted that, Figure 1 The mobile vehicle shown is formed by a first cargo location 211, a first sub-cargo location 221a, and a second sub-cargo location 221b. The first-level cargo location is the first cargo location 211, the second-level cargo location is the first sub-cargo location 221a, the third-level cargo location is the second sub-cargo location 221b, and the fourth and higher levels are all first cargo locations 211. Of course, the cargo location structure 200 of the mobile vehicle is not limited to this layout and can be configured according to actual needs.

[0196] The suspension beam 224 can hang multiple garments along its extension direction, thus increasing the storage density of irregularly shaped items that can be hung on the mobile vehicle. It can be understood that the location of one garment can be designated as a second sub-position, meaning the suspension beam 224 can have multiple second sub-positions along the first direction (extension direction) to hang multiple garments.

[0197] In some examples, to facilitate the fixing of the suspension beam 224, the second storage structure 220 may include a fixed beam 225. The fixed beam 225 is fixed to the support frame 100, and the suspension beam 224 is fixed to the fixed beam 225. For example, the suspension beam 224 extends along a first direction, and there are two fixed beams 225. Both fixed beams 225 extend along a second direction and are fixed at both ends to the front and rear longitudinal beams 120 of the support frame 100. The suspension beam 224 is located between the two fixed beams, and its two ends are respectively fixed to the corresponding fixed beam 225 to achieve a stable assembly of the suspension beam 224.

[0198] During assembly, the suspension beam 224 can be fixed simply by connecting the fixed beam 225 to the support frame 100. To improve the stability of the fixed beam 225, the middle part of the fixed beam 225 can also be fixed to the side reinforcement 130 of the support frame 100.

[0199] In specific fixing, the fixed crossbeam 225 and the support frame 100 can be fixed with fasteners such as screws, rivets, and bolts. For example, a connector can be provided on the fixed crossbeam 225, and a mounting hole is formed on the connector. Screws and other structures pass through the mounting hole and are connected to the support frame 100 to realize the assembly of the fixed crossbeam 225.

[0200] In addition, the suspension beam 224 and the fixed beam 225 can also be fixed together by fasteners such as screws, rivets, and bolts. Of course, the suspension beam 224 and the fixed beam 225 can be integrally formed to improve the structural strength of the second cargo position structure 220.

[0201] In some examples, the suspension beam 224 may include a first suspension beam 224a and a second suspension beam 224b arranged sequentially along a second direction. When fixed, both the first suspension beam 224a and the second suspension beam 224b are fixed between two fixed beams 225.

[0202] One of the two retrieval openings on both sides of the support frame 100 is located on one side of the second sub-cargo location 221b formed by the first suspension beam 224a, and is configured to retrieve and return irregularly shaped items that can be suspended on the first suspension beam 224a. The other retrieval opening on both sides is located on one side of the second sub-cargo location 221b formed by the second suspension beam 224b, and is configured to retrieve and return irregularly shaped items that can be suspended on the second suspension beam 224b.

[0203] For example, the first retrieval opening 11a is located on one side of the second sub-cargo location 221b formed by the first suspension beam 224a, for retrieving and returning hanging clothing on the first suspension beam 224a, and the second retrieval opening 11b is located on one side of the second sub-cargo location 221b formed by the second suspension beam 224b, for retrieving and returning hanging clothing on the second suspension beam 224b. The arrangement of the two suspension beams 224 increases the storage density of hanging irregularly shaped items in the mobile vehicle.

[0204] Thus, during the picking process, when it is necessary to pick clothing on the first hanging beam 224a, the first retrieval opening 11a of the mobile vehicle can be oriented towards the second picking position to facilitate the retrieval of clothing from the first hanging beam 224a. When it is necessary to pick clothing on the second hanging beam 224b, the second retrieval opening 11b of the mobile vehicle can be oriented towards the second picking position to facilitate the retrieval of clothing from the second hanging beam 224b.

[0205] Figure 5 This is a schematic diagram of the structure of another mobile vehicle provided in one embodiment of this application. Figure 6 yes Figure 5 The main view, Figure 7 yes Figure 5 Side view. (Refer to...) Figures 5 to 7 As shown, in some examples, irregularly shaped items may include vehicle frames.

[0206] It should be noted that the frame can be the chassis of a bicycle, motorcycle, electric vehicle, or other similar vehicle.

[0207] The second cargo space structure 220 may include a chassis storage fixture 226, which has a plurality of side-by-side fasteners 2261 along a first direction. The second cargo space 221 includes a third sub-cargo space 221c formed on the fasteners 2261, which is configured to store a chassis.

[0208] Among the fixtures 2261 arranged along the first direction, each fixture 2261 can store at least one vehicle frame, such as a single vehicle frame. This allows the vehicle frame storage fixture 226 to store multiple vehicle frames along the first direction, thereby increasing the storage density of vehicle frames for the mobile vehicle. It can be understood that the location of one vehicle frame can be a third sub-cargo location, therefore the vehicle frame storage fixture 226 can have multiple third sub-cargo locations along the first direction to store multiple vehicle frames.

[0209] As one example, the fastener 2261 can be a V-shaped frame, on which the vehicle frame is supported, and the third sub-cargo bay 221c is located above the V-shaped frame. To secure the V-shaped frame, the second cargo bay structure 220 may also include a fixing frame, with both ends of the fixing frame fixed to opposite sides of the support frame 100 along the first direction, and the V-shaped frame fixed to the fixing frame.

[0210] As another example, the chassis storage fixture 226 may include a first fixing frame 2262 and a second fixing frame 2222 spaced apart along the height direction of the mobile vehicle. The fixing member 2261 includes a top fixing member 2261a and a bottom fixing member 2261b. The top fixing member 2261a is disposed on the first fixing frame 2262, and the bottom fixing member 2261b is disposed on the second fixing frame 2222.

[0211] During storage, the top of the frame is supported on the top fixing member 2261a, and the bottom of the frame is supported on the bottom fixing member 2261b. By supporting both the top and bottom of the frame, the storage stability of the frame within the support frame 100 is improved. For example, the bottom fixing member 2261b and the top fixing member 2261a can be strip-shaped fixing rods. The bottom hub of the frame can be clamped in the space between two adjacent bottom fixing members 2261b, and the top handlebars, such as the handlebars, can be fitted onto the top fixing member 2261a to improve the storage stability of the frame.

