Three-dimensional storage robot positioning system

Abstract

The invention provides a three-dimensional storage robot positioning system which comprises a three-dimensional storage robot and a three-dimensional goods shelf, and the three-dimensional storage robot comprises a body, a camera, a controller, a driver, a walking driving device and walking wheels. The three-dimensional goods shelf comprises a sub-rail, a main rail, a reversing rail and markers, the sub-rail and the reversing rail are perpendicularly arranged with the main rail in a crossed mode, the reversing rail and the sub-rail are linearly connected end to end, the markers comprise the first marker and the second marker, the first marker is installed in the sub-rail area, and the second marker is installed in the main rail area; the walking wheels comprise a primary rail walking wheel and a secondary rail walking wheel; the camera is fixed on the three-dimensional storage robot body; the camera irradiates downwards to read the information of the marker; the controller receives information of the camera and drives the walking wheels through the walking driving device at the same time, and positioning and moving of the three-dimensional storage robot on the track are achieved. According to the invention, the marker is used as a positioning point and is less interfered by external dust and ambient light; the camera can accurately identify the relative position of the marker, namely the pose information of the vehicle body of the three-dimensional storage robot, and the positioning is accurate and credible; the marker is an object with a specific shape, and after the marker is installed and fixed, regular maintenance is not needed.

Description

Technical Field

[0001] This technical solution belongs to the field of warehousing and logistics, and specifically relates to a three-dimensional warehousing robot positioning system. Background Art

[0002] Automated three-dimensional warehouses can achieve high-level rationalization of warehouses, automated access, and simplified operation by using three-dimensional warehouse equipment. At present, three-dimensional shelves are generally arranged in three-dimensional warehouses to store goods, and cross-shaped tracks are set on the three-dimensional shelves for three-dimensional storage robots to move on them, so as to transport, store and retrieve the cargo pallets stored on the three-dimensional shelves.

[0003] The existing cross-shaped tracks are generally composed of sub-tracks, reversing tracks and mother tracks. The sub-tracks and reversing tracks are connected linearly end to end, and mounting slots are provided on the reversing tracks for the mother tracks to be vertically connected to them. Such cross-shaped tracks can enable the three-dimensional storage robot to move in a plane on a single layer of a three-dimensional shelf.

[0004] In a three-dimensional warehouse, three-dimensional shelves are generally set up for storing goods. Tracks are also correspondingly provided on the three-dimensional shelves for three-dimensional storage robots to travel on, so as to realize the handling of cargo pallets, and then complete the storage, retrieval and transportation of goods.

[0005] The effective operation of three-dimensional storage robots on three-dimensional shelves depends on the accurate positioning of the three-dimensional storage robots relative to the track. The common practice now is to use bar codes, QR codes, RFID tags, positioning pieces, etc. combined with corresponding sensors to achieve this.

[0006] However, the positioning method using barcodes and QR codes is prone to pattern damage, blur or obstruction, which makes the code reader unable to correctly identify and complete the positioning operation; the positioning method using RFID tags and positioning pieces is not accurate, especially when the three-dimensional storage robot needs to change direction, it cannot provide accurate position information to assist the three-dimensional storage robot to switch tracks; at the same time, barcodes, QR codes and RFID tags require regular maintenance, which relatively increases the cost of use. Summary of the invention

[0007] The present invention provides a three-dimensional storage robot positioning system, which includes a three-dimensional storage robot and a three-dimensional shelf, wherein the three-dimensional storage robot includes a body, a camera, a controller, a driver, a travel drive device, and travel wheels;

[0008] The three-dimensional shelf includes a sub-rail, a mother rail, a reversing rail, and a marker. The sub-rail and the reversing rail are respectively arranged vertically and crosswise with the mother rail. The reversing rail and the sub-rail are linearly connected end to end. The marker includes: a first marker and a second marker. The first marker is installed in the sub-rail area, and the second marker is installed in the mother rail area.

