A cargo handling method, a handling robot and a storage system

Abstract

The embodiments of the present application provide a cargo handling method, a handling robot and a warehousing system, which belong to the technical field of cargo handling and are applied to a handling robot in a warehousing system, the method comprising: receiving a picking instruction, and in the process of moving from an initial position to a target temporary storage position, controlling a lifting drive mechanism to drive a scissors mechanism to expand, so as to drive a cargo plate to rise from an initial height to a first height, and when moving to below the target temporary storage position, controlling the lifting drive mechanism to drive the scissors mechanism to expand, so as to drive the cargo plate to rise from the first height to a second height, and when the height of the cargo plate rises to the second height and the target temporary storage position is separated from the cargo placed in the target temporary storage position, driving away from the target temporary storage position, and when driving away from the target temporary storage position or the shelf where the target temporary storage position is located, controlling the lifting drive mechanism to drive the scissors mechanism to contract, so as to drive the cargo plate to descend to a third height, thereby improving the handling efficiency and stability of the handling robot.

Description

Technical Field

[0001] The present application relates to the technical field of cargo handling, and in particular to a cargo handling method, a handling robot, and a warehousing system. Background Art

[0002] In the field of intelligent warehouse management, the transportation of goods can be completed by handling robots. Handling robots can perform picking tasks, that is, taking out the goods from the designated location in the warehouse, and can also perform inventory tasks, that is, placing the transported goods at the designated location.

[0003] At present, when a handling robot performs a task of picking up or storing goods, it moves to the task end position according to the planned path, and then controls the cargo board to rise or fall to meet the height requirements of the goods. Since it takes a certain amount of time for the cargo board to rise or fall, the handling efficiency of the handling robot is low. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a cargo handling method, a handling robot, and a warehousing system to improve the handling efficiency of the handling robot. The specific technical solution is as follows:

[0005] In a first aspect, an embodiment of the present application provides a first cargo handling method, which is applied to a handling robot in a warehousing system, wherein the handling robot comprises a mobile chassis, a lifting assembly, a lifting drive mechanism, and a cargo board; wherein one end of the lifting assembly is movably connected to the mobile chassis, and the other end is movably connected to the cargo board, and the lifting assembly is used to lift the cargo board;

[0006] The lifting assembly includes two sets of scissor-fork mechanisms arranged up and down in the lifting direction, the lifting drive mechanism is arranged between the two sets of scissor-fork mechanisms, and the lifting drive mechanism is used to drive the scissor-fork mechanisms to contract to drive the cargo board to descend, and to drive the scissor-fork mechanisms to expand to drive the cargo board to ascend;

[0007] The method comprises:

[0008] Receiving a pickup instruction, wherein the pickup instruction includes the location of a target temporary storage location, the target temporary storage location is one of the temporary storage locations at the bottom of a shelf in the storage system, and the temporary storage location is used to temporarily place goods;

[0009] In the process of moving from the initial position to the target temporary storage position, the lifting drive mechanism is controlled to drive the scissor mechanism to expand, so as to drive the cargo plate to rise from the initial height to a first height, wherein the first height is greater than the initial height and less than the height of the target temporary storage position;

[0010] When the cargo board moves to the lower side of the target temporary storage position, the lifting drive mechanism is controlled to drive the scissor mechanism to expand, so as to drive the cargo board to rise from the first height to a second height, wherein the second height is not less than the height of the target temporary storage position;

[0011] When the height of the cargo plate rises to the second height and the target temporary storage location is separated from the goods placed at the target temporary storage location, driving away from the target temporary storage location;

[0012] When leaving the target temporary storage location or the shelf where the target temporary storage location is located, the lifting drive mechanism is controlled to drive the scissors mechanism to retract, so as to drive the cargo plate to descend to a third height, wherein the third height is greater than or equal to the initial height and not greater than the second height.

[0013] Optionally, the lifting drive mechanism includes a motor and a motor brake;

[0014] The step of controlling the lifting drive mechanism to drive the scissor mechanism to contract, so as to drive the cargo plate to descend to the third height, comprises:

[0015] According to the structural parameters of the scissor mechanism and the principle of virtual displacement, the driving force range of the lifting drive mechanism driving the scissor mechanism to expand from the minimum height that can be retracted to the maximum height that can be expanded is calculated;

[0016] Based on the driving force range, determining the height of the cargo plate when the driving force of the lifting drive mechanism is minimum within a preset center of gravity position range as the third height, wherein the preset center of gravity position range is pre-set according to the center of gravity position range where the transport robot can maintain stability when the speed reaches a preset value;

[0017] The motor is controlled to drive the scissor mechanism to retract, so as to drive the cargo plate to descend to the third height, and then the motor brake is opened to lock the motor.

[0018] Optionally, the step of calculating the driving force range of the lifting drive mechanism driving the scissors mechanism to expand from a minimum retractable height to a maximum retractable height according to the structural parameters of the scissors mechanism and the virtual displacement principle comprises:

[0019] Determine the vertical distance range between the uppermost end and the lowermost end of the scissor mechanism and the angle range between the scissor arms of the scissor mechanism and the horizontal direction within the range of the minimum height that the scissor mechanism can retract and the maximum height that it can expand;

[0020] According to the vertical distance range, the arm length of the scissor arms, the angle range and the virtual displacement principle, the driving force range of the lifting drive mechanism to drive the scissor mechanism to expand from the minimum height that can be retracted to the maximum height that can be expanded is calculated.

[0021] Optionally, the step of calculating the driving force range of the lifting drive mechanism driving the scissor mechanism to expand from a minimum retractable height to a maximum extendable height according to the vertical distance range, the arm length of the scissor arm, the angle range and the virtual displacement principle comprises:

[0022] According to the vertical distance range, the arm length of the scissor arm, the angle range and the virtual displacement principle, the driving force range of the lifting drive mechanism driving the scissor mechanism to expand from the minimum height that can be retracted to the maximum height that can be extended is calculated according to the following formula:

[0023] ;

[0024] ;

[0025] ;

[0026] ;

[0027] ;

[0028] ;

[0029] Wherein, r is 1 / 2 of the arm length of the scissor arm, θ is the angle within the angle range, and h is the vertical distance within the vertical distance range. is a formula constructed based on the principle of virtual displacement, and F is the driving force of the lifting drive mechanism when 1 / 2 of the arm length of the scissor arm is r, the angle is θ, and the vertical distance is h.

[0030] Optionally, the method further includes:

[0031] Receiving a first inventory instruction, wherein the first inventory instruction includes the location of a conveyor line inventory position, the conveyor line inventory position is used to dock with a conveying device so as to convey the goods in the conveyor line inventory position to a target location through the conveying device;

[0032] In the process of moving from the first current position to the position of the conveyor line inventory position, controlling the lifting drive mechanism to drive the scissor mechanism to expand, so as to drive the cargo plate to rise from the third height to a fourth height, wherein the fourth height is greater than the height of the conveyor line inventory position;

[0033] When the cargo plate moves to the lower side of the storage position of the conveyor line, the lifting drive mechanism is controlled to drive the scissor mechanism to contract, so as to drive the cargo plate to descend from the fourth height to the fifth height, wherein the fifth height is less than the height of the storage position of the conveyor line;

[0034] When the height of the cargo plate drops to the fifth height and the goods placed at the storage location of the conveyor line are detached from the cargo plate, the cargo plate leaves the storage location of the conveyor line.

[0035] Optionally, in the process of moving from the first current position to the position of the conveyor line inventory location, the step of controlling the lifting drive mechanism to drive the scissor mechanism to expand so as to drive the cargo plate to rise from the third height to the fourth height includes:

[0036] During the process of moving from the first current position to the position of the conveyor line inventory location, when the first identification code is identified, the lifting drive mechanism is controlled to drive the scissors mechanism to expand, so as to drive the cargo plate to rise from the third height to the fourth height, wherein the first identification code is set at a position at a preset distance from the conveyor line inventory location.

[0037] Optionally, when the cargo plate moves to below the storage position of the conveyor line, the step of controlling the lifting drive mechanism to drive the scissor mechanism to retract so as to drive the cargo plate to descend from the fourth height to the fifth height comprises:

[0038] When moving to the bottom of the conveyor line inventory position and recognizing the second identification code, the lifting drive mechanism is controlled to drive the scissors mechanism to retract, so as to drive the cargo plate to drop from the fourth height to the fifth height, wherein the second identification code is set below the conveyor line inventory position.

[0039] Optionally, before the step of controlling the lifting drive mechanism to drive the scissor mechanism to contract to drive the cargo plate to descend from the fourth height to the fifth height when the cargo plate moves to below the storage position of the conveyor line, the method further includes:

[0040] Detecting whether there are goods in the storage location of the conveyor line;

[0041] When there is no goods at the storage position of the conveyor line and the cargo plate moves to below the storage position of the conveyor line, the lifting drive mechanism is controlled to drive the scissors mechanism to contract, so as to drive the cargo plate to descend from the fourth height to the fifth height.

[0042] Optionally, the method further includes:

[0043] receiving a second inventory instruction, wherein the second inventory instruction includes a position of a workstation, the height of the workstation is determined based on the working height of the transporter, and the workstation is used to store the goods taken from the cargo board of the transport robot by the transporter;

[0044] In the process of moving from the second current position to the position of the workstation, controlling the lifting drive mechanism to drive the scissor mechanism to contract or expand, so as to drive the cargo plate to adjust from the third height to a sixth height, wherein the sixth height is not less than the initial height;

[0045] When the vehicle moves to the workstation and a third identification code is identified, determining whether the goods on the cargo board are removed, wherein the third identification code is set at the position of the workstation;

[0046] When it is determined that the goods on the cargo plate are taken off, the vehicle leaves the workstation.

[0047] Optionally, the transport robot also includes a gravity sensor;

[0048] The step of leaving the workstation when it is determined that the goods on the cargo board are removed comprises:

[0049] When the gravity value detected by the gravity sensor is obtained as an initial value, or when a pickup completion instruction issued by the transporter is received, the vehicle leaves the workstation.