[0212] Of course, in other examples, the bottom fixing member 2261b itself can be configured as a V-shaped structure, that is, a V-shaped groove is formed on the bottom fixing member 2261b, and the bottom hub of the frame can also be embedded in the V-shaped groove to achieve support and fixation of the bottom of the frame. The top fixing member 2261a can be configured in the same way as the bottom fixing member 2261b. For example, the top fixing member 2261a can also be configured as an inverted V-shaped structure, that is, the opening of the V-shaped groove faces downward, and the front of the frame can be snapped into the V-shaped groove of the top fixing member 2261a to achieve support and fixation of the top of the frame. Of course, in other examples, the configuration of the top fixing member 2261a and the bottom fixing member 2261b can be different, and can be other structures, as long as the frame is fixed. This application embodiment does not limit the structure of the top fixing member 2261a and the bottom fixing member 2261b.

[0213] In some examples, the first fixing frame 2262 may include a first fixing beam, and the top fixing member 2261a includes a first top fixing member 226a and a second top fixing member 226b. The first top fixing member 226a is spaced apart on a first side of the first fixing beam, and the second top fixing member 226b is spaced apart on a second side of the first fixing beam. The first and second sides are arranged opposite to each other along a second direction of the moving vehicle. Correspondingly, the second fixing frame 2222 includes a second fixing beam, and the bottom fixing member 2261b includes a first bottom fixing member 226c and a second bottom fixing member 226d. The first bottom fixing member 226c is spaced apart on a first side of the second fixing beam, and the second bottom fixing member 226d is spaced apart on a second side of the second fixing beam.

[0214] The first top fixing member 226a and the first bottom fixing member 226c, which are arranged correspondingly along the height direction of the mobile vehicle, together form the third sub-cargo position 221c on the first side. The second top fixing member 226b and the second bottom fixing member 226d, which are arranged correspondingly along the height direction of the mobile vehicle, together form the third sub-cargo position 221c on the second side.

[0215] This arrangement allows the mobile vehicle to have two third sub-cargo bays 221c along the second direction, thereby increasing the storage density of the mobile vehicle's chassis. The top of the chassis on the first side is fixed to a corresponding first top fixing member 226a, and the bottom is fixed to a corresponding first bottom fixing member 226c. Multiple third sub-cargo bays 221c are formed on the second side, with the top of the chassis on the second side fixed to a corresponding second top fixing member 226b, and the bottom fixed to a corresponding second bottom fixing member 226d.

[0216] The first side forms multiple third sub-cargo bays 221c arranged along a first direction. Each third sub-cargo bay 221c is formed by multiple first top fixing members 226a and first bottom fixing members 226c spaced apart along the first direction, allowing the first side to store multiple vehicle frames. The second side also forms multiple third sub-cargo bays 221c arranged along the first direction. Each third sub-cargo bay 221c is formed by multiple second top fixing members 226b and second bottom fixing members 226d spaced apart along the first direction, allowing the second side to store multiple vehicle frames.

[0217] In order to enable the retrieval and return of the vehicle frame on the third sub-cargo space 221c on both sides, the first retrieval and return opening 11a is connected to the third sub-cargo space 221c on the first side to retrieve and return the vehicle frame on the third sub-cargo space 221c on the first side, and the second retrieval and return opening 11b is connected to the third sub-cargo space 221c on the second side to retrieve and return the vehicle frame on the third sub-cargo space 221c on the second side.

[0218] Thus, during the picking process, when it is necessary to pick a frame on the first side, the first pick-up / return opening 11a of the mobile vehicle can be oriented towards the second picking position to facilitate the retrieval of the frame on the first side from the first pick-up / return opening 11a. When it is necessary to pick a frame on the second side, the second pick-up / return opening 11b of the mobile vehicle can be oriented towards the second picking position to facilitate the retrieval of the frame on the second side from the second pick-up / return opening 11b.

[0219] It is understandable that in the example above, the two third sub-cargo locations 221c arranged along the second direction share a single chassis for storing tooling 226. In other words, the chassis for storing tooling 226 forms two third sub-cargo locations 221c arranged along the second direction. This simplifies the structure of the mobile vehicle and ensures the storage density of the chassis.

[0220] Continue to refer to Figures 5 to 7 As shown, the mobile vehicle may include a second lever 150;

[0221] The second tie rod 150 is horizontally positioned and offset from the third sub-cargo bay 221c along the height direction to avoid interfering with the third sub-cargo bay 221c and affecting the storage of the vehicle frame on the third sub-cargo bay 221c. The second tie rod 150 is horizontally fixed within the support frame 100 to improve the structural stability of the support frame 100, thereby ensuring the structural stability of each cargo bay structure 200, such as the vehicle frame storage fixture 226.

[0222] For example, the support frame 100 forms retrieval and return openings on its two opposite sides along the second direction, and the two ends of the second pull rod 150 are respectively connected to the two opposite sides of the support frame 100 along the first direction.

[0223] In some examples, the second pull rod 150 may be located between the two frame storage fixtures 226, or between the frame storage fixture 226 and the first cargo position structure 210. The embodiments of this application do not limit the position of the second pull rod 150, as long as it does not interfere with each cargo position.

[0224] In some examples, there may be two second tie rods 150, arranged in a cross configuration, for example, the two second tie rods 150 may be arranged in a cross configuration on a first plane. This first plane is perpendicular to the height direction of the mobile vehicle. Of course, in other examples, there may also be three or more second tie rods 150, arranged in a cross configuration to improve the overall structural stability of the mobile vehicle.

[0225] In some examples, the mobile vehicle may include a chassis storage fixture 226, meaning the mobile vehicle includes a third sub-cargo bay 221c to allow the mobile vehicle to store one layer of chassis. In other examples, see... Figures 5 to 7 As shown, the mobile vehicle may include multiple chassis storage fixtures 226, which are spaced apart along the height direction of the mobile vehicle. That is, the mobile vehicle forms multiple third sub-cargo positions 221c arranged along the height direction. In this way, multiple chassis can be stored on the mobile vehicle to increase the storage density of chassis in the mobile vehicle.

[0226] For example, refer to Figure 5 As shown, there are two chassis storage fixtures 226, which are spaced apart along the height direction of the mobile vehicle so that the mobile vehicle forms two layers of third sub-cargo positions 221c.

[0227] Continue to refer to Figure 5As shown, the mobile vehicle may include a first cargo location 211 and a third sub-cargo location 221c. The first cargo location 211 may have three layers, with one layer located on the first layer of the mobile vehicle and the other two layers located on the top and penultimate layers of the mobile vehicle. The third cargo location may have two layers, with the two layers of third cargo locations continuously arranged between the first cargo location 211 on the first layer and the first cargo location 211 on the penultimate layer.