[0009] The running wheels include a mother rail running wheel and a sub-rail running wheel;

[0010] The camera is fixed on the body of the three-dimensional storage robot; the camera shines downward to read the information of the marker;

[0011] The controller receives information from the camera while driving the travel wheels through the travel drive device to achieve the positioning and movement of the three-dimensional storage robot on the track.

[0012] The first marker is located in front of the intersection of the sub-rail and the main rail; the second marker is located in front of the intersection of the commutation rail and the main rail.

[0013] When the three-dimensional storage robot is traveling on the sub-rail, the camera reads the information of the first marker and transmits it to the controller. The controller obtains the current position and controls the travel drive device to drive the travel wheels based on the information. When the three-dimensional storage robot is traveling on the main rail, the camera reads the information of the second marker and transmits it to the controller. The controller obtains the current position and controls the travel drive device to drive the travel wheels based on the information.

[0014] The method of positioning by reading the information of the marker by a camera includes: A. establishing a vehicle body coordinate system and a track coordinate system; B. the three-dimensional storage robot is positioned according to the position information of the marker.

[0015] The body coordinate system C is established with the left and right direction of the body as the x-axis direction, the front and rear direction of the body as the y-axis direction, and the geometric center of the body as the origin. c , the coordinates of the camera center in the vehicle body coordinate system are (s, t); the geometric center of the track grid is the origin of the coordinate system, the direction of the mother track is the x-axis direction, and the direction of the sub-track is the y-axis direction.

[0016] Establish orbital coordinate system C t ; The coordinates of the marker center in the orbital coordinate system are (i, j).

[0017] The mother rail walking wheel is introduced into the first judgment rectangle, and the center of the first judgment rectangle is aligned with the vehicle body coordinate system C c The origin coincides with the two sets of sides of the first judgment rectangle, respectively, and the body coordinate system C c The coordinate axes of the first judgment rectangle are parallel, the length and width of the first judgment rectangle are m and n respectively, and the coordinates of the four vertices of the first judgment rectangle in the vehicle body coordinate system are A 1 (-n / 2,m / 2),A 2 (n / 2,m / 2),A 3 (n / 2,-m / 2), A 4 (-n / 2,-m / 2); m and n are the distances between the center positions of the outermost mother rail running wheels on the left and right sides and the front and rear sides respectively;

[0018] A second judgment rectangle is introduced for the sub-rail running wheel, and the center of the second judgment rectangle is aligned with the vehicle body coordinate system C c The origin coincides, the body coordinate system C c The two sets of sides are parallel to the coordinate axes of the coordinate system, and the body coordinate system C c The length and width are p and q respectively, and the body coordinate system C c The coordinates of the four vertices of the vehicle body coordinate system are B 1 (-p / 2,q / 2),B 2 (p / 2,q / 2),B 3 (p / 2,-q / 2),B 4 (-p / 2,-q / 2); p and q are the distances between the center positions of the outermost sub-rail running wheels on the left and right sides and the front and rear sides respectively.

[0019] Obtain the coordinates of the center of the track grid in the vehicle body coordinate system according to the marker information;

[0020] When the camera shines downward to read the marker, the coordinates of the center of the marker in the vehicle body coordinate system (s+u, t+v) and the deflection angle θ of the marker relative to the vehicle body coordinate system can be obtained. Then the coordinates of the origin of the track coordinate system in the vehicle body coordinate system are:

[0021] O'(x O ,y O )=(s+u+j·sinθ-i·cosθ,t+vj·cosθ-i·sinθ)

[0022] By comparing |y O | and the set threshold value to determine whether the three-dimensional storage robot is accurately positioned relative to the track. If it exceeds the threshold, the three-dimensional storage robot is controlled to move in the opposite direction until |y O |Less than the set threshold.