[0050] Optionally, when the cargo board moves to below the target temporary storage position, the step of controlling the lifting drive mechanism to drive the scissor mechanism to expand so as to drive the cargo board to rise from the first height to the second height includes:

[0051] When the vehicle moves to the bottom of the target temporary storage position and recognizes the fourth identification code, the lifting drive mechanism is controlled to drive the scissor mechanism to expand, so as to drive the cargo plate to rise from the first height to the second height.

[0052] Optionally, before the step of controlling the lifting drive mechanism to drive the scissor mechanism to expand so as to drive the cargo board to rise from the first height to the second height when the cargo board moves to the bottom of the target temporary storage position, the method further includes:

[0053] Detecting whether there are goods in the target temporary storage location;

[0054] When goods exist in the target temporary storage location and move to below the target temporary storage location, the lifting drive mechanism is controlled to drive the scissor mechanism to expand, so as to drive the cargo plate to rise from the first height to the second height.

[0055] Optionally, the shelf includes a plurality of storage locations, and the storage locations are located above the temporary storage locations; the target temporary storage locations are used to temporarily place goods taken out from the storage locations, and a passage for the transport robot to travel is also provided at the bottom of the shelf;

[0056] Before the step of controlling the lifting drive mechanism to drive the scissor mechanism to contract so as to drive the cargo plate to descend to the third height, the method further includes:

[0057] Move to the channel, control the lifting drive mechanism to drive the scissor mechanism to retract, so as to drive the cargo plate to descend from the second height to the eighth height; rotate until the driving direction is parallel to the passage direction of the channel; drive away from the shelf of the target temporary storage position along the channel according to the current driving direction; wherein the eighth height is less than the second height and not less than the initial height;

[0058] or,

[0059] Move to the channel, control the lifting drive mechanism to drive the scissor mechanism to retract, so as to drive the cargo plate to descend from the second height to the eighth height, and rotate until the driving direction is parallel to the passage direction of the channel; drive away from the shelf of the target temporary storage position along the channel according to the current driving direction;

[0060] or,

[0061] Move to the channel and rotate until the driving direction is parallel to the passage direction of the channel; along the channel, while driving away from the shelf of the target temporary storage position according to the current driving direction, control the lifting drive mechanism to drive the scissors mechanism to retract, so as to drive the cargo plate to descend from the second height to the eighth height.

[0062] In a second aspect, an embodiment of the present application provides a second method for handling goods, which is applied to a handling robot in a warehousing system, wherein the handling robot comprises a mobile chassis, a lifting assembly, a lifting drive mechanism, and a cargo board; wherein one end of the lifting assembly is movably connected to the mobile chassis, and the other end is movably connected to the cargo board, and the lifting assembly is used to lift the cargo board;

[0063] The lifting assembly includes two sets of scissor-fork mechanisms arranged up and down in the lifting direction, the lifting drive mechanism is arranged between the two sets of scissor-fork mechanisms, and the lifting drive mechanism is used to drive the scissor-fork mechanisms to contract to drive the cargo board to descend, and to drive the scissor-fork mechanisms to expand to drive the cargo board to ascend;

[0064] The method comprises:

[0065] receiving an inventory instruction, wherein the inventory instruction includes a location of the inventory location;

[0066] In the process of moving from the current position to the position of the inventory location, the lifting drive mechanism is controlled to drive the scissor mechanism to expand, so as to drive the cargo plate to rise from the current ninth height to the tenth height, wherein the tenth height is greater than the height of the inventory location;

[0067] When the cargo plate moves to the bottom of the storage position, the lifting drive mechanism is controlled to drive the scissor mechanism to retract, so as to drive the cargo plate to drop from the tenth height to the eleventh height, wherein the eleventh height is less than the height of the storage position;

[0068] When the height of the cargo board drops to the eleventh height and the goods placed on the storage location are detached from the cargo board, the vehicle leaves the storage location.

[0069] Optionally, in the process of moving from the current position to the position of the inventory location, the step of controlling the lifting drive mechanism to drive the scissor mechanism to expand so as to drive the cargo plate to rise from the current ninth height to the tenth height includes:

[0070] During the process of moving from the current position to the position of the inventory location, when the first identification code is identified, the lifting drive mechanism is controlled to drive the scissors mechanism to expand, so as to drive the cargo plate to rise from the current ninth height to the tenth height, wherein the first identification code is set at a position at a preset distance from the inventory location of the conveyor line.

[0071] Optionally, when the cargo plate is moved to below the inventory position, the step of controlling the lifting drive mechanism to drive the scissor mechanism to contract so as to drive the cargo plate to descend from the tenth height to the eleventh height comprises:

[0072] When moving to the bottom of the inventory location and recognizing the second identification code, the lifting drive mechanism is controlled to drive the scissors mechanism to contract, so as to drive the cargo plate to drop from the tenth height to the eleventh height, wherein the second identification code is set below the inventory location.

[0073] Optionally, before the step of controlling the lifting drive mechanism to drive the scissor mechanism to contract so as to drive the cargo plate to descend from the tenth height to the eleventh height when the cargo plate is moved to below the inventory position, the method further comprises:

[0074] Detecting whether there is any product in the storage location;

[0075] When there is no goods at the inventory location and the cargo plate is moved to the bottom of the inventory location, the lifting drive mechanism is controlled to drive the scissors mechanism to contract, so as to drive the cargo plate to descend from the tenth height to the eleventh height.

[0076] Optionally, before the step of receiving the inventory instruction, the method further includes:

[0077] In the process of moving from the position where the pickup instruction is received to the position of the workstation, the lifting drive mechanism is controlled to drive the scissor mechanism to expand, so as to drive the cargo board to rise from the initial height to the twelfth height, wherein the twelfth height is set based on the height of the porter, the height of the workstation is determined based on the working height of the porter, and the workstation is used to store the goods that the porter carries to the cargo board;

[0078] When the vehicle moves to the workstation and a third identification code is identified, determining whether the transporter places the goods on the cargo board, wherein the third identification code is set at the position of the workstation;

[0079] When it is determined that the transporter has placed the goods on the cargo board, the vehicle leaves the workstation.

[0080] Optionally, the transport robot further includes a gravity sensor, and the step of driving away from the workstation when it is determined that the transporter places the goods on the cargo board includes:

[0081] When it is found that the gravity value detected by the gravity sensor is not less than a preset value, or when a cargo release completion instruction is received from a porter, the vehicle leaves the workstation.

[0082] Optionally, before the step of receiving the inventory instruction, the method further includes:

[0083] In the process of moving from the position where the pickup instruction is received to the position of the target temporary storage position, the lifting drive mechanism is controlled to drive the scissor mechanism to expand, so as to drive the cargo plate to rise from the initial height to the thirteenth height, wherein the target temporary storage position is one of the temporary storage positions at the bottom of the shelf in the storage system, the temporary storage position is used to temporarily place goods, and the thirteenth height is greater than the initial height and less than the height of the target temporary storage position;

[0084] When the cargo board moves to the lower side of the target temporary storage position, the lifting drive mechanism is controlled to drive the scissor mechanism to expand, so as to drive the cargo board to rise from the thirteenth height to the fourteenth height, wherein the fourteenth height is not less than the height of the target temporary storage position;

[0085] When the height of the cargo plate rises to the fourteenth height and the target temporary storage location is separated from the goods placed at the target temporary storage location, the vehicle leaves the target temporary storage location.

[0086] Optionally, the method further includes:

[0087] When leaving the target temporary storage location or the shelf where the target temporary storage location is located, the lifting drive mechanism is controlled to drive the scissors mechanism to retract, so as to drive the cargo plate to descend to a ninth height, wherein the ninth height is greater than or equal to the initial height and not greater than the fourteenth height, and the fourteenth height is not less than the height of the target temporary storage location.

[0088] Optionally, the shelf where the target temporary storage location is located includes a plurality of storage locations, and the storage location is located above the temporary storage location; the target temporary storage location is used to temporarily place goods taken out from the storage location, and a passage for the transport robot to travel is also provided at the bottom of the shelf;

[0089] Before the step of controlling the lifting drive mechanism to drive the scissor mechanism to contract so as to drive the cargo board to descend to a ninth height, the method further includes:

[0090] Move to the channel, control the lifting drive mechanism to drive the scissor mechanism to retract, so as to drive the cargo plate to drop from the fourteenth height to the fifteenth height; rotate until the driving direction is parallel to the passage direction of the channel; drive away from the shelf of the target temporary storage position along the channel according to the current driving direction; wherein the fifteenth height is less than the fourteenth height and not less than the initial height;

[0091] or,

[0092] Move to the channel, control the lifting drive mechanism to drive the scissor mechanism to retract, so as to drive the cargo plate to descend from the fourteenth height to the fifteenth height, and rotate until the driving direction is parallel to the passage direction of the channel; drive away from the shelf of the target temporary storage position along the channel according to the current driving direction;

[0093] or,

[0094] Move to the channel and rotate until the driving direction is parallel to the passage direction of the channel; along the channel, while driving away from the shelf of the target temporary storage position according to the current driving direction, control the lifting drive mechanism to drive the scissors mechanism to retract, so as to drive the cargo plate to descend from the fourteenth height to the fifteenth height.