[0228] The mobile carrier provided in this application embodiment, by setting a first storage location structure to store standard items in a first storage location formed by the first storage location structure, also sets a second storage location structure on the mobile carrier, the second storage location formed by the second storage location structure being configured to store irregularly shaped items, so that the mobile carrier can store both standard and irregularly shaped items, improving the applicability of the mobile carrier. When the mobile carrier docks with a workstation, standard items can be picked at the first picking location, and irregularly shaped items can be picked at the second picking location, so that the picking of the two types of items does not interfere with each other. In addition, the picking height of the second picking location can be set to match the height of the second storage location to facilitate manual picking of irregularly shaped items, and also improve the picking efficiency of irregularly shaped items.

[0229] It is understood that the mobile vehicles in the above examples have various types of cargo storage structures 200 to store various types of goods. Figure 8 This is a flowchart of a method for determining the conformity of a mobile vehicle according to an embodiment of this application. (Refer to...) Figure 8 As shown, to ensure the qualification of mobile vehicles, the following method for determining the qualification of mobile vehicles is given, specifically including:

[0230] S100. Determine the total torque of the mobile vehicle based on the torque of each layer of cargo space set along the height direction in the mobile vehicle.

[0231] In some examples, the torque of each layer of goods is determined by the total weight of the goods on each layer, the height of each layer of goods from the working plane, and the motion coefficient α.

[0232] The total weight of items on each floor refers to the actual total weight of items stored in each storage location on that floor. For example, if a floor of the mobile vehicle has one storage location, then the total weight of items on that floor is the weight of the items in that storage location. As another example, if a floor of the mobile vehicle has six storage locations, then the total weight of items on that floor is the total weight of the items in all six storage locations.

[0233] Figure 9 This is a schematic diagram of the cargo space layout of one of the mobile vehicles provided in one embodiment of this application. (Refer to...) Figure 9 As shown, for example, if a certain floor of a mobile vehicle has six first cargo positions 211, then the total weight of the items on that floor is the sum of the weights of the standard items on these six first cargo positions 211. Specifically, there are three first cargo positions 211 along the first direction and two first cargo positions 211 along the second direction.

[0234] For example, if a certain floor of a mobile vehicle has six first sub-cargo locations 221a, then the total weight of the items on that floor is the sum of the weights of the irregularly shaped items on these six first sub-cargo locations 221a.

[0235] Wherein, there are three first sub-cargo positions 221a along the first direction and two first sub-cargo positions 221a along the second direction. When the mobile vehicle has a first cargo position 211 and a first sub-cargo position 221a along the height direction, then on the projection in the height direction, one first cargo position 211 corresponds to one first sub-cargo position 221a.

[0236] In some examples, when there are six first sub-cargo locations 221a along the first direction, then on the projection in the height direction, one first cargo location 211 corresponds to two first sub-cargo locations 221a. Therefore, the two first sub-cargo locations 221a corresponding to the first cargo location 211 in the height direction can be calculated as one cargo location.

[0237] For example, if a floor of a mobile vehicle has two rows of second sub-cargo locations 221b, then the total weight of the items on that floor is the sum of the weights of the hanging items, such as clothing, on these two rows of second sub-cargo locations 221b. It should be noted that each row of second sub-cargo locations 221b may include multiple second sub-cargo locations 221b. The length of the multiple second sub-cargo locations 221b along the first direction can be equivalent to the length of one first cargo location 211. For example, if a mobile vehicle has first cargo locations 211 and second sub-cargo locations 221b along the height direction, and a floor of the mobile vehicle has nine second sub-cargo locations 221b along the first direction, then in the projection along the height direction, one first cargo location 211 corresponds to three second sub-cargo locations 221b. Therefore, the three second sub-cargo locations 221b corresponding to the first cargo location 211 in the height direction can be calculated as one cargo location.

[0238] For example, if a layer of a mobile vehicle has two rows of third sub-cargo bays 221c, then the total weight of the items on that layer is the sum of the weight of the vehicle frame on these two rows of third sub-cargo bays 221c. It should be noted that each row of third sub-cargo bays 221c may include multiple third sub-cargo bays 221c. Furthermore, along the first direction, the length of the multiple third sub-cargo bays 221c may be equivalent to the length of a first cargo bay 211.

[0239] For example, a mobile vehicle has a first cargo location 211 and a third sub-cargo location 221c along the height direction, and a certain layer of the mobile vehicle has 12 third sub-cargo locations 221c along the first direction. In the projection along the height direction, one first cargo location 211 corresponds to four second sub-cargo locations 221c. Therefore, the four third sub-cargo locations 221c corresponding to the first cargo location 211 in the height direction can be calculated as one cargo location.

[0240] Table 1 shows the parameters of one type of mobile vehicle.

[0241]

[0242] When the mobile carrier moves, the height of each storage level from the working plane can be understood as: the height of the storage structure 200 of each storage level from the working plane when the mobile carrier is lifted by the handling robot. Taking the ground as the working plane as an example.

[0243] When the storage structure 200 of a certain storage location is the first storage location structure 210, the height of that storage location from the ground can be the height of the center of the first storage location structure 210 from the ground.

[0244] When the storage structure 200 of a certain storage location is a shelf 222, the height of that storage location from the ground can be the height of the center of the shelf 222 from the ground. When the storage structure 200 of a certain storage location is a clothes hanging beam 110, the height of that storage location from the ground can be the height of the center of the clothes hanging beam 110 from the ground.

[0245] When the storage structure 200 of a certain storage location is a chassis storage fixture 226, the height of that storage location from the ground can be the height of the center of the chassis storage fixture 226 from the ground, for example, the height of the center of the third sub-storage location 221c formed between the first fixed frame 2262 and the second fixed frame 2222 from the ground.

[0246] Additionally, the motion coefficient 'a' is a parameter of the handling robot that transports mobile carriers; specific details can be found in the robot's product specifications. For example, the motion coefficient 'a' can be 0.32.

[0247] The torque for each storage location can be determined using the three parameters mentioned above: the weight of items on each storage location, the height of each storage location from the working plane, and the motion coefficient. The motion coefficient refers to the motion coefficient of the handling robot, which is configured to move the transport vehicle.