[0023] When the track grid is located on the mother track, in order to determine the "off-track" situation, the position of the track needs to be marked on the track coordinate system. For this purpose, a third judgment rectangle is introduced. The center of the third judgment rectangle coincides with the origin of the track coordinate system. The two sets of sides of the third judgment rectangle are parallel to the coordinate axes of the coordinate system. The length and width of the third judgment rectangle are a and b respectively. a and b are the distances between the inner sides of the mother track and the sub-track. The coordinates of the four vertices of the third judgment rectangle on the track coordinate system are C 1 (-b / 2,a / 2), C2(b / 2,a / 2), C3(b / 2,-a / 2), C4(-b / 2,-a / 2);

[0024] When the three-dimensional storage robot is located on the mother track, the track grid is formed by the intersection of the reversing track and the mother track. At this time, it is necessary to determine whether the first judgment rectangle and the second judgment rectangle are included in the third judgment rectangle. If they are included in the third case-solving rectangle, there will be no "off-track" situation;

[0025] The coordinates of the four vertices of the third judgment rectangle in the vehicle body coordinate system are:

[0026] C 1 '(x O -b / 2·cosθ-a / 2·sinθ,y O -b / 2·sinθ+a / 2·cosθ)

[0027] C 2 '(x O +b / 2·cosθ-a / 2·sinθ,y O +b / 2·sinθ+a / 2·cosθ)

[0028] C 3 '(x O +b / 2·cosθ+a / 2·sinθ,y O +b / 2·sinθ-a / 2·cosθ)

[0029] C 4 '(x O -b / 2·cosθ+a / 2·sinθ,y O -b / 2·sinθ-a / 2·cosθ)

[0030] By the point (x 1 ,y 1 ) and point (x 2 ,y 2 ) is:

[0031] f(x,y)=(y 1 -y 2 )x+(x 2 -x 1 )y+(x 1 ·y 2 -y 1 ·x 2 )=0;

[0032] Know point C 1 ' and point C 2 'The straight line l 1 :f 1 (x,y), passing through point C 2 ' and point C 3 'The straight line l 2 :f 2 (x,y), passing through point C3 ' and point C 4 'The straight line l 3 :f 3 (x,y), passing through point C 4 ' and point C 1 'The straight line l 4 :f 4 (x,y);

[0033] When the sub-track switches to the main track, when f 1 (A 1 )·f 3 (A 1 )<0, f 1 (A 2 )·f 3 (A 2 )<0, f 1 (A 3 )·f 3 (A 3 )<0, f 1 (A 4 )·f 3 (A 4 )<0, there will be no "off-track" situation. If any point does not meet the conditions, it can be considered that "off-track" has occurred. At this time, the three-dimensional storage robot needs to be controlled to move in the direction of the point that meets the judgment conditions until the above conditions are met.

[0034] For the case where the mother rail switches to the sub-rail, when f 2 (B 1 )·f 4 (B 1 )<0, f 2 (B 2 )·f 4 (B 2 )<0, f 2 (B 3 )·f 4 (B 3 )<0, f 2 (B 4 )·f 4 (B 4 )<0, there will be no "off-track" situation. If any point does not meet the conditions, it can be considered that "off-track" has occurred. At this time, the three-dimensional storage robot needs to be controlled to move in the direction of the point that meets the judgment conditions until the above conditions are met.

[0035] The beneficial effects of the present invention are as follows: the present invention uses markers as positioning points, which are less affected by external dust and ambient light; the camera can accurately identify the position information of the marker relative to the camera, that is, the body of the three-dimensional storage robot itself, and the positioning is accurate and reliable; the marker is an object with a certain specific shape, and after installation and fixation, no regular maintenance is required. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 The figure shows a schematic diagram of a single-layer plane structure of a three-dimensional shelf;

[0037] Figure 2 Shown is a schematic diagram of the structure of a three-dimensional storage robot

[0038] Figure 3 The figure shows the position judgment relationship diagram of the first judgment rectangle, the second judgment rectangle and the third judgment rectangle;

[0039] Figure 4 Shown is a schematic diagram of the vehicle body coordinate system;

[0040] Figure 5 Shown is a schematic diagram of the orbital coordinate system;

[0041] Figure 6 The figure shows a schematic diagram of a three-dimensional storage robot positioning according to the position information of a marker;

[0042] Figure 7 Shown is a schematic diagram of setting the first judgment rectangle and the second judgment rectangle. Specific implementation plan

[0043] like Figure 1-7 As shown, the present invention is a three-dimensional storage robot positioning system, which includes a three-dimensional storage robot and a three-dimensional shelf, wherein the three-dimensional storage robot includes a main body, a camera 22, a controller 24, a driver 23, a walking drive device, and walking wheels; the driver receives the instructions of the controller and converts them into driving signals for the walking drive device.