[0095] In a third aspect, an embodiment of the present application provides a cargo handling method, which is applied to a handling robot in a warehousing system, wherein the handling robot comprises a mobile chassis, a lifting assembly, a lifting drive mechanism, and a cargo board; wherein one end of the lifting assembly is movably connected to the mobile chassis, and the other end is movably connected to the cargo board, and the lifting assembly is used to lift the cargo board;

[0096] The lifting assembly includes two sets of scissor-fork mechanisms arranged up and down in the lifting direction, the lifting drive mechanism is arranged between the two sets of scissor-fork mechanisms, and the lifting drive mechanism is used to drive the scissor-fork mechanisms to contract to drive the cargo board to descend, and to drive the scissor-fork mechanisms to expand to drive the cargo board to ascend;

[0097] The method comprises:

[0098] Receiving a pickup instruction, wherein the pickup instruction includes the location of a target temporary storage location, the target temporary storage location is one of the temporary storage locations at the bottom of a shelf in the storage system, and the temporary storage location is used to temporarily place goods;

[0099] When the cargo board moves to the lower side of the target temporary storage position, the lifting drive mechanism is controlled to drive the scissor mechanism to expand, so as to drive the cargo board to rise from the initial height to a second height, wherein the second height is not less than the height of the target temporary storage position;

[0100] When the height of the cargo plate rises to the second height and the target temporary storage location is separated from the goods placed at the target temporary storage location, driving away from the target temporary storage location;

[0101] When leaving the target temporary storage location or the shelf where the target temporary storage location is located, the lifting drive mechanism is controlled to drive the scissors mechanism to retract, so as to drive the cargo plate to descend to a third height, wherein the third height is greater than or equal to the initial height and not greater than the second height.

[0102] In a fourth aspect, an embodiment of the present application provides a transport robot, the transport robot comprising a processor, a mobile chassis, a lifting assembly, a lifting drive mechanism, and a cargo board, wherein:

[0103] One end of the lifting assembly is movably connected to the mobile chassis, and the other end is movably connected to the cargo board, and the lifting assembly is used to lift the cargo board;

[0104] The lifting assembly includes two sets of scissor-fork mechanisms arranged up and down in the lifting direction, the lifting drive mechanism is arranged between the two sets of scissor-fork mechanisms, and the lifting drive mechanism is used to drive the scissor-fork mechanisms to contract to drive the cargo board to descend, and to drive the scissor-fork mechanisms to expand to drive the cargo board to ascend;

[0105] The processor is used to execute the method described in any one of the first aspect, the second aspect, or the third aspect.

[0106] Optionally, the fixed end of the bottom of the scissor mechanism matches the grooved stop of the mobile chassis through a through-shaft, and the movable end of the bottom of the scissor mechanism is connected to the mobile chassis through a linear slide rail; the top of the scissor mechanism is connected to the cargo board;

[0107] The lifting drive mechanism includes a guide assembly and a power assembly, the guide assembly includes a guide shaft, a linear bearing, a drive bracket and a connecting bracket, the drive bracket connects one end between the two sets of scissor-fork mechanisms with the guide shaft, the connecting bracket connects the other end between the two sets of scissor-fork mechanisms with the linear bearing, and the guide shaft and the linear bearing perform relative linear reciprocating motion;

[0108] The power assembly includes a motor, a reducer, a coupling, a bearing seat and a screw assembly, the motor is connected to the reducer, the motor drives the screw in the screw assembly to rotate, so as to drive the nut on the screw to move, the motor and the reducer are fixed to the driving bracket, and the nut in the screw assembly is fixed to the connecting bracket;

[0109] The cargo plate includes customized tooling, and the customized tooling is used to carry goods.

[0110] Optionally, the transport robot further includes a gravity sensor, wherein:

[0111] The gravity sensor is used to detect the gravity value of the goods;

[0112] The processor is specifically configured to control the transport robot to leave the workstation when the gravity value detected by the gravity sensor is obtained to be an initial value, or when a pickup completion instruction sent by a transporter is received;

[0113] Or, it is specifically used to control the transport robot to leave the workstation when the gravity value detected by the gravity sensor is not less than a preset value, or when a cargo release completion instruction sent by a transporter is received.

[0114] In a fifth aspect, an embodiment of the present application provides a warehousing system, the warehousing system comprising a plurality of transport robots, wherein:

[0115] Each transport robot is used to execute the method described in any one of the first aspect, the second aspect or the third aspect.

[0116] Beneficial effects of the embodiments of the present application:

[0117] The solution provided in the embodiment of the present application is applied to a transport robot in a warehousing system. Since the cargo plate can be controlled to rise from the initial height to the first height during the movement of the transport robot from the initial position to the target temporary storage position, when the transport robot moves to the bottom of the target temporary storage position, the cargo plate can be directly controlled to rise from the first height to the second height without controlling the cargo plate to rise from the initial height to the second height. This can reduce the time for the cargo plate to rise to the second height when it is below the target temporary storage position, and when the transport robot leaves the target temporary storage position or the shelf where the target temporary storage position is located, the cargo plate is controlled to descend to the third height, which can ensure the stability of the transport robot during the movement. Therefore, during the movement of the transport robot, controlling the rise or fall of the cargo plate can improve the transport efficiency of the transport robot and ensure the stability of the goods being transported. Of course, the implementation of any product or method of the present application does not necessarily require all of the advantages described above to be achieved at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0118] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0119] Figure 1 A schematic diagram of the structure of a transport robot provided in an embodiment of the present application;

[0120] Figure 2 A flow chart of a first method for transporting goods provided in an embodiment of the present application;

[0121] Figure 3 A first schematic diagram of the height of the cargo board provided in an embodiment of the present application;

[0122] Figure 4 A second schematic diagram of the height of the cargo board provided in the embodiment of the present application;

[0123] Figure 5 A third schematic diagram of the height of the cargo board provided in the embodiment of the present application;

[0124] Figure 6 for Figure 2 A specific flow chart of step S205 in the illustrated embodiment;

[0125] Figure 7 A schematic diagram of the calculation driving force provided by an embodiment of the present application;

[0126] Figure 8A first flow chart of the inventory handling robot provided in the embodiment of the present application;

[0127] Fig. 9 A schematic diagram of a storage location of a transmission line provided in an embodiment of the present application;

[0128] Fig.10 A fourth schematic diagram of the height of the cargo board provided in the embodiment of the present application;

[0129] Fig.11 A second flow chart of the inventory handling robot provided in the embodiment of the present application;

[0130] Fig.12 A schematic diagram of a workstation provided in an embodiment of the present application;

[0131] FIG. 13 ( a ) is a schematic diagram of a shelf provided in an embodiment of the present application;

[0132] FIG13( b ) is another schematic diagram of a shelf provided in an embodiment of the present application;

[0133] Fig.14 A flow chart of a second method for transporting goods provided in an embodiment of the present application;

[0134] Fig.15 A flow chart of a transport robot picking up goods provided in an embodiment of the present application;

[0135] Fig.16 A first specific flow chart of the cargo handling method provided in the embodiment of the present application;

[0136] Fig.17 A second specific flow chart of the cargo handling method provided in the embodiment of the present application;

[0137] Fig.18 A third specific flow chart of the cargo handling method provided in the embodiment of the present application;

[0138] Fig.19 A fourth specific flow chart of the cargo handling method provided in the embodiment of the present application;

[0139] Fig. 20 A flowchart of a third method for transporting goods provided in an embodiment of the present application;

[0140] Fig.21 A schematic diagram of the structure of a lifting assembly of a handling robot provided in an embodiment of the present application;

[0141] Fig. 22 A schematic diagram of the structure of a guide assembly of a handling robot provided in an embodiment of the present application;

[0142] Fig.23 A schematic diagram of the structure of a power assembly of a handling robot provided in an embodiment of the present application;

[0143] Fig.24 A schematic diagram of the structure of the customized tooling for the cargo plate provided in an embodiment of the present application. DETAILED DESCRIPTION

[0144] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field based on the present application belong to the scope of protection of the present application.

[0145] In order to improve the handling efficiency of the handling robot, the embodiments of the present application provide a cargo handling method, a handling robot, a storage system, a computer-readable storage medium, and a computer program product. The first cargo handling method provided by the embodiments of the present application is first introduced below.

[0146] The first cargo handling method provided in the embodiment of the present application can be applied to Figure 1 The transport robot in the warehousing system shown includes a mobile chassis 110 , a lifting assembly 120 , a lifting drive mechanism 130 and a cargo plate 140 .

[0147] Among them, one end of the lifting assembly 120 is movably connected to the mobile chassis 110, and the other end is movably connected to the cargo board 140, and the lifting assembly 120 is used to lift the cargo board 140. The lifting assembly 120 includes two sets of scissor-fork mechanisms 121 arranged up and down in the lifting direction. In one embodiment, the lifting drive mechanism 130 can be arranged between the two sets of scissor-fork mechanisms 121, and the lifting drive mechanism 130 is used to drive the scissor-fork mechanism 121 to contract to drive the cargo board 140 to descend, and to drive the scissor-fork mechanism 121 to expand to drive the cargo board 140 to rise.

[0148] In another embodiment, the lifting drive mechanism 130 can be arranged at the lower end of the two sets of scissor-type mechanisms, and the lifting drive mechanism 130 is used to drive the scissor-type mechanism 121 to contract to drive the cargo plate 140 to descend, and to drive the scissor-type mechanism 121 to expand to drive the cargo plate 140 to rise.

[0149] like Figure 2 As shown, a cargo handling method is applied to a handling robot in a warehousing system, and the method comprises:

[0150] S201, receiving a pickup instruction;

[0151] The pickup instruction includes the location of a target temporary storage location, which is one of the temporary storage locations at the bottom of a shelf in the warehousing system, and is used to temporarily place goods.

[0152] S202, in the process of moving from the initial position to the target temporary storage position, controlling the lifting drive mechanism to drive the scissor mechanism to expand, so as to drive the cargo plate to rise from the initial height to the first height;

[0153] The first height is greater than the initial height and less than the height of the target temporary storage location.

[0154] S203, when the cargo board moves to the lower side of the target temporary storage position, controlling the lifting drive mechanism to drive the scissor mechanism to expand, so as to drive the cargo board to rise from the first height to a second height;

[0155] Wherein, the second height is not less than the height of the target temporary storage location.

[0156] S204, when the height of the cargo plate rises to the second height and the target temporary storage location is separated from the goods placed at the target temporary storage location, leaving the target temporary storage location.