[0248] In some examples, the torque M at each storage level n The following formula can be used to determine it:

[0249] m n ×H n ×a(5);

[0250] In the above formula (5), m n H represents the total weight of the items on each layer. n denoted as , where is the height of each storage location from the working plane, and 'a' is the motion coefficient of the handling robot.

[0251] For example, the torque M at each level of the cargo space n It can be equal to m n ×H n× Motion coefficient a.

[0252] Of course, in some examples, M n It can also be used with m n ×H n The difference in the motion coefficient 'a' is within a preset range, which can be ±1 kg·mm. For example, M n With m n ×H n The difference between the motion coefficient α and α can be a suitable value such as -1 kg·mm, -0.5 kg·mm, 0.5 kg·mm, or 1 kg·mm.

[0253] In addition, the total torque of the moving vehicle is determined based on the torque of each layer of cargo space.

[0254] For example, the total torque M of the moving vehicle 总 For the torque m of each storage location n The sum, that is, M 总 =SUM(M1:M n Taking a mobile vehicle with 10 storage levels as an example, M 总 =SUM(M1:M 10 ).

[0255] S300. Based on the weight of the mobile vehicle, the dimensions of the mobile vehicle on the first plane, and the weight of all items placed along the height direction in each layer, determine the overturning moment of the mobile vehicle; wherein, the height direction intersects the first plane, for example, the height direction is perpendicular to the first plane, i.e., the first plane is a horizontal plane. It is understood that the items include standard items and irregularly shaped items.

[0256] The weight of the mobile vehicle refers to its net weight.

[0257] The dimensions of the mobile vehicle on the first plane may include the length and width of the mobile vehicle on the first plane. For example, the length of the mobile vehicle on the first plane is the length of the mobile vehicle along a first direction, and the width on the first plane is the width of the mobile vehicle along a second direction.

[0258] It is understandable that the length and width of the mobile vehicle are fixed parameters of the mobile vehicle, that is, parameters that remain unchanged.

[0259] The weight of all items placed along the height direction on each level of a mobile vehicle refers to the total weight of items projected and overlapping in all storage locations along the height direction. For example, if each level of a mobile vehicle has one storage location, then the total weight of all items projected and overlapping in all storage locations along the height direction is the total weight of items overlapping in storage locations from top to bottom.

[0260] For example, each level of the mobile vehicle has six cargo positions, such as the first cargo position 211. These six cargo positions can be accessed along... Figure 9 The layout is set as follows. For ease of description, the six storage locations can be referred to as a, b, c, d, f, and e, where storage location a stores item A, storage location b stores item B, storage location c stores item C, storage location d stores item D, storage location e stores item E, and storage location f stores item F. For example, the length of each item along the second direction can be equal to the length of the first storage location 211 along the second direction. The length of each item along the first direction can be less than the length of the first storage location 211 along the first direction.

[0261] If storage locations a, b, and c are located on the second side, and storage locations d, e, and f are located on the first side, then correspondingly, items A, B, and C are located on the second side, and items D, E, and F are located on the first side. Items A and D are spaced apart along the second direction, forming the first column; items B and E are spaced apart along the second direction, forming the second column; and items C and F are spaced apart along the second direction, forming the third column. Therefore, the total weight of the items on all storage locations projected and overlapping along the height direction can be the total weight of item A on storage location a in all layers, or the total weight of the items on the first-side storage locations in all layers (i.e., the total weight of items A, B, and C in all layers), the total weight of item D in all layers, or the total weight of the items on the first column of storage locations in all layers (i.e., the total weight of items A and D in all layers).

[0262] In some examples, when the mobile vehicle has multiple rows of storage locations along the first direction on each floor, S300 determines the overturning moment of the mobile vehicle based on the weight of the mobile vehicle, the dimensions of the mobile vehicle on the first plane, and the weight of all items placed along the height direction on each floor. Specifically, this may include:

[0263] S310. Based on the weight of the mobile vehicle, the length of the mobile vehicle along the first direction, and the weight of the items in each column along the first direction, determine the first anti-overturning moment of the mobile vehicle in the first direction. It is understood that the anti-overturning moment includes the first anti-overturning moment.

[0264] The weight of items in each column along the first direction can be the total weight of all items in each column projected and overlapped along the height direction. Continuing with the example of each layer of the aforementioned mobile vehicle having three columns of storage space along the first direction, the weight of items in each column along the first direction includes the total weight of items A and D in the first column of all layers, the total weight of items B and E in the second column of all layers, and the total weight of items C and F in the third column of all layers.

[0265] Taking a mobile vehicle with 10 storage compartments as an example, the weight of items in each column along the first direction includes the total weight of all A and D items in the a and d compartments of the first column of the 10 layers, the total weight of all B and E items in the b and e compartments of the second column of the 10 layers, and the total weight of all C and F items in the c and f compartments of the third column of the 10 layers.

[0266] In some examples along the second direction, S310 determines the first anti-overturning moment of the mobile vehicle in the first direction based on the weight of the mobile vehicle, the length of the mobile vehicle along the first direction, and the weight of the items in each column along the first direction. Specifically, it may include:

[0267] S311. Based on the weight of the mobile vehicle, the length of the mobile vehicle along the first direction, the weight of each column of items along the first direction, and the position of each column of items in the first direction, determine the first eccentricity of the mobile vehicle in the first direction.

[0268] Understandably, the placement of items in each row of storage locations also affects the degree of eccentricity in the first direction.

[0269] The length along the first direction is, in some examples, the first eccentricity l L The following formula can be used to determine it:

[0270] Absolute value {L / 2-[m l1 ×X1+m l2 ×X2+m l3 ×X3+……+m ln ×X n +m 载 ×L / 2] / m 总}(1);

[0271] In the above formula (1), L is the length of the moving vehicle along the first direction, m ln Let X be the total weight of the items in the nth column of the items arranged along the first direction. n Let m be the distance m of each column of items arranged along the first direction from the side of the moving vehicle in the first direction. 载 m is the weight of the mobile vehicle. 总 The total weight of the moving vehicle and items.

[0272] Where L is the fixed length parameter of the mobile vehicle, for example, 1346mm.

[0273] For example, the side of the mobile vehicle can be the left side of the two opposite sides of the mobile vehicle along the first direction, then X n It can be the distance between each column of items and the left side of the moving vehicle.