[0044] The three-dimensional shelf includes a sub-rail 11, a mother rail 12, a reversing rail 13, and a marker (not shown). The sub-rail 11 and the reversing rail 13 are arranged vertically and crosswise with the mother rail 12 respectively. The reversing rail 13 is linearly connected end to end with the sub-rail 11. The marker includes: a first marker and a second marker. The first marker is installed in the sub-rail area, and the second marker is installed in the mother rail area.

[0045] Those skilled in the art should understand that in this embodiment, the marker is fixedly installed on the sub-track or the main track. The shape, color, and size of the marker are not limited. It can be captured by the camera 22. The marker itself does not contain any information. After the camera captures the marker, the relative position of the track where the marker is located is obtained based on the coordinate system provided by this embodiment or the information of the system itself. For example, the barcode and QR code in this embodiment can also be used as markers themselves, but unlike the prior art, this implementation only needs to read the appearance of the barcode, QR code and other marks, and the information content contained in the barcode and QR code itself does not need to be read. Therefore, if the information contained in the barcode and QR code needs to be read, it is not within the scope of protection of the present invention.

[0046] At the same time, as a derivative implementation of the present invention, the marker may be a tangible object or mark having a different brightness (such as a light spot or a dark spot), a different color, a different shape, etc. from the track where it is located.

[0047] In other embodiments of the present invention, the camera is a light-sensitive camera, which irradiates light downwards, and the marker is a shading sheet, which is arranged on the sub-rail or the mother rail. When the light-sensitive camera detects that the light is blocked by the shading sheet, the position of the three-dimensional storage robot is confirmed.

[0048] The running wheels include a mother rail running wheel 121 and a sub-rail running wheel 111; when the three-dimensional storage robot is located on the mother rail, the mother rail running wheel 121 is used; when the three-dimensional storage robot is located on the sub-rail, the sub-rail running wheel 111 is used.

[0049] The camera 22 is fixed on the body of the three-dimensional storage robot; the camera 22 shines downward to read the information of the marker;

[0050] The controller 24 receives information from the camera and drives the travel wheels 23 through the travel drive device to achieve the positioning and movement of the three-dimensional storage robot on the track.

[0051] The first marker is located in front of the intersection of the sub-rail 11 and the main rail 12 ; the second marker is located in front of the intersection of the main rail 12 and the reversing rail 13 .

[0052] When the three-dimensional storage robot is traveling on the sub-rail, the camera reads the information of the first marker and transmits it to the controller. The controller obtains the current position and controls the travel drive device to drive the travel wheels based on the information. When the three-dimensional storage robot is traveling on the main rail, the camera reads the information of the second marker and transmits it to the controller. The controller obtains the current position and controls the travel drive device to drive the travel wheels based on the information.

[0053] In the first embodiment of the present invention, after identifying the first marker and the second marker, the distance between the first marker and the second marker and the intersection of the track can be accurately determined. After the controller identifies, it controls the distance traveled by the vehicle, and can accurately achieve the vehicle reaching the designated reversing position.

[0054] Another embodiment of the present invention also provides a positioning method, which is as follows:

[0055] The method of positioning by reading the information of the marker by the camera includes: A. Establishing the vehicle body coordinate system and the track coordinate system (such as Figure 4 and 5 B. The three-dimensional storage robot is positioned according to the position information of the marker, and the position information includes one or both of the position information and the posture information.