[0157] S205, when leaving the target temporary storage location or the shelf where the target temporary storage location is located, controlling the lifting drive mechanism to drive the scissor mechanism to retract, so as to drive the cargo plate to descend to a third height;

[0158] The third height is greater than or equal to the initial height and not greater than the second height.

[0159] It can be seen that in the solution provided in the embodiment of the present application, it is applied to the transport robot in the warehousing system. Since the cargo plate can be controlled to rise from the initial height to the first height during the process of the transport robot moving from the initial position to the target temporary storage position, when the transport robot moves below the target temporary storage position, the cargo plate can be directly controlled to rise from the first height to the second height without controlling the cargo plate to rise from the initial height to the second height. This can reduce the time for the cargo plate to rise to the second height when it is below the target temporary storage position, and when the transport robot leaves the target temporary storage position or the shelf where the target temporary storage position is located, the cargo plate is controlled to descend to the third height. This can ensure the stability of the transport robot during the movement. Therefore, during the movement of the transport robot, controlling the rise or fall of the cargo plate can improve the transport efficiency of the transport robot and ensure the stability of the transported goods.

[0160] In step S201, the handling robot may receive a pickup instruction. The pickup instruction includes the location of the target temporary storage location, which is one of the temporary storage locations at the bottom of the shelf in the storage system, and the temporary storage location is used to temporarily place the goods. The storage system also includes multiple storage locations for storing material boxes, goods, finished products waiting for acceptance, and other goods.

[0161] In one case, if the goods that the transport robot needs to transport are placed in a storage position, the goods in the storage position need to be moved to the target temporary storage position first, and then a pickup instruction is sent to the transport robot, so that when the transport robot receives the pickup instruction, it moves to the position of the target temporary storage position. As an embodiment, when the transport robot obtains the position of the target temporary storage position according to the pickup instruction, the moving path can be obtained, and then the moving path can be followed to move to the position of the target temporary storage position. And in the process of moving, the accuracy of driving can be ensured by identifying the identification code set at the preset position in the path. The identification code can be a QR code, a label code, etc., which is not specifically limited here.

[0162] In one embodiment, the warehousing system further includes a scheduling device, which determines the temporary storage location where the goods are stored and the height of the temporary storage location, and then sends a pickup instruction to the transport robot.

[0163] Since it takes a certain amount of time for the transport robot to move to the target temporary storage location, the time of the transport robot's movement can be used to first control the cargo plate to rise to a certain height, and then, when it reaches the bottom of the target temporary storage location, continue to control the cargo plate to rise based on the previous rising height. In this way, the height of the cargo plate can be reduced below the target temporary storage location, saving the time for the cargo plate to rise, improving the transport robot's picking efficiency, and thereby improving the transport efficiency.

[0164] When the transport robot receives the pickup instruction, it can move to the target temporary storage position. In step S202, during the process of the transport robot moving from the initial position to the target temporary storage position, the lifting drive mechanism can be controlled to drive the scissors mechanism to expand, so as to drive the cargo plate to rise from the initial height to the first height.

[0165] Among them, the first height is greater than the initial height, and less than the height of the target temporary storage position. That is to say, when the cargo plate rises to the first height, it will not affect the movement of the transport robot to the bottom of the target temporary storage position, and it can also reduce the time required to control the rise of the cargo plate when the transport robot moves to the bottom of the target temporary storage position. The first height can be set according to actual needs, such as close to the height of the target temporary storage position, etc., which is not specifically limited here. The first height is a height determined based on the ground as a reference, and the second height to the eighth height that appear thereafter are all determined based on the ground as a reference. The initial position is the position where the transport robot receives the pickup instruction. Among them, the height of the target temporary storage position can be included in the pickup instruction, and of course the height of the target temporary storage position can also be pre-stored by the transport robot, which is all reasonable.

[0166] For example, Figure 3 As shown, the transport robot receives a pick-up instruction, which includes the position of the target temporary storage position, and the height of the target temporary storage position is 500mm. Then, in the process of the transport robot moving from the initial position to the target temporary storage position, the lifting drive mechanism can be controlled to drive the scissors mechanism to expand, so as to drive the cargo plate to rise from the initial height to the first height of 480mm, which is greater than the initial height and less than the height of the target temporary storage position.

[0167] Since the height of the cargo plate is less than the height of the target temporary storage position, the transport robot can move to the bottom of the target temporary storage position. When the transport robot moves to the bottom of the target temporary storage position, the lifting drive mechanism can be controlled to drive the scissor mechanism to expand, so as to drive the cargo plate to rise from the first height to the second height, that is, to execute step S203. The second height is not less than the height of the target temporary storage position, so that the transport robot can lift the goods placed on the target temporary storage position.

[0168] For example, Figure 3 As shown, the height of the target temporary storage position is 500mm, and the first height is 480mm. When the transport robot moves to the bottom of the target temporary storage position, the lifting drive mechanism can be controlled to drive the scissors mechanism to expand, so as to drive the cargo plate to rise from 480mm to a height of not less than 500mm, so as to lift the goods placed on the target temporary storage position.

[0169] In step S204, when the height of the cargo plate rises to the second height and the target temporary storage position is separated from the goods placed at the target temporary storage position, the handling robot can leave the target temporary storage position. In other words, after the handling robot lifts the goods placed at the target temporary storage position, it can leave the target temporary storage position.

[0170] For example, Figure 4As shown, the height of the target temporary storage position is 500mm, the first height is 480mm, and the second height is 530mm. When the height of the cargo plate rises from 480mm to 530mm, the target temporary storage position is separated from the goods placed at the target temporary storage position, that is, the handling robot can lift the goods placed at the target temporary storage position and then drive away from the target temporary storage position.

[0171] If the height of the cargo plate is high and the goods are heavy, the handling robot is prone to shaking during the movement. Therefore, after the handling robot leaves the target temporary storage position, the height of the cargo plate can be appropriately lowered to ensure the stability of the handling robot during the movement. In step S205, when the handling robot leaves the target temporary storage position, the lifting drive mechanism is controlled to drive the scissors mechanism to contract to drive the cargo plate to a third height. Alternatively, in order to avoid collisions when the handling robot travels through other temporary storage positions on the shelf, when the handling robot leaves the shelf where the target temporary storage position is located, the lifting drive mechanism is controlled to drive the scissors mechanism to contract to drive the cargo plate to a third height. Among them, the third height is greater than or equal to the initial height and not greater than the second height.

[0172] For example, Figure 5 As shown, the second height is 530mm and the third height is 280mm. When the transport robot leaves the target temporary storage position, the lifting drive mechanism can be controlled to drive the scissors mechanism to retract, so as to drive the cargo plate loaded with goods to drop from 530mm to 280mm, thereby ensuring the stability of the transport robot during movement.

[0173] In one embodiment, when the transport robot leaves the target temporary storage position, the lifting drive mechanism can be controlled to drive the scissor mechanism to retract, so as to drive the cargo plate to firstly drop from the second height to the third height. In another embodiment, when the transport robot leaves the target temporary storage position, the lifting drive mechanism can be controlled to drive the scissor mechanism to retract, so as to drive the cargo plate to firstly drop from the second height to a certain height, and when the transport robot leaves the target temporary storage position, the lifting drive mechanism can continue to be controlled to drive the scissor mechanism to retract, so as to drive the cargo plate to drop from the certain height to the third height.

[0174] If the pickup instruction received by the handling robot includes the location of the workstation, then in order to facilitate the handling of the workstation handling personnel, the handling robot can control the height of the cargo plate according to the height of the workstation and the height of the handling personnel. In the process of the handling robot moving to the location of the workstation, the lifting drive mechanism can be controlled to drive the scissor mechanism to expand, so as to drive the cargo plate to rise from the initial height to the preset height, wherein the preset height is greater than the initial height. The preset height can be set according to the scene requirements to facilitate the handling personnel to carry the goods to the cargo platform of the workstation.

[0175] In one embodiment, during the movement of the handling robot, a lifting instruction may be received to control the lifting drive mechanism to drive the scissors-fork mechanism to expand, or a lowering instruction may be received to control the lifting drive mechanism to drive the scissors-fork mechanism to contract. The lifting instruction and the lowering instruction may be set in the control program, which is not specifically limited here. The handling robot may control the lifting drive mechanism to drive the scissors-fork mechanism to expand or contract to a certain height within a preset time, and the handling robot may also control the lifting drive mechanism to drive the scissors-fork mechanism to expand or contract to a certain height within a preset distance, which is all reasonable.

[0176] In the scheme of the present embodiment, since the cargo board can be controlled to rise from the initial height to the first height during the process of the transport robot moving from the initial position to the target temporary storage position, when the transport robot moves below the target temporary storage position, the cargo board can be directly controlled to rise from the first height to the second height, without controlling the cargo board to rise from the initial height to the second height. This can reduce the time for the cargo board to rise to the second height when it is below the target temporary storage position, and when the transport robot leaves the target temporary storage position or the shelf where the target temporary storage position is located, the cargo board is controlled to descend to the third height. This can ensure the stability of the transport robot during the movement. Therefore, during the movement of the transport robot, controlling the rise or fall of the cargo board can improve the transport efficiency of the transport robot and ensure the stability of the transported goods.

[0177] As an implementation manner of the embodiment of the present application, the lifting drive mechanism includes a motor and a motor brake.

[0178] like Figure 6 As shown, the step of controlling the lifting drive mechanism to drive the scissor mechanism to contract, so as to drive the cargo plate to descend to the third height, may include:

[0179] S601, calculating a driving force range of the lifting drive mechanism driving the scissors-type mechanism to extend from a minimum retractable height to a maximum extendable height according to the structural parameters of the scissors-type mechanism and the virtual displacement principle;

[0180] S602, based on the driving force range, determining the height of the cargo board when the driving force of the lifting driving mechanism is minimum within the preset center of gravity position range as a third height;

[0181] The preset center of gravity position range is set in advance according to the center of gravity position range where the transport robot can maintain stability when the speed reaches a preset value.

[0182] S603, controlling the motor to drive the scissor mechanism to retract, so as to drive the cargo plate to descend to the third height, and then opening the motor brake to lock the motor.