[0274] Continue with Figure 9For example, the mobile vehicle has three rows of cargo bays arranged along the first direction, m l1 The total weight of the items in column 1, for example, referring to Table 1, in a 10-story storage location, m l1 m is the sum of the weight of the item with load capacity A and the weight of the item with load capacity D. l2 The total weight of the items in column 2, for example, in a 10-story storage location, m l2 m is the sum of the weight of the item with load capacity B and the weight of the item with load capacity E. l3 The total weight of the items in column 3, for example, in a 10-story storage location, m l2 It is the sum of the weight of the item with load capacity C and the weight of the item with load capacity D.

[0275] In some examples, X n Let X be the distance from the left side of the moving vehicle to the item in the nth column. For example, X... n X1 is the distance from the center of the item in the nth column to the left side of the moving vehicle. Taking a moving vehicle with three columns of first cargo positions 211 arranged along the first direction as an example, X1 is L / 2 - (width of the standard item + spacing between adjacent standard items along the first direction). Here, the width of the standard item refers to the distance between two opposite sides of the standard item along the first direction; for example, the width of the standard item can be 400mm, and the spacing between adjacent standard items can be 20mm. X2 is L / 2. X3 is L / 2 + (width of the standard item + spacing between adjacent standard items along the first direction).

[0276] It is understandable that when the mobile vehicle has six rows of second cargo positions 221 arranged along the first direction, the irregularly shaped items in each row can be placed in the center of each row of second cargo positions 221, and the six rows of second cargo positions 221 can be divided into three major cargo positions from left to right along the first direction. Each major cargo position includes two rows of second cargo positions 221, that is, every two rows of second cargo positions 221 are equivalent to one first cargo position 211. Then, the length between the center of each major cargo position and the left side of the mobile vehicle can be measured.

[0277] In some examples, the first eccentricity l L It can be equal to the absolute value {L / 2-[m]} l1 ×X1+m l2 ×X2+m l3 ×X3+……+m ln ×X n +m 载 ×L / 2] / m 总}, can also be related to the absolute value {L / 2-[m l1 ×X1+m l2 ×X2+m l3 ×X3+……+m ln ×X n +m 载×L / 2] / m 总 The difference between the two values ​​is within a second preset difference range. For example, the second preset difference can be ±0.5mm.

[0278] For example, the first eccentricity l L With absolute value {L / 2-[m l1 ×X1+m l2 ×X2+m l3 ×X3+……+m ln ×X n +m 载 ×L / 2] / m 总 The difference can be a suitable value such as -0.5mm, -0.3mm, 0.3mm or 0.5mm.

[0279] Referring to Table 1, the first eccentricity l of the moving vehicle along the first direction is calculated using the above formula. L It is 8mm.

[0280] Additionally, the off-center load m of the moving vehicle along the first direction can be calculated. l m l It can be equal to m l1 -m lq Where q is the last column of the moving vehicle along the first direction, for example, m l =m l1 -m l3 Taking the mobile vehicle parameters in Table 1 as an example, the off-center load m of the mobile vehicle along the first direction is calculated. l It weighs 20kg.

[0281] S312. Based on the first eccentricity, the length of the moving vehicle along the first direction, and the total weight of the moving vehicle and the items, determine the first anti-overturning moment.

[0282] In some examples, the first anti-overturning moment M limit-L It can be determined using the following formula:

[0283] m 总 ×(L / 2-l L (2);

[0284] The length along the first direction in some examples is the first anti-overturning moment M. limit-L It can be equal to m 总 ×(L / 2-l L ), can also be with m 总 ×(L / 2-l L The difference between the values ​​is within the third preset difference range. For example, the third preset difference can be ±1 kg·mm.

[0285] For example, the first anti-overturning moment Mlimit-L With m 总 ×(L / 2-l L The difference between them can be a suitable value such as -1kg·mm, -0.5kg·mm, 0.5kg·mm or 1kg·mm.

[0286] In some examples, when the mobile vehicle has multiple rows of cargo positions along the second direction in each layer, S300 determines the overturning moment of the mobile vehicle based on the weight of the mobile vehicle, the dimensions of the mobile vehicle on the first plane, and the weight of all items placed along the height direction in each layer. Specifically, this may include:

[0287] S320. Based on the weight of the mobile vehicle, the width of the mobile vehicle along the second direction, and the weight of the items in each row along the second direction, determine the second anti-overturning moment of the mobile vehicle in the second direction. It is understood that the anti-overturning moment includes the second anti-overturning moment.

[0288] The weight of items in each row along the second direction can be the total weight of all items in each row projected and overlapped along the height direction. Continuing with the example of each floor of the aforementioned mobile vehicle having two rows of storage spaces along the second direction, the weight of items in each row along the second direction includes the total weight of items D, E, and F in storage spaces d, e, and f of the first row (i.e., the first side) of all floors, and the total weight of items A, B, and C in storage spaces a, b, and c of the second row (i.e., the second side) of all floors.

[0289] Taking a mobile vehicle with 10 cargo bays as an example, the weight of the items in each row along the second direction includes the total weight of items D, E and F in the first row of the 10 layers, and the total weight of items A, B and C in the second row of the 10 layers.

[0290] In some examples, S320 determines the second anti-overturning moment of the mobile vehicle in the second direction based on the weight of the mobile vehicle, the width of the mobile vehicle along the second direction, and the weight of the items in each row along the second direction. Specifically, it may include:

[0291] S321. Based on the weight of the mobile vehicle, the width of the mobile vehicle along the second direction, the weight of each row of items along the second direction, and the position of each row of items in the second direction, determine the second eccentricity of the mobile vehicle in the second direction.

[0292] Understandably, the placement of items in each storage location also affects the degree of eccentricity in the second direction.

[0293] In some examples, the second eccentricity l w The following formula is used to determine it:

[0294] Absolute value {W / 2-[m w1 ×Y1+m w2 ×Y2+mw3 ×Y3+……+m wn ×Y n +m 载 [×W / 2] / m 总}(3);

[0295] In the above formula (3), W is the width of the moving vehicle along the second direction, m wn Y represents the total weight of the items in the nth row of items arranged along the second direction. n Let m be the distance (in meters) of each row of items arranged along the second direction from the side of the moving vehicle in the second direction. 载 m is the weight of the mobile vehicle. 总 The total weight of the moving vehicle and items.

[0296] Where W is the fixed width parameter of the mobile vehicle, for example, 1260mm.

[0297] For example, the side of the moving vehicle can be the front side of the two opposite sides of the moving vehicle along the second direction, then Y n It can be the distance between each column of items and the front side of the moving vehicle.