[0056] The body coordinate system C is established with the left and right direction of the body as the x-axis direction, the front and rear direction of the body as the y-axis direction, and the geometric center of the body as the origin. c , the coordinates of the camera center in the vehicle body coordinate system are (s, t); take the geometric center of the track grid as the origin of the coordinate system, the direction of the mother track as the x-axis direction, and the direction of the sub-track as the y-axis direction, and establish the track coordinate system C t ; The coordinates of the marker center in the orbital coordinate system are (i, j).

[0057] When the three-dimensional storage robot changes tracks at the reversing track, whether the "off-track" situation occurs is mainly determined by the relative position of the wheel rim 112 of the running wheel on the sub-track or the mother track and the track. When the three-dimensional storage robot changes tracks from one direction to another direction, if the track surface to be entered is located below the wheel rim of its corresponding running wheel, the "off-track" situation will occur. At this time, the wheel rim is located on the track and cannot play a guiding role. At this time, the three-dimensional storage robot will not work normally. Therefore, judging the "off-track" situation is crucial for the normal movement and reversing of the three-dimensional storage robot.

[0058] In order to determine the "off-track" situation, the position of the wheel rim needs to be marked on the vehicle body coordinate system. In this embodiment, the mother track wheel is introduced into the first judgment rectangle, and the center of the first judgment rectangle is aligned with the vehicle body coordinate system C c The origin coincides with the two sets of sides of the first judgment rectangle, respectively, and the body coordinate system C c The coordinate axes of the first judgment rectangle are parallel, and the length and width are m and n respectively. Figure 7As shown, m and n are the distances between the center positions of the outermost mother rail wheels on the left and right sides and the front and rear sides respectively. The mother rail wheels are arranged at the front and rear of the three-dimensional storage robot. There are multiple mother rail wheels on each side, which are arranged in a left-right collinear manner. The two mother rail wheels on each side that are farthest apart are selected, and the lowest points of the outer edges of their upper wheel rims are selected as the vertices of the first judgment rectangle. The coordinates of the four vertices of the first judgment rectangle in the vehicle body coordinate system are A 1 (-n / 2,m / 2),A 2 (n / 2,m / 2),A 3 (n / 2,-m / 2), A 4 (-n / 2,-m / 2);

[0059] A second judgment rectangle is introduced for the sub-rail running wheel, and the center of the second judgment rectangle is aligned with the vehicle body coordinate system C c The origin coincides, the body coordinate system C c The two sets of sides are parallel to the coordinate axes of the coordinate system, and the body coordinate system C c The length and width of are p and q respectively, such as Figure 7 As shown, p and q are the distances between the center positions of the outermost sub-rail wheels on the left and right sides and the front and rear sides, respectively. Similarly, the sub-rail wheels are arranged on the left and right sides of the three-dimensional storage robot. There are multiple sub-rail wheels on each side, which are arranged in a left-right collinear manner. The two sub-rail wheels on each side that are farthest apart are selected, and the lowest points of the outer edges of their upper wheel rims are used as the vertices of the first judgment rectangle.

[0060] Body coordinate system C c The coordinates of the four vertices of the vehicle body coordinate system are B 1 (-p / 2,q / 2),B 2 (p / 2,q / 2),B 3 (p / 2,-q / 2),B 4 (-p / 2,-q / 2).

[0061] The coordinates of the center of the track grid in the vehicle body coordinate system are obtained through the marker information; when the camera shines downward to read the marker, the coordinates of the center of the marker in the vehicle body coordinate system (s+u, t+v) and the deflection angle θ of the marker relative to the vehicle body coordinate system can be obtained, such as Figure 6 As shown, u and v are the distances between the camera and the marker on the X and Y axes respectively. The coordinates of the origin of the track coordinate system in the vehicle body coordinate system are:

[0062] O'(x O ,y O )=(s+u+j·sinθ-i·cosθ,t+vj·cosθ-i·sinθ)

[0063] By comparing |y O| and the set threshold (pre-set) can determine whether the three-dimensional storage robot is accurately positioned relative to the track. If it exceeds the threshold, it means that the positioning is inaccurate, and the three-dimensional storage robot is controlled to move in the opposite direction until |y O |Less than the set threshold.