[0183] In the process of the handling robot controlling the lifting drive mechanism to drive the scissors mechanism to retract, the driving force of the lifting drive mechanism is changing. Theoretically, the higher the extension height of the scissors mechanism, the smaller the driving force required by the lifting drive mechanism. However, considering the actual situation on site (such as obstacles in the air, etc.) and the stability of the handling robot during operation, it is sufficient to control the lifting drive mechanism to drive the scissors mechanism to extend to a certain height.

[0184] In one embodiment, the transport robot can calculate the driving force range of the lifting drive mechanism to drive the scissors mechanism to expand from the minimum height that can be retracted to the maximum height that can be expanded based on the structural parameters of the scissors mechanism and the principle of virtual displacement, and then determine the height of the cargo plate when the driving force of the lifting drive mechanism is minimum within the preset center of gravity position range in combination with the preset center of gravity position range, as the third height.

[0185] The preset center of gravity position range is set in advance according to the center of gravity position range where the handling robot can maintain stability when the speed reaches the preset value. The preset value of the speed can be set according to the actual situation. That is, when the handling robot runs at a certain speed and the center of gravity position can maintain stability, the height of the cargo plate corresponding to the minimum driving force is determined from the driving force range.

[0186] In order to calculate the driving force range of the lifting drive mechanism driving the scissors mechanism to expand from the minimum height that can be retracted to the maximum height that can be extended, it is necessary to first determine the variation range of the structural parameters of the scissors mechanism, and then further calculate in combination with the virtual displacement theorem.

[0187] As an implementation mode, the handling robot can determine the vertical distance range between the uppermost end and the lowermost end of the scissors mechanism and the angle range between the scissors arms of the scissors mechanism and the horizontal direction within the range of the minimum height that the scissors mechanism can retract and the maximum height that it can extend, and then calculate the driving force range of the lifting drive mechanism to drive the scissors mechanism to extend from the minimum height that can be retracted to the maximum height that can be extended based on the vertical distance range, the arm length of the scissors arms, the angle range and the principle of virtual displacement.

[0188] For example, Figure 7 As shown, within the range of the minimum height that the scissors-fork mechanism 701 can be retracted and the maximum height that it can be extended, the vertical distance range between the uppermost end 702 and the lowermost end 703 of the scissors-fork mechanism 701 and the angle range between the scissors-fork arm 704 of the scissors-fork mechanism 701 and the horizontal direction are determined, and then according to the vertical distance range, the arm length of the scissors-fork arm 704, the angle range and the virtual displacement principle, the driving force range of the lifting drive mechanism to drive the scissors-fork mechanism to extend from the minimum height that can be retracted to the maximum height that can be extended is calculated.

[0189] As an implementation method, the handling robot can calculate the driving force range of the lifting drive mechanism driving the scissor mechanism to extend from the minimum height that can be retracted to the maximum height that can be extended according to the following formula based on the vertical distance range, the arm length of the scissor arm, the angle range and the virtual displacement principle:

[0190] ;

[0191] ;

[0192] ;

[0193] ;

[0194] ;

[0195] ;

[0196] Among them, r is 1 / 2 of the arm length of the scissor arm, θ is the angle within the angle range, and h is the vertical distance within the vertical distance range. It is a formula constructed based on the principle of virtual displacement. F is the driving force of the lifting drive mechanism when the 1 / 2 arm length of the scissor arm is r, the angle is θ, and the vertical distance is h.

[0197] For example, Figure 7 As shown, the handling robot controls the lifting drive mechanism to drive the scissor mechanism to retract to the current height, r is 1 / 2 of the arm length of the scissor arm 704, θ is the angle between the scissor arm 704 and the horizontal direction, I is the product of r and cosθ, G is the gravity of the goods carried by the lifting drive mechanism, h is the vertical distance between the uppermost end 702 and the lowermost end 703, according to r, θ, h and the formula constructed based on the virtual displacement principle , the driving force of the lifting drive mechanism at the current height can be calculated .

[0198] Generally, the motor of the lifting drive mechanism controls the scissor mechanism to stop at a certain position by relying on the motor brake, that is, the motor brake locking function. Then, after determining the third height, the handling robot can control the motor to drive the scissor mechanism to retract, so as to drive the cargo plate to drop to the third height, and then open the motor brake to lock the motor.

[0199] It can be seen that in this embodiment, the handling robot can calculate the driving force range of the lifting drive mechanism to drive the scissor mechanism to expand from the minimum height that can be retracted to the maximum height that can be expanded according to the structural parameters of the scissor mechanism and the principle of virtual displacement, and then determine the height of the cargo board when the driving force of the lifting drive mechanism is the minimum within the preset center of gravity position range, as the third height, and control the motor to drive the scissor mechanism to retract, so as to drive the cargo board to drop to the third height, and then turn on the motor brake to lock the motor. The third height determined in this way minimizes the driving force of the lifting drive mechanism, and can ensure the stability of the operation of the handling robot, and when the cargo board drops to the third height, the motor brake controls the cargo board to stop safely and stably at the third height.

[0200] As an implementation method of the present application, Figure 8 As shown, the above method may also include:

[0201] S801, receiving a first inventory instruction;

[0202] Wherein, the first inventory instruction includes the position of the conveyor line inventory position, and the conveyor line inventory position is used to dock with the conveying device so as to transport the goods in the conveyor line inventory position to the target position through the conveying device.

[0203] When the handling robot retrieves the goods, it can store the goods at a designated location, which can be a storage location on a conveyor line or a workstation. The handling robot can receive a first storage instruction, wherein the first storage instruction includes the location of the storage location on the conveyor line, and the storage location on the conveyor line is used to dock with a conveying device so as to transport the goods in the storage location on the conveyor line to a target location through the conveying device. At this time, after the handling robot retrieves the goods from the target temporary storage location on the shelf, it goes to the conveyor line to deliver the goods. The target location can be the location where the goods handling personnel load the goods, etc., which is not specifically limited here.

[0204] For example, Fig. 9 As shown, the conveyor line inventory position 901 is adjacent to the conveying device 902. After the handling robot stores the goods in the conveyor line inventory position 901, the conveyor line inventory position 901 can transfer the goods to the conveying device 902 through the installed transmission device, so as to transport the goods to the target position through the conveying device 902.

[0205] In one embodiment, the transport robot may receive the first inventory instruction after receiving the pickup instruction, so as to perform the inventory task after completing the pickup task. In another embodiment, the transport robot may receive the first inventory instruction after confirming that the goods have been picked up. In another embodiment, the transport robot may receive the first inventory instruction after moving to the bottom of the target temporary storage location.

[0206] As an implementation method, when the handling robot obtains the position of the conveyor line inventory location according to the first inventory instruction, it can obtain the moving path and then move to the position of the conveyor line inventory location according to the moving path. In addition, during the movement, the accuracy of the movement can be ensured by identifying the identification code set at the preset position in the path.

[0207] S802, in the process of moving from the first current position to the position of the conveyor line storage position, controlling the lifting drive mechanism to drive the scissor mechanism to expand, so as to drive the cargo plate to rise from the third height to the fourth height;

[0208] The fourth height is greater than the height of the conveyor line inventory position. The height of the conveyor line inventory position may be included in the first inventory instruction, and of course the height of the conveyor line inventory position may also be pre-stored by the transport robot, which is reasonable.

[0209] When the transport robot picks up the goods and receives the first inventory instruction, it can move from the bottom of the target temporary storage position to the position of the conveyor line inventory position, and before moving to the bottom of the conveyor line inventory position, the cargo plate can be controlled to rise to a height higher than the conveyor line inventory position, so that the transport robot can move directly to the bottom of the conveyor line inventory position.

[0210] In order to maintain the stability of the transport robot during movement, the cargo plate has been controlled to descend to the third height when the transport robot leaves the target temporary storage position or the shelf where the target temporary storage position is located. After the transport robot runs a certain distance, the cargo plate can be controlled to rise on the basis of the third height. That is, in the process of the transport robot moving from the first current position to the position of the conveyor line inventory position, the lifting drive mechanism can be controlled to drive the scissor mechanism to expand, so as to drive the cargo plate to rise from the third height to the fourth height. Among them, the fourth height is greater than the height of the conveyor line inventory position, and the first current position can be the position where the cargo plate is controlled to descend to the third height, or it can be any position between the position where the cargo plate descends to the third height and the position of the conveyor line inventory position.

[0211] For example, Fig.10 As shown, the third height is 300mm, the fourth height is 520mm, and the height of the conveyor line inventory position is 500mm. When the handling robot carries the goods and moves to a position at a preset distance from the conveyor line inventory position, the handling robot can control the lifting drive mechanism to drive the scissors mechanism to expand, so as to drive the cargo plate loaded with goods to rise from 300mm to 520mm. 520mm is greater than the height of the conveyor line inventory position of 500mm. In this way, the handling robot can move directly to the bottom of the conveyor line inventory position.

[0212] S803, when the cargo plate moves to below the storage position of the conveyor line, controlling the lifting drive mechanism to drive the scissor mechanism to contract, so as to drive the cargo plate to descend from the fourth height to the fifth height;

[0213] Wherein, the fifth height is smaller than the height of the storage position of the conveyor line.

[0214] S804, when the height of the cargo plate drops to the fifth height and the goods placed at the storage location of the conveyor line are detached from the cargo plate, leaving the storage location of the conveyor line.

[0215] Since the height of the cargo plate is greater than the height of the conveyor line stocking position, the handling robot can move to the bottom of the conveyor line stocking position. When the handling robot moves to the bottom of the conveyor line stocking position, it is necessary to place the goods on the conveyor line stocking position, and the lifting drive mechanism can be controlled to drive the scissors mechanism to contract, so as to drive the cargo plate to drop from the fourth height to the fifth height. Among them, the fifth height is less than the height of the conveyor line stocking position. In this way, when the height of the cargo plate drops to the fifth height, the goods can be placed on the conveyor line stocking position, then, when the goods placed on the conveyor line stocking position are separated from the cargo plate, the handling robot completes the inventory task and can leave the conveyor line stocking position.