[0298] Continue with Figure 9 For example, the mobile vehicle has two rows of cargo bays arranged along the second direction, m w1 This refers to the total weight of the items in the first row. For example, referring to Table 1, in a 10-layer storage location, m w1 m is the sum of the weights of the items with load capacity D, load capacity E, and load capacity F. w2 This refers to the total weight of the items in the second row, for example, in a 10-layer storage area, m w2 It is the sum of the weights of the items under load A, the items under load E, and the items under load C.

[0299] In some examples, Y n Y is the distance from the nth row of items to the front side of the moving vehicle. For example, Y... n Y1 is the distance from the center of the nth row of items to the front side of the moving vehicle. Taking a moving vehicle with two rows of first cargo positions 211 arranged along the second direction as an example, Y1 is the length of the standard item / 2. The length of the standard item refers to the distance between the two opposite sides of the standard item along the second direction; for example, the length of the standard item could be 600mm. Y2 is W - the length of the standard item / 2.

[0300] It is understandable that when the mobile vehicle has two rows of second cargo positions 221 arranged along the second direction, each row of irregularly shaped items can be placed at the center of each row of second cargo positions 221, and then the length between the center of each row of second cargo positions 221 and the front side of the mobile vehicle can be measured.

[0301] In some examples, the second eccentricity l w It can be equal to the absolute value {W / 2-[m]} w1 ×Y1+m w2 ×Y2+m w3 ×Y3+……+m wn ×Y n +m 载 [×W / 2] / m 总}, can also be related to the absolute value {W / 2-[m w1 ×Y1+m w2 ×Y2+m w3 ×Y3+……+m wn ×Y n +m 载 [×W / 2] / m 总 The difference between the values ​​is within the third preset difference range. For example, the third preset difference can be ±0.5mm.

[0302] For example, the second eccentricity l w With absolute value {W / 2-[m w1 ×Y1+m w2 ×Y2+m w3 ×Y3+……+m wn ×Y n +m 载 [×W / 2] / m 总 The difference can be a suitable value such as -0.5mm, -0.3mm, 0.3mm or 0.5mm.

[0303] Referring to Table 1, the second eccentricity l of the moving vehicle along the second direction is calculated using the above formula. w It is 47mm.

[0304] Additionally, the off-center load m of the moving vehicle along the second direction can be calculated. w m w It can be equal to m w1 -m ws Where s represents the last row of the mobile vehicle along the second direction, for example, m w =m w1 -m w2 Taking the mobile vehicle parameters in Table 1 as an example, the off-center load m of the mobile vehicle along the second direction is calculated. w It weighs 140 kg.

[0305] S322. Determine the second anti-overturning moment based on the second eccentricity, the width of the moving vehicle along the second direction, and the total weight of the moving vehicle and the items.

[0306] In some examples, the second anti-overturning moment M limit-w It can be determined using the following formula:

[0307] m 总 ×(W / 2-l w (4);

[0308] In some examples, the second anti-overturning moment M limit-w It can be equal to m 总 ×(W / 2-l w ), can also be with m 总 ×(W / 2-l w The difference between the values ​​is within the fourth preset difference range. For example, the fourth preset difference can be ±1 kg·mm.

[0309] For example, the second anti-overturning moment M limit-w With m 总 ×(W / 2-l w The difference between them can be a suitable value such as -1kg·mm, -0.5kg·mm, 0.5kg·mm or 1kg·mm.

[0310] S500. Based on the total moment and the overturning moment, determine the overturning resistance qualification of the mobile vehicle.

[0311] It is understood that the rollover resistance qualification of a mobile vehicle can be determined by the total moment and the rollover resistance moment. The qualification of the mobile vehicle includes this rollover resistance qualification. For example, determining the qualification of a mobile vehicle based on the total moment and the rollover resistance moment may include:

[0312] The overturning coefficient is determined based on the total moment and the anti-overturning moment.

[0313] For example, the overturning factor can be determined by the ratio of the total moment to the anti-overturning moment; for instance, the overturning factor can be equal to the ratio of the total moment to the anti-overturning moment.

[0314] In some examples, the anti-overturning moment includes a first anti-overturning moment and a second anti-overturning moment, and the overturning factor includes a first overturning factor and a second overturning factor.

[0315] For example, the first overturning coefficient S L The following formula can be used to determine it:

[0316] M 总 ÷M limit-L (6);

[0317] For example, the first overturning coefficient S L It can be equal to M 总 ÷M limit-L .

[0318] Second overturning coefficient S w The following formula can be used to determine it:

[0319] M 总 ÷M limit-w (7).

[0320] For example, the second overturning coefficient S w It can be equal to M 总 ÷M limit-w .

[0321] The qualification of the mobile vehicle is determined based on the overturning coefficient.

[0322] For example, when the overturning coefficient is less than 1, the mobile vehicle is deemed to be qualified for overturning resistance.

[0323] For example, when the overturning coefficient includes a first overturning coefficient and a second overturning coefficient, the mobile vehicle is determined to be qualified for overturning resistance when both the first overturning coefficient and the second overturning coefficient are less than 1.

[0324] In some examples, when either the first overturning factor or the second overturning factor is greater than or equal to 1, the mobile vehicle is determined to be unqualified for overturning resistance; in other words, the mobile vehicle is unqualified.

[0325] In some examples, the qualification of a mobile vehicle also includes weight qualification.

[0326] For example, methods for determining the conformity of mobile vehicles may also include:

[0327] Based on the total weight m of the mobile vehicle and goods 总 The weight qualification of the mobile carrier is determined by the rated load capacity P of the handling robot.

[0328] It should be noted that the rated load capacity P of the handling robot is a fixed parameter; for example, P could be 1200 kg. Then, when m 总 If the weight is less than or equal to P, then the weight of the mobile vehicle is deemed acceptable.

[0329] The method for determining the conformity of a mobile vehicle provided in this application first determines the total moment of the mobile vehicle along its height direction. Then, based on the weight of the mobile vehicle, its horizontal dimensions, and the weight of the items stacked along its height direction, it determines the anti-overturning moment of the mobile vehicle in the horizontal direction. Finally, based on the total moment and the anti-overturning moment of the mobile vehicle, it determines the conformity of the mobile vehicle, that is, its anti-overturning conformity. By calculating the total moment and the anti-overturning moment of the mobile vehicle, it is possible to more accurately and conveniently determine whether the mobile vehicle is anti-overturning in the horizontal direction, thus improving the efficiency of determining the conformity of the mobile vehicle.