[0064] Through this positioning method, the posture of the three-dimensional storage robot can be adjusted to achieve accurate positioning.

[0065] When the track grid is located on the mother track, in order to determine the "off-track" situation, the position of the track needs to be marked on the track coordinate system. For this purpose, a third judgment rectangle is introduced. The center of the third judgment rectangle coincides with the origin of the track coordinate system. The two sets of sides of the third judgment rectangle are parallel to the coordinate axes of the track coordinate system. The length and width of the third judgment rectangle are a and b respectively. a and b are the inner side distances between the mother track and the sub-track respectively. The coordinates of the four vertices of the third judgment rectangle on the track coordinate system are C 1 (-b / 2,a / 2), C 2 (b / 2,a / 2), C 3 (b / 2,

[0066] -a / 2), C 4 (-b / 2,-a / 2);

[0067] When the three-dimensional storage robot is located on the mother rail, the track grid is formed by the intersection of the reversing rail and the mother rail. At this time, it is necessary to determine whether the first judgment rectangle and the second judgment rectangle are included in the third judgment rectangle. If they are included in the third judgment rectangle, there will be no "off-track" situation.

[0068] The coordinates of the four vertices of the third judgment rectangle in the vehicle body coordinate system are:

[0069] C 1 '(x O -b / 2·cosθ-a / 2·sinθ,y O -b / 2·sinθ+a / 2·cosθ)

[0070] C 2 '(x O +b / 2·cosθ-a / 2·sinθ,y O +b / 2·sinθ+a / 2·cosθ)

[0071] C 3 '(x O +b / 2·cosθ+a / 2·sinθ,y O +b / 2·sinθ-a / 2·cosθ)

[0072] C 4 '(x O-b / 2·cosθ+a / 2·sinθ,y O -b / 2·sinθ-a / 2·cosθ)

[0073] From: Passing point (x 1 ,y 1 ) and point (x 2 ,y 2 ) is:

[0074] f(x,y)=(y 1 -y 2 )x+(x 2 -x 1 )y+(x 1 ·y 2 -y 1 ·x 2 )=0;

[0075] Know: Pass point C 1 ' and point C 2 'The straight line l 1 :f 1 (x,y), passing through point C 2 ' and point C 3 'The straight line l 2 :f 2 (x,y), passing through point C 3 ' and point C 4 'The straight line l 3 :f 3 (x,y), passing through point C 4 ' and point C 1 'The straight line l 4 :f 4 (x,y);

[0076] When the sub-track switches to the main track, when f 1 (A 1 )·f 3 (A 1 )<0, f 1 (A 2 )·f 3 (A 2 )<0, f 1 (A 3 )·f 3 (A 3 )<0, f 1 (A 4 )·f 3 (A 4)<0, there will be no "off-track" situation. If any point does not meet the conditions, it can be considered that "off-track" has occurred. At this time, the three-dimensional storage robot needs to be controlled to move in the direction of the point that meets the judgment conditions until the above conditions are met.

[0077] For the case where the mother rail switches to the sub-rail, when f 2 (B 1 )·f 4 (B 1 )<0, f 2 (B 2 )·f 4 (B 2 )<0, f 2 (B 3 )·f 4 (B 3 )<0, f 2 (B 4 )·f 4 (B 4 )<0, there will be no "off-track" situation. If any point does not meet the conditions, it can be considered that "off-track" has occurred. At this time, the three-dimensional storage robot needs to be controlled to move in the direction of the point that meets the judgment conditions until the above conditions are met.

[0078] The positioning system and positioning method of the present invention only need to identify the marker, without reading the specific information of the marker (such as QR code information), so the shape of the marker itself and the content it contains are not limited.