[0216] For example, Fig.10 As shown, the height of the conveyor line inventory position is 500mm, the fourth height is 520mm, and the fifth height is 480mm. When the handling robot moves to the bottom of the conveyor line inventory position, the lifting drive mechanism can be controlled to drive the scissors mechanism to expand, so as to drive the cargo plate to drop from 520mm to a height of 480mm, so as to place the goods on the conveyor line inventory position, and then drive away from the conveyor line inventory position when the goods in the conveyor line inventory position are separated from the cargo plate.

[0217] In one embodiment, the cargo plate includes a bottom plate and a comb-tooth structure, the comb-tooth structure forms a cargo loading surface, and the height of the cargo plate refers to the height of the cargo loading surface of the cargo plate. In this case, the conveyor line stocking position may have a comb-tooth structure that matches the comb-tooth structure of the cargo plate, and the height of the conveyor line stocking position refers to the height of the placement surface formed by the comb-tooth structure of the conveyor line stocking position. In this way, when the handling robot moves to the bottom of the conveyor line stocking position, the space between the bottom plate and the comb-tooth structure can accommodate the comb-tooth structure of the conveyor line stocking position. Furthermore, the handling robot controls the lifting drive mechanism to drive the scissor mechanism to contract, driving the bottom plate and the comb-tooth structure to drop from the fourth height to the fifth height, and the comb-tooth structure of the cargo plate can pass through the gap between the comb-tooth structures of the conveyor line stocking position, and drop to the bottom of the comb-tooth structure of the conveyor line stocking position, while the goods are separated from the comb-tooth structure of the conveyor line stocking position and placed on the comb-tooth structure of the conveyor line stocking position to achieve inventory.

[0218] After the handling robot leaves the storage position of the conveyor line, it can return to the initial position or execute the next instruction when receiving the next instruction.

[0219] It can be seen that in this embodiment, when the handling robot receives the first inventory instruction, it can control the cargo board to rise from the third height to the fourth height during the process of moving from the current position to the position of the conveyor line inventory position, and control the cargo board to fall from the fourth height to the fifth height when it moves to the bottom of the conveyor line inventory position. In this way, the cargo board is controlled to rise by utilizing the time when the handling robot moves, so that when it reaches the conveyor line inventory position, it can directly move to the bottom of the conveyor line inventory position, thereby improving the handling efficiency of the handling robot.

[0220] As an implementation of an embodiment of the present application, in the process of moving from the first current position to the position of the conveyor line inventory location, the step of controlling the lifting drive mechanism to drive the scissor mechanism to expand so as to drive the cargo plate to rise from the third height to the fourth height may include:

[0221] During the process of moving from the first current position to the position of the conveyor line inventory location, when the first identification code is identified, the lifting drive mechanism is controlled to drive the scissors mechanism to expand, so as to drive the cargo plate to rise from the third height to the fourth height, wherein the first identification code is set at a position at a preset distance from the conveyor line inventory location.

[0222] In order to maintain the stability of the transport robot during movement, the transport robot needs to control the cargo plate to maintain the third height for a certain period of time, and control the cargo plate to rise to the fourth height when it is a certain distance away from the inventory position of the conveyor line.

[0223] In one embodiment, a first identification code can be set at a position at a preset distance from the conveyor line inventory position. In this way, when the handling robot moves from the first current position to the conveyor line inventory position and recognizes the first identification code, the lifting drive mechanism can be controlled to drive the scissors mechanism to expand, so as to drive the cargo plate to rise from the third height to the fourth height. Among them, the preset distance can be 1m, 2m, etc., and can be set according to the actual scene. The first identification code can be a QR code, a label code, etc., which is not specifically limited here. The second to fourth identification codes that appear thereafter are similar, and can all be QR codes, label codes, etc.

[0224] For example, a QR code is set at a position 1m away from the inventory position of the conveyor line. When the transport robot moves to the QR code, it can recognize the QR code and then control the lifting drive mechanism to drive the scissors mechanism to expand, so as to drive the cargo plate from the third height to the fourth height.

[0225] It can be seen that in this embodiment, by setting the first identification code at a position at a preset distance from the conveyor line inventory position, the rise of the cargo plate can be controlled when the transport robot recognizes the first identification code. In this way, before the transport robot moves to the conveyor line inventory position, the height of the cargo plate can be controlled to rise to a height higher than the conveyor line inventory position, which facilitates the transport robot to move directly to the bottom of the conveyor line inventory position, thereby improving the transport efficiency of the transport robot.

[0226] As an implementation of an embodiment of the present application, the step of controlling the lifting drive mechanism to drive the scissor mechanism to contract so as to drive the cargo plate to descend from the fourth height to the fifth height when the cargo plate moves to the bottom of the conveyor line storage position may include:

[0227] When moving to the bottom of the conveyor line inventory position and recognizing the second identification code, the lifting drive mechanism is controlled to drive the scissors mechanism to retract, so as to drive the cargo plate to drop from the fourth height to the fifth height, wherein the second identification code is set below the conveyor line inventory position.

[0228] When the transport robot moves to the bottom of the conveyor line inventory position, in order to ensure the accuracy of the conveyor line inventory position reached, a second identification code can be set below the conveyor line inventory position. In this way, when the transport robot moves to the bottom of the conveyor line inventory position, the second identification code is identified, and when it is identified that the second identification code is accurate, the lifting drive mechanism is controlled to drive the scissors mechanism to retract, so as to drive the cargo plate to drop from the fourth height to the fifth height.

[0229] For example, a QR code can be set below the inventory position of the conveyor line. When the handling robot moves to the bottom of the inventory position of the conveyor line and recognizes the QR code, the lifting drive mechanism can be controlled to drive the scissors mechanism to retract, so as to drive the cargo plate to drop from the fourth height to the fifth height.

[0230] It can be seen that in this embodiment, by setting a second identification code below the inventory position of the conveyor line, when the transport robot recognizes the second identification code, the descent of the cargo plate is controlled, thereby ensuring the accuracy of the inventory position of the conveyor line.

[0231] As an implementation of an embodiment of the present application, before the step of controlling the lifting drive mechanism to drive the scissor mechanism to contract in the case of moving to the bottom of the conveyor line inventory position to drive the cargo plate to descend from the fourth height to the fifth height, the method may further include:

[0232] Detect whether there are goods at the inventory position of the conveyor line; when there are no goods at the inventory position of the conveyor line and the goods move to the bottom of the inventory position of the conveyor line, control the lifting drive mechanism to drive the scissors mechanism to contract, so as to drive the cargo plate to descend from the fourth height to the fifth height.

[0233] When the handling robot reaches the storage position of the conveyor line, there may be goods already placed in the storage position of the conveyor line, which will cause the handling robot to be unable to perform the storage task and delay the handling of the goods. Therefore, in order to avoid the situation where there are goods in the storage position of the conveyor line, it is possible to detect whether there are goods in the storage position of the conveyor line before the handling robot moves to the bottom of the storage position of the conveyor line.

[0234] In one embodiment, the handling robot can detect whether there are goods in the conveyor line inventory position when receiving the first inventory command. In another embodiment, the handling robot can detect whether there are goods in the conveyor line inventory position when lifting the goods placed in the target temporary storage position to complete the picking task. In another embodiment, the handling robot can detect whether there are goods in the conveyor line inventory position when moving to the conveyor line inventory position.

[0235] As an implementation method, the warehousing system may include a scheduling device. Before the transport robot moves to the storage position of the conveyor line, the scheduling device detects whether there are goods at the temporary storage position of the conveyor line, and then sends the detection result to the transport robot.

[0236] If there is no goods in the conveyor line storage location, the handling robot can move to the conveyor line storage location to store the carried goods in the conveyor line storage location. Then, when the handling robot moves to the bottom of the conveyor line storage location, the lifting drive mechanism can be controlled to drive the scissor mechanism to retract, so as to drive the cargo plate to drop from the fourth height to the fifth height.

[0237] It can be seen that in this embodiment, before the handling robot carries the goods and moves to the bottom of the conveyor line inventory position, it detects whether there are goods in the conveyor line inventory position, thereby avoiding the situation where the handling robot is unable to perform the inventory task due to the presence of goods in the conveyor line inventory position, thereby ensuring the smooth execution of the inventory task.

[0238] As an implementation method of the present application, Fig.11 As shown, the above method may also include:

[0239] S1101, receiving a second inventory instruction;

[0240] The second inventory instruction includes the location of a workstation, the height of the workstation is determined based on the working height of the transport personnel, and the workstation is used to store the goods taken from the cargo plate of the transport robot by the transport personnel.

[0241] Since the storage location can be a conveyor line storage location or a workstation, when the storage location is a workstation, the handling robot can transport the goods to the workstation for handling by the handling personnel. At this time, after the handling robot takes the goods from the target temporary storage location of the shelf, it goes to the workstation to deliver the goods.

[0242] In one embodiment, the transport robot may receive a second inventory instruction after receiving a pickup instruction, so as to perform the inventory task after completing the pickup task. In another embodiment, the transport robot may receive the second inventory instruction after confirming that the goods have been picked up. In another embodiment, the transport robot may receive the second inventory instruction after moving to the bottom of the target temporary storage location.

[0243] The second inventory instruction includes the location of the workstation. The height of the workstation is determined based on the working height of the transporter. The workstation can be used to store the goods taken from the cargo plate of the transport robot by the transporter. The height of the workstation can be included in the second inventory instruction. Of course, the height of the workstation can also be pre-stored by the transport robot, which is reasonable. Depending on the actual scenario, the workstation can include various forms, such as a manual operating table, a sorting station, an assembly station, an operating process, etc. For example, a workstation such as Fig.12 As shown, the height of the workstation can be 1m, 1.2m, etc., and is not specifically limited here.