[0330] In addition, when a mobile vehicle is unqualified, the factors determining the total torque or the anti-overturning torque, such as the weight of the items on each layer or the height of each storage location from the ground, can be adjusted to make the anti-overturning torque of the mobile vehicle qualified, ensuring that the mobile vehicle will not overturn, thus making the qualification adjustment of the mobile vehicle more efficient.

[0331] The above detailed embodiments further illustrate the purpose, technical solution, and beneficial effects of the embodiments of this application. It should be understood that the above are merely specific embodiments of the embodiments of this application and are not intended to limit the protection scope of the embodiments of this application. Any modifications, equivalent substitutions, improvements, etc., made on the basis of the technical solutions of the embodiments of this application should be included within the protection scope of the embodiments of this application.

Claims

1. A mobile vehicle, characterized in that, include: Support frame (100); A first storage location structure (210) is disposed within the support frame (100) and forms a first storage location (211), which is configured to store standard items; The second storage location structure (220) is disposed within the support frame (100) and forms a second storage location (221). The second storage location (221) is configured to store irregularly shaped items, and the height between it and the mobile platform of the mobile vehicle is a first height. When the mobile vehicle is configured to dock with the workstation, it picks the standard items at a first picking position and the irregularly shaped items at a second picking position; wherein the picking methods at the first picking position and the second picking position are different, and the picking height of the second picking position is adapted to the first height. The irregularly shaped item includes a vehicle frame; The second cargo space structure (220) includes a chassis storage fixture (226), which has a plurality of side-by-side fasteners (2261) along a first direction. The second cargo space (221) includes a third sub-cargo space (221c) formed on the fasteners (2261), which is configured to store the chassis. The vehicle frame storage fixture (226) includes a first fixed frame (2262) and a second fixed frame (2263) spaced apart along the height direction of the mobile vehicle. The fixing member (2261) includes a top fixing member (2261a) and a bottom fixing member (2261b). The top fixing member (2261a) is disposed on the first fixed frame (2262), and the bottom fixing member (2261b) is disposed on the second fixed frame (2263). The top of the frame is fixed to the top fastener (2261a), and the bottom of the frame is fixed to the bottom fastener (2261b).

2. The mobile vehicle according to claim 1, characterized in that, The irregularly shaped items include items with irregular sizes; The second storage location structure (220) includes a shelf (222), and the second storage location (221) includes a first sub-storage location (221a) formed on the shelf (222), the first sub-storage location (221a) being configured to store the irregularly shaped items.

3. The mobile vehicle according to claim 2, characterized in that, The mobile vehicle also includes: A stop (223) is located on the outer periphery of the first sub-position (221a) and is configured to confine the irregularly sized article within the first sub-position (221a).

4. The mobile vehicle according to claim 3, characterized in that, The side of the support frame (100) has a retrieval opening (11) communicating with the first sub-cargo location (221a), and the stop (223) is located at least at the retrieval opening (11), and the stop (223) located at the retrieval opening (11) is detachably connected to the support frame (100).

5. The mobile vehicle according to claim 4, characterized in that, The support frame (100) also has side openings (10) opposite each other along a first direction, the side openings (10) are connected to the first sub-cargo location (221a), and the retrieval and return opening (11) is located between the side openings (10) on both sides; the first direction intersects with the height direction of the mobile vehicle. The stop (223) is also positioned at the side opening (10).

6. The mobile vehicle according to claim 4, characterized in that, The stop (223) includes multiple spaced fish ribbons (223a); At least one end of the fish ribbon (223a) located at the retrieval opening (11) is detachably connected to the support frame.

7. The mobile vehicle according to claim 2, characterized in that, The support frame (100) has two opposing retrieval openings (11) along a second direction; the second direction intersects the height direction of the mobile vehicle; The shelf (222) includes a first shelf (222a) and a second shelf (222b) arranged sequentially along the second direction. One of the retrieval openings (11) is located on one side of the first sub-cargo location (221a) formed by the first shelf (222a) and is configured to retrieve the irregularly sized item on the first shelf (222a). The other retrieval opening (11) is located on one side of the first sub-cargo location (221a) formed by the second shelf (222b) and is configured to retrieve the irregularly sized item on the second shelf (222b).

8. The mobile vehicle according to claim 7, characterized in that, The mobile vehicle also includes a first lever (140). The first tie rod (140) passes through the gap between the first layer plate (222a) and the second layer plate (222b), and is connected to the support frame (100) on the upper and lower sides of the layer plate (222).

9. The mobile vehicle according to claim 1, characterized in that, The irregularly shaped items include hanging irregularly shaped items; The second storage location structure (220) includes a suspension beam (224), and the second storage location (221) includes a second sub-storage location (221b) formed below the suspension beam (224), the second sub-storage location (221b) being configured to store the suspended irregularly shaped item.

10. The mobile vehicle according to claim 9, characterized in that, The support frame (100) has two opposing retrieval openings (11) along the second direction. The suspension beam (224) includes a first suspension beam (224a) and a second suspension beam (224b) arranged sequentially along the second direction. One of the two side retrieval openings (11) is located on one side of the second sub-cargo location (221b) formed by the first suspension beam (224a) and is configured to retrieve the suspended irregularly shaped item on the first suspension beam (224a). The other side retrieval opening (11) is located on one side of the second sub-cargo location (221b) formed by the second suspension beam (224b) and is configured to retrieve the suspended irregularly shaped item on the second suspension beam (224b).

11. The mobile vehicle according to claim 1, characterized in that, The top fixing member (2261a) includes a first top fixing member (226a) and a second top fixing member (226b). The first top fixing member (226a) is spaced apart on the first side of the first fixing frame (2262), and the second top fixing member (226b) is spaced apart on the second side of the first fixing frame (2262). The bottom fixing member (2261b) includes a first bottom fixing member (226c) and a second bottom fixing member (226d). The first bottom fixing member (226c) is spaced apart on the first side of the second fixing frame (2263), and the second bottom fixing member (226d) is spaced apart on the second side of the second fixing frame (2263). The first top fixing member (226a) and the first bottom fixing member (226c) arranged correspondingly along the height direction of the mobile vehicle together form the third sub-cargo space (221c) on the first side, and the second top fixing member (226b) and the second bottom fixing member (226d) arranged correspondingly along the height direction of the mobile vehicle together form the third sub-cargo space (221c) on the second side; wherein, the first side and the second side are arranged opposite to each other along the second direction of the mobile vehicle.