[0079] Based on this, the present invention uses markers as positioning points, which are less affected by external dust and ambient light; the camera can accurately identify the position information of the marker relative to the camera, that is, the body of the three-dimensional storage robot itself, and the positioning is accurate and reliable; the marker is an object with a certain specific shape, and after installation and fixation, no regular maintenance is required.

Claims

1. A three-dimensional storage robot positioning system, which includes a three-dimensional storage robot and a three-dimensional shelf, wherein the three-dimensional storage robot includes a body, a camera, a controller, a driver, a travel drive device, and a travel wheel; The three-dimensional shelf includes a sub-rail, a mother rail, a reversing rail, and a marker. The sub-rail and the reversing rail are arranged vertically and crosswise with the mother rail respectively, and the reversing rail and the sub-rail are linearly connected end to end. The marker includes: A first marker and a second marker, wherein the first marker is installed in the sub-rail area, and the second marker is installed in the mother rail area; The running wheels include a mother rail running wheel and a sub-rail running wheel; The camera is fixed on the body of the three-dimensional storage robot; the camera shines downward to read the information of the marker; The controller receives information from the camera while driving the travel wheels through the travel drive device to achieve the positioning and movement of the three-dimensional storage robot on the track.

2. The three-dimensional storage robot positioning system according to claim 1, characterized in that: The first marker is located in front of the intersection of the sub-rail and the main rail; the second marker is located in front of the intersection of the main rail and the commutation rail.

3. The three-dimensional storage robot positioning system according to claim 1 or 2, characterized in that: When the three-dimensional storage robot moves on the sub-track, the camera reads the information of the first marker and transmits it to the controller. The controller obtains the current position and controls the travel drive device to drive the travel wheel according to the information. When the three-dimensional storage robot travels on the mother rail, the camera reads the information of the second marker and transmits it to the controller. The controller obtains the current position and controls the travel drive device to drive the travel wheels based on the information.

4. The three-dimensional storage robot positioning system according to claim 1 or 2, characterized in that: The method for positioning by reading the information of a marker by a camera includes: A. establishing a vehicle body coordinate system and a track coordinate system; B. positioning a three-dimensional storage robot according to the position information of the marker.

5. The three-dimensional storage robot positioning system according to claim 4, characterized in that: The body coordinate system C is established with the left and right direction of the body as the x-axis direction, the front and rear direction of the body as the y-axis direction, and the geometric center of the body as the origin. c , the coordinates of the camera center in the vehicle body coordinate system are (s, t); take the geometric center of the track grid as the origin of the coordinate system, the direction of the mother track as the x-axis direction, and the direction of the sub-track as the y-axis direction, and establish the track coordinate system C t ; The coordinates of the marker center in the orbital coordinate system are (i, j).

6. The three-dimensional storage robot positioning system according to claim 5, characterized in that: The mother rail walking wheel is introduced into the first judgment rectangle, and the center of the first judgment rectangle is aligned with the vehicle body coordinate system C c The origin coincides, the two sets of sides of the first judgment rectangle are parallel to the coordinate axes of the vehicle body coordinate system Cc, the length and width of the first judgment rectangle are m and n respectively, and the coordinates of the four vertices of the first judgment rectangle in the vehicle body coordinate system are A1 (-n / 2, m / 2), A2 (n / 2, m / 2), A3 (n / 2, -m / 2), A4 (-n / 2, -m / 2); m and n are the distances between the center positions of the outermost mother rail running wheels placed on the left and right sides and the front and rear sides respectively; A second judgment rectangle is introduced for the sub-rail running wheel, and the center of the second judgment rectangle is aligned with the vehicle body coordinate system C c The origin coincides, the body coordinate system C c The two sets of sides are parallel to the coordinate axes of the coordinate system, and the body coordinate system C c The length and width are p and q respectively, and the body coordinate system C c The coordinates of the four vertices in the vehicle body coordinate system are B1(-p / 2,q / 2), B2(p / 2,q / 2), B3(p / 2,-q / 2), and B4(-p / 2,-q / 2); p and q are the distances between the center positions of the outermost sub-rail running wheels on the left and right and front and rear sides respectively.