[0244] As an implementation method, when the handling robot obtains the position of the inventory position of the conveyor line according to the second inventory instruction, it can obtain the moving path and then move to the position of the workstation according to the moving path. In addition, during the movement, the accuracy of the movement can be ensured by identifying the identification code set at the preset position in the path.

[0245] S1102, in the process of moving from the second current position to the position of the workstation, controlling the lifting drive mechanism to drive the scissor mechanism to contract or expand, so as to drive the cargo plate to be adjusted from the third height to the sixth height;

[0246] Wherein, the sixth height is not less than the initial height.

[0247] When the transport robot picks up the goods and receives the second inventory instruction, it can move from the bottom of the target temporary storage position to the position of the workstation, and before moving to the workstation, the cargo plate can be controlled to descend to a height suitable for the transport personnel to facilitate the transport personnel to carry the goods to the cargo platform of the workstation.

[0248] In order to maintain the stability of the transport robot during movement, the cargo plate has been controlled to drop to a third height when the transport robot leaves the target temporary storage location or the shelf where the target temporary storage location is located. Therefore, after the transport robot runs a certain distance, the height of the cargo plate can be adjusted based on the third height.

[0249] That is, in the process of the transport robot moving from the second current position to the position of the workstation, the lifting drive mechanism is controlled to drive the scissors mechanism to shrink or contract, so as to drive the cargo plate to adjust from the third height to the sixth height. In one embodiment, when the transport robot moves to a position at a preset distance from the workstation, the cargo plate can be controlled to adjust from the third height to the sixth height. The preset distance can be 2m, 3m, etc., and can be set according to the actual scene. The sixth height is not less than the initial height and can be set according to the actual situation. The second current position can be the position where the cargo plate is controlled to descend to the third height, or it can be any position between the position where the cargo plate descends to the third height and the position of the workstation.

[0250] S1103, when the workstation is moved to and the third identification code is identified, determining whether the goods on the cargo plate are removed;

[0251] Wherein, the third identification code is set at the location of the workstation.

[0252] S1104, when it is determined that the goods on the cargo plate are removed, leaving the workstation.

[0253] When the transport robot moves to a workstation, in order to ensure the accuracy of the workstation, a third identification code can be set at the workstation. In this way, when the transport robot moves to the workstation, the third identification code is identified, and if the third identification code is identified to be correct, it is further determined whether the goods on the cargo board have been taken off. If it is determined that the goods on the cargo board have been taken off, the inventory task is completed, and then the robot leaves the workstation and returns to the initial position or executes the next instruction.

[0254] For example, a QR code is set at the location of a workstation. When the transport robot moves to the location of the workstation and recognizes the QR code, it indicates that the workstation is accurate. After confirming that the transport personnel have taken the goods away, the transport robot completes the inventory task and leaves the workstation.

[0255] It can be seen that in this embodiment, when the handling robot receives the second inventory instruction, it can control the cargo board to drop from the third height to the sixth height at the second current position. In this way, the handling efficiency of the handling robot can be improved by controlling the cargo board to drop during the moving time of the handling robot, and the third identification code is set at the workstation to ensure the accuracy of the workstation reached.

[0256] As an implementation of an embodiment of the present application, the above-mentioned transport robot may include a gravity sensor for detecting the gravity value on the cargo plate.

[0257] The step of leaving the workstation when it is determined that the goods on the cargo board are removed may include:

[0258] When the gravity value detected by the gravity sensor is obtained as an initial value, or when a pickup completion instruction issued by the transporter is received, the vehicle leaves the workstation.

[0259] In order to determine whether the goods on the cargo board have been removed, in one embodiment, it can be determined by detecting the gravity value on the cargo board. If the gravity value detected by the gravity detector is the initial value, or is less than the preset value, it means that there are no goods on the cargo board, that is, the goods have been removed. If the gravity value detected by the gravity detector is greater than the initial value, it means that there are still goods on the cargo board, that is, the goods have not been removed. The initial value can be determined by measuring the gravity value multiple times to calculate the average value when there is no goods on the cargo board.

[0260] In another embodiment, the transport personnel can send a pick-up completion instruction after removing the goods from the cargo plate. When the transport robot receives the pick-up completion instruction sent by the transport personnel, it determines that the goods on the cargo plate are removed and then drives away from the workstation.

[0261] It can be seen that in this embodiment, the transport robot can determine that the goods on the cargo board are taken off by obtaining the gravity value detected by the gravity sensor as the initial value and receiving the pick-up completion instruction issued by the transport personnel, so as to further determine the completion of the inventory task and wait for the next task.

[0262] As an implementation of an embodiment of the present application, the step of controlling the lifting drive mechanism to drive the scissor mechanism to expand so as to drive the cargo plate to rise from the first height to the second height when the cargo plate moves to the bottom of the target temporary storage position may include:

[0263] When the vehicle moves to the bottom of the target temporary storage position and recognizes the fourth identification code, the lifting drive mechanism is controlled to drive the scissor mechanism to expand, so as to drive the cargo plate to rise from the first height to the second height.

[0264] When the transport robot moves to the bottom of the target temporary storage position, in order to ensure the accuracy of the target temporary storage position, a fourth identification code can be set below the target temporary storage position. In this way, when the transport robot moves to the bottom of the target temporary storage position, the fourth identification code is identified, and when the fourth identification code is identified accurately, the lifting drive mechanism is controlled to drive the scissors mechanism to expand, so as to drive the cargo plate to rise from the first height to the second height.

[0265] For example, a QR code is set below the target temporary storage location. When the transport robot moves to the bottom of the target temporary storage location and recognizes the QR code, the lifting drive mechanism can be controlled to drive the scissors mechanism to expand, so as to drive the cargo plate to rise from the first height to the second height.

[0266] It can be seen that in this embodiment, by setting the fourth identification code below the target temporary storage position, when the transport robot recognizes the fourth identification code, the rise of the cargo plate is controlled, thereby ensuring the accuracy of the target temporary storage position.

[0267] As an implementation of an embodiment of the present application, before the step of controlling the lifting drive mechanism to drive the scissor mechanism to expand in the above-mentioned case of moving to the bottom of the target temporary storage position to drive the cargo board to rise from the first height to the second height, the above-mentioned method may further include:

[0268] Detect whether there are goods in the target temporary storage location; when there are goods in the target temporary storage location and they move to the bottom of the target temporary storage location, control the lifting drive mechanism to drive the scissor mechanism to expand, so as to drive the cargo plate to rise from the first height to the second height.

[0269] When the transport robot arrives at the target temporary storage location, there may be a situation where there is no goods in the target temporary storage location, which will cause the transport robot to be unable to perform the task of picking up goods and need to wait for scheduling. Therefore, in order to avoid the situation where there is no goods in the target temporary storage location, the transport robot can detect whether there is goods in the target temporary storage location before moving to the bottom of the target temporary storage location.

[0270] In one embodiment, the transport robot can detect whether there are goods in the target temporary storage location when receiving a pick-up command. In another embodiment, the transport robot can detect whether there are goods in the target temporary storage location during the process of moving to the target temporary storage location. As an embodiment, the warehousing system may include a scheduling device, and before the transport robot moves to the target temporary storage location, the scheduling device detects whether there are goods in the target temporary storage location, and then sends the detection result to the transport robot.

[0271] If there are goods at the target temporary storage location, the transport robot can move toward the target temporary storage location, and when the transport robot moves to the bottom of the target temporary storage location, the lifting drive mechanism can be controlled to drive the scissors mechanism to expand, so as to drive the cargo plate to rise from the first height to the second height.

[0272] It can be seen that in this embodiment, since the target temporary storage location is detected to determine whether there are goods before the transport robot moves to the bottom of the target temporary storage location, the situation where there is no goods in the target temporary storage location, which causes the transport robot to be unable to perform the picking task, is avoided, thereby ensuring the smooth execution of the picking task.

[0273] As an implementation of an embodiment of the present application, the shelf includes multiple storage locations, and the storage locations are located above the temporary storage locations; the target temporary storage locations can be used to temporarily place goods taken out from the storage locations, and a channel for the transport robot to travel is also provided at the bottom of the shelf.

[0274] For example, as shown in FIG13( a ), a shelf 1301 includes a plurality of storage locations 1302, and the storage locations 1302 are located above a temporary storage location 1303. A passage for a transport robot 1304 to travel is also provided at the bottom of the shelf 1301, and a passage for a transport robot 1304 to travel is also provided between two shelves 1301. The target temporary storage location is one of the plurality of temporary storage locations 1303. The transport robot 1304 can travel in the passage at the bottom of the shelf 1301, or in the passage between two shelves 1301.

[0275] For another example, as shown in FIG13( b ), a shelf 1305 includes a plurality of storage locations 1306 , and the storage locations 1306 are located above a temporary storage location 1307 . A passage for a transport robot 1308 to travel is also provided at the bottom of the shelf 1305 . The target temporary storage location is one of the plurality of temporary storage locations 1307 .

[0276] Before the step of controlling the lifting drive mechanism to drive the scissor mechanism to contract so as to drive the cargo board to descend to the third height, the method may further include:

[0277] Move to the channel, control the lifting drive mechanism to drive the scissor mechanism to retract, so as to drive the cargo plate to drop from the second height to the eighth height; rotate until the driving direction is parallel to the passage direction of the channel; drive away from the shelf of the target temporary storage position along the channel according to the current driving direction; wherein the eighth height is less than the second height and not less than the initial height; or,

[0278] Move to the channel, control the lifting drive mechanism to drive the scissor mechanism to retract, so as to drive the cargo plate to descend from the second height to the eighth height, and rotate until the driving direction is parallel to the passage direction of the channel; drive away from the target temporary storage shelf along the channel according to the current driving direction; or,

[0279] Move to the channel and rotate until the driving direction is parallel to the passage direction of the channel; along the channel, while driving away from the shelf of the target temporary storage position according to the current driving direction, control the lifting drive mechanism to drive the scissors mechanism to retract, so as to drive the cargo plate to descend from the second height to the eighth height.