12. The mobile vehicle according to claim 11, characterized in that, The mobile vehicle also includes a second lever (150). The second pull rod (150) is horizontally arranged and offset from the third sub-cargo location (221c) along the height direction. The second pull rod (150) is connected to the support frame (100).

13. A method for determining the conformity of a mobile vehicle, applied to the mobile vehicle according to any one of claims 1-12, characterized in that, The qualification determination method includes: Based on the torque M of each cargo level set along the height direction in the mobile vehicle n Determine the total torque M of the moving vehicle. 总 ; Based on the weight m of the mobile vehicle 载 The anti-overturning moment of the mobile vehicle is determined by the dimensions of the mobile vehicle on the first plane and the weight of all items stacked along the height direction; wherein the height direction intersects the first plane; wherein the items include standard items and irregularly shaped items; Based on the total torque M 总 The rollover resistance of the mobile vehicle is determined by the rollover resistance moment, and the qualification includes the rollover resistance qualification.

14. The method for determining the conformity of a mobile vehicle according to claim 13, characterized in that, The weight m based on the mobile vehicle 载 The dimensions of the mobile vehicle on the first plane and the weight of all items placed along the height direction in each layer are used to determine the anti-overturning moment of the mobile vehicle, including: Based on the weight m of the mobile vehicle 载 The length L of the mobile vehicle along the first direction and the total weight m of the items in each column along the first direction. ln Determine the first anti-overturning moment M of the mobile vehicle in the first direction. limit-L ; Based on the weight m of the mobile vehicle 载 The width W of the mobile vehicle along the second direction and the total weight m of the items in each row along the second direction. wn Determine the second anti-overturning moment M of the mobile vehicle in the second direction. limit-w ; The anti-overturning moment includes a first anti-overturning moment M. limit-L and the second anti-overturning moment M limit-w The first direction intersects with the second direction.

15. The method for determining the conformity of a mobile vehicle according to claim 14, characterized in that, The weight m based on the mobile vehicle 载 The length L of the mobile vehicle along the first direction and the total weight m of the items in each column along the first direction. ln Determine the first anti-overturning moment M of the mobile vehicle in the first direction. limit-L ,include: Based on the weight m of the mobile vehicle 载 The length L of the mobile vehicle along the first direction, and the total weight m of the items in each column along the first direction. ln Based on the positions of the items in each column in the first direction, the first eccentricity l of the moving vehicle in the first direction is determined. L ; Based on the first eccentricity l L The length L of the mobile vehicle along the first direction and the total weight m of the mobile vehicle and the item. 总 Determine the first anti-overturning moment M limit-L .

16. The method for determining the conformity of a mobile vehicle according to claim 15, characterized in that, The first eccentricity l L The following formula is used to determine it: Absolute value {L / 2-[m l1 ×X1+m l2 ×X2+m l3 ×X3+……+m ln ×X n +m 载 ×L / 2] / m 总 } (1); In the above formula (1), L is the length of the mobile vehicle along the first direction, m ln Let X be the total weight of the items in the nth column of the items arranged along the first direction. n m is the distance m of each column of items arranged along the first direction from the side of the moving vehicle in the first direction. 载 m is the weight of the mobile vehicle. 总 The total weight of the mobile vehicle and the items.

17. The method for determining the conformity of a mobile vehicle according to claim 15, characterized in that, The first anti-overturning moment M limit-L The following formula is used to determine it: m 总 ×(L / 2-l L ) (2); In the above formula (2), m 总 l is the total weight of the mobile vehicle and the items. L Let L be the first eccentricity, and L be the length of the moving vehicle along the first direction.

18. The method for determining the conformity of a mobile vehicle according to claim 14, characterized in that, The weight m based on the mobile vehicle 载 The width W of the mobile vehicle along the second direction and the total weight m of the items in each column along the second direction. wn Determine the second anti-overturning moment M of the mobile vehicle in the second direction. limit-w ,include: Based on the weight m of the mobile vehicle 载 The width W of the mobile vehicle along the second direction, and the total weight m of the items in each row along the second direction. wn Based on the positions of the items in each row in the second direction, the second eccentricity lw of the mobile vehicle in the second direction is determined; Based on the second eccentricity lw, the width W of the moving vehicle along the second direction, and the total weight m of the moving vehicle and the item. 总 Determine the second anti-overturning moment M limit-w .

19. The method for determining the conformity of a mobile vehicle according to claim 18, characterized in that, The second eccentricity lw is determined by the following formula: Absolute value {W / 2-[m w1 ×Y1+m w2 ×Y2+m w3 ×Y3+……+m wn ×Y n +m 载 [×W / 2] / m 总 } (3); In the above formula (3), W is the width of the mobile vehicle along the second direction, m wn Y represents the total weight of the items in the nth row of items arranged along the second direction. n Let m be the length of each row of items arranged along the second direction from the side of the moving vehicle in the second direction. 载 m is the weight of the mobile vehicle. 总 The total weight of the mobile vehicle and the items.

20. The method for determining the conformity of a mobile vehicle according to claim 18, characterized in that, The second anti-overturning moment M limit-w The following formula is used to determine it: m 总 ×(W / 2-l w ) (4); In the above formula (4), m 总 l is the total weight of the mobile vehicle and the items. w The second eccentricity is W, where W is the width of the moving vehicle along the second direction.

21. The method for determining the conformity of a mobile vehicle according to any one of claims 13-20, characterized in that, The based on the total torque M 总 Determining the rollover resistance qualification of the mobile vehicle based on the rollover resistance moment includes: Based on the total torque M 总 Based on the anti-overturning moment, determine the overturning coefficient; Based on the overturning coefficient, the overturning resistance qualification of the mobile vehicle is determined; wherein, the overturning moment includes a first overturning moment and a second overturning moment, and the overturning coefficient includes a first overturning coefficient S. L Second overturning coefficient S w .

22. The method for determining the conformity of a mobile vehicle according to claim 21, characterized in that, The first overturning coefficient S L The following formula is used to determine it: M 总 ÷M limit-L (6); The second overturning coefficient S w The following formula is used to determine it: M 总 ÷M limit-w (7)。 23. The method for determining the conformity of a mobile vehicle according to any one of claims 13-20, characterized in that, The qualification also includes weight qualification; The method for determining conformity also includes: The weight qualification of the mobile vehicle is determined based on the total weight of the mobile vehicle and the items.

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