7. The three-dimensional storage robot positioning system according to claim 6, characterized in that: Obtain the coordinates of the center of the track grid in the vehicle body coordinate system according to the marker information; When the camera shines downward to read the marker, the coordinates of the center of the marker in the vehicle body coordinate system (s+u, t+v) and the deflection angle θ of the marker relative to the vehicle body coordinate system can be obtained. Then the coordinates of the origin of the track coordinate system in the vehicle body coordinate system are: O’(x O ,y O )=(s+u+j·sinθ-i·cosθ,t+v-j·cosθ-i·sinθ) By comparing |y O | and the set threshold value to determine whether the three-dimensional storage robot is accurately positioned relative to the track. If it exceeds the threshold, the three-dimensional storage robot is controlled to move in the opposite direction until |y O |Less than the set threshold.

8. The three-dimensional storage robot positioning system according to claim 7, characterized in that: When the track grid is located on the mother track, in order to determine the "off-track" situation, the position of the track needs to be marked on the track coordinate system. For this purpose, a third judgment rectangle is introduced. The center of the third judgment rectangle coincides with the origin of the track coordinate system. The two sets of sides of the third judgment rectangle are parallel to the coordinate axes of the track coordinate system. The length and width of the third judgment rectangle are a and b respectively. a and b are the distances between the inner sides of the mother track and the sub-track. The coordinates of the four vertices of the third judgment rectangle in the track coordinate system are C1(-b / 2, a / 2), C2(b / 2, a / 2), C3(b / 2, -a / 2), and C4(-b / 2, -a / 2). When the three-dimensional storage robot is located on the mother rail, the track grid is formed by the intersection of the reversing rail and the mother rail. At this time, it is necessary to determine whether the first judgment rectangle and the second judgment rectangle are included in the third judgment rectangle. If they are included in the third judgment rectangle, there will be no "off-track" situation.

9. The three-dimensional storage robot positioning system according to claim 8, characterized in that: The coordinates of the four vertices of the third judgment rectangle in the vehicle body coordinate system are: C1’(x O -b / 2·cosθ-a / 2·sinθ,y O -b / 2·sinθ+a / 2·cosθ) C2’(x O +b / 2·cosθ-a / 2·sinθ,y O +b / 2·sinθ+a / 2·cosθ) C3’(x O +b / 2·cosθ+a / 2·sinθ,y O +b / 2·sinθ-a / 2·cosθ) C4’(x O -b / 2·cosθ+a / 2·sinθ,y O -b / 2·sinθ-a / 2·cosθ) The straight line passing through the point (x1, y1) and the point (x2, y2) is: f(x,y)=(y1-y2)x+(x2-x1)y+(x1·y2-y1·x2)=0; We know that the straight line l1 passing through point C1' and point C2' is: f1(x,y), the straight line l2 passing through point C2' and point C3' is: f2(x,y), the straight line l3 passing through point C3' and point C4' is: f3(x,y), and the straight line l4 passing through point C4' and point C1' is: f4(x,y).

10. The three-dimensional storage robot positioning system according to claim 9, characterized in that: For the case where the sub-track changes direction and enters the main track, when f1(A1)·f3(A1)<0, f1(A2)·f3(A2)<0, f1(A3)·f3(A3)<0, and f1(A4)·f3(A4)<0 are all true, there will be no "off-track" situation. If any point does not meet the conditions, it can be considered that "off-track" has occurred. At this time, the three-dimensional storage robot needs to be controlled to move in the direction of the point that meets the judgment conditions until the above conditions are met. For the case where the mother rail switches to the sub-rail, when f2(B1)·f4(B1)<0, f2(B2)·f4(B2)<0, f2(B3)·f4(B3)<0, and f2(B4)·f4(B4)<0 are all true, there will be no "off-track" situation. If any point does not meet the conditions, it can be considered that "off-track" has occurred. At this time, the three-dimensional warehouse robot needs to be controlled to move in the direction of the point that meets the judgment conditions until the above conditions are met.

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