[0280] When the handling robot takes the goods and drives away from the target temporary storage location, it first needs to exit the target temporary storage location, move to the aisle, and then drive out of the shelf of the target temporary storage location from the aisle.

[0281] In one embodiment, the transport robot can move to the channel, control the lifting drive mechanism to drive the scissor mechanism to retract, so as to drive the cargo plate to drop from the second height to the eighth height, and then rotate to a driving direction parallel to the passage direction of the channel, and drive away from the target temporary storage shelf along the channel in the current driving direction. The eighth height is less than the second height and not less than the initial height.

[0282] In another embodiment, the transport robot can move to the aisle, control the lifting drive mechanism to drive the scissors mechanism to retract, so as to drive the cargo plate to drop from the second height to the eighth height, while rotating so that the driving direction is parallel to the passage direction of the aisle, and drive along the aisle and away from the target temporary storage shelf in the current driving direction.

[0283] In another way, the transport robot can move to the channel, rotate to a driving direction parallel to the passage direction of the channel, and drive away from the target temporary storage shelf along the channel in the current driving direction, while controlling the lifting drive mechanism to drive the scissors mechanism to retract, so as to drive the cargo plate to drop from the second height to the eighth height.

[0284] That is to say, in the process of the transport robot exiting the target temporary storage position and leaving the shelf at the target temporary storage position, when moving to the aisle, the lift drive mechanism can be first controlled to drive the scissors mechanism to retract to drive the cargo plate to descend, and then rotate to the direction in which it can drive away from the shelf, and leave the shelf along the aisle; when moving to the aisle, the lift drive mechanism can be controlled to drive the scissors mechanism to retract to drive the cargo plate to descend, while rotating to the direction in which it can drive away from the shelf, and leave the shelf along the aisle; when moving to the aisle, the lift drive mechanism can be first rotated to the direction in which it can drive away from the shelf, and then the lift drive mechanism can be controlled to drive the scissors mechanism to retract to drive the cargo plate to descend, while leaving the shelf along the aisle.

[0285] For example, as shown in FIG13 (b), after the handling robot 1308 exits the target temporary storage position, it moves to the channel on the left side of the plurality of temporary storage positions 1307, first controls the lifting drive mechanism to drive the scissor mechanism to retract, so as to drive the cargo board to descend, and then rotates to a direction in which it can drive away from the shelf 1305, such as rotating 90 degrees clockwise or 90 degrees counterclockwise, and then drives away from the shelf along the channel. Of course, the handling robot 1308 can also control the lifting drive mechanism to drive the scissor mechanism to retract, so as to drive the cargo board to descend, and rotate to a direction in which it can drive away from the shelf 1305, and drive away from the shelf along the channel when it moves to the channel on the left side of the plurality of temporary storage positions 1307; it can also control the lifting drive mechanism to drive the scissor mechanism to retract, so as to drive the cargo board to descend, and drive away from the shelf along the channel when it moves to the channel on the left side of the plurality of temporary storage positions 1307.

[0286] It can be seen that in this embodiment, when the transport robot exits the target temporary storage position and drives away from the shelf of the target temporary storage position, it can first lower the cargo plate to a certain height and then rotate in the direction of driving away from the shelf, or it can rotate in the direction of driving away from the shelf while lowering the cargo plate to a certain height, or it can first rotate in the direction of driving away from the shelf and then lower the cargo plate to a certain height. In this way, the transport robot can quickly and smoothly drive out of the shelf of the target temporary storage position.

[0287] Corresponding to the above-mentioned first method of transporting goods, the embodiment of the present application also provides a second method of transporting goods. The second method of transporting goods provided by the embodiment of the present application is introduced below.

[0288] The second cargo handling method provided in the embodiment of the present application can be applied to Figure 1 The transport robot in the warehousing system shown includes a mobile chassis 110 , a lifting assembly 120 , a lifting drive mechanism 130 and a cargo plate 140 .

[0289] Among them, one end of the lifting assembly 120 is movably connected to the mobile chassis 110, and the other end is movably connected to the cargo board 140, and the lifting assembly 120 is used to lift the cargo board 140. The lifting assembly 120 includes two sets of scissor-fork mechanisms 121 arranged up and down in the lifting direction. In one embodiment, the lifting drive mechanism 130 can be arranged between the two sets of scissor-fork mechanisms 121, and the lifting drive mechanism 130 is used to drive the scissor-fork mechanism 121 to contract to drive the cargo board 140 to descend, and to drive the scissor-fork mechanism 121 to expand to drive the cargo board 140 to rise.

[0290] In another embodiment, the lifting drive mechanism 130 can be arranged at the lower end of the two sets of scissor-type mechanisms, and the lifting drive mechanism 130 is used to drive the scissor-type mechanism 121 to contract to drive the cargo plate 140 to descend, and to drive the scissor-type mechanism 121 to expand to drive the cargo plate 140 to rise.

[0291] like Fig.14 As shown, a cargo handling method is applied to a handling robot in a warehousing system, and the method comprises:

[0292] S1401, receiving inventory instructions;

[0293] The inventory instruction includes the location of the inventory position, which may be a conveyor line inventory position for docking with a conveyor device to transport the goods in the conveyor line inventory position to a target location through the conveyor device. The inventory position may also be a inventory position in a shelf, for example, a temporary storage position of a shelf, which is not specifically limited here.

[0294] When the transport robot takes the goods, it can store the goods at the designated location. The transport robot can receive inventory instructions, and the inventory instructions include the location of the inventory location. For example, Fig. 9 As shown, the conveyor line inventory position 901 is adjacent to the conveying device 902. After the handling robot stores the goods in the conveyor line inventory position 901, the conveyor line inventory position 901 can transfer the goods to the conveying device 902 through the installed transmission device, so as to transport the goods to the target position through the conveying device 902.

[0295] In one embodiment, the transport robot can receive the inventory instruction when receiving the pickup instruction, so as to perform the inventory task when completing the pickup task. In another embodiment, the transport robot can receive the inventory instruction when confirming that the goods have been picked up.

[0296] As an implementation method, when the handling robot obtains the location of the inventory location according to the inventory instruction, it can obtain the moving path and then move to the location of the inventory location according to the moving path. In addition, during the movement, the accuracy of the movement can be ensured by identifying the identification code set at the preset position in the path. The identification code can be a QR code, an identification code, etc.

[0297] S1402, in the process of moving from the current position to the position of the inventory location, controlling the lifting drive mechanism to drive the scissor mechanism to expand, so as to drive the cargo plate to rise from the current ninth height to the tenth height;

[0298] The tenth height is greater than the height of the inventory position. The specific implementation of step S1402 is similar to the method of controlling the lifting drive mechanism to drive the scissor mechanism to expand in the first cargo handling method to drive the cargo board to rise from the third height to the fourth height, and will not be repeated here. The ninth height can be the same as the third height or different from the third height, and the tenth height can be the same as the fourth height or different from the fourth height.

[0299] S1403, when the cargo plate is moved to the lower side of the storage position, controlling the lifting drive mechanism to drive the scissor mechanism to retract, so as to drive the cargo plate to descend from the tenth height to the eleventh height;

[0300] The eleventh height is less than the height of the inventory position. The specific implementation of step S1403 is similar to the method of controlling the lifting drive mechanism to drive the scissor mechanism to contract in the first cargo handling method to drive the cargo board to descend from the fourth height to the fifth height, and will not be repeated here. The eleventh height can be the same as the fifth height, or different from the fifth height.

[0301] S1404, when the height of the cargo plate drops to the eleventh height and the goods placed on the inventory position are detached from the cargo plate, leaving the inventory position.

[0302] Among them, the specific implementation method of step S1404 is similar to the method of leaving the conveyor line inventory position when the height of the loading plate drops to the fifth height and the goods placed on the conveyor line inventory position are separated from the loading plate in the above-mentioned first cargo handling method, and will not be repeated here.

[0303] In one embodiment, the cargo plate includes a bottom plate and a comb-tooth structure, the comb-tooth structure forms a cargo loading surface, and the height of the cargo plate refers to the height of the cargo loading surface of the cargo plate. In this case, the stocking position may have a comb-tooth structure that matches the comb-tooth structure of the cargo plate, and the height of the stocking position refers to the height of the placement surface formed by the comb-tooth structure of the stocking position. In this way, when the handling robot moves to the bottom of the stocking position, the space between the bottom plate and the comb-tooth structure can accommodate the comb-tooth structure of the stocking position. Furthermore, the handling robot controls the lifting drive mechanism to drive the scissors mechanism to contract, driving the bottom plate and the comb-tooth structure to drop from the tenth height to the eleventh height, and the comb-tooth structure of the cargo plate can pass through the gap between the comb-tooth structures of the stocking position and drop to the bottom of the comb-tooth structure of the stocking position, while the goods are separated from the comb-tooth structure of the stocking position and placed on the comb-tooth structure of the stocking position to achieve inventory.

[0304] It can be seen that in the solution provided in the embodiment of the present application, it is applied to the handling robot in the storage system. When the handling robot receives the inventory instruction, it can control the cargo board to rise from the current ninth height to the tenth height during the process of moving from the current position to the inventory position, and control the cargo board to fall from the tenth height to the eleventh height when moving to the bottom of the inventory position. In this way, the handling efficiency of the handling robot can be improved by controlling the cargo board to rise during the movement time of the handling robot.

[0305] As an implementation of the embodiment of the present application, before the step of receiving the inventory instruction, the method may further include:

[0306] In the process of moving from the position where the pick-up instruction is received to the position of the target temporary storage position, the lifting drive mechanism is controlled to drive the scissors mechanism to expand, so as to drive the cargo plate to rise from the initial height to the thirteenth height; when moving to the bottom of the target temporary storage position, the lifting drive mechanism is controlled to drive the scissors mechanism to expand, so as to drive the cargo plate to rise from the thirteenth height to the fourteenth height; when the height of the cargo plate rises to the fourteenth height and the target temporary storage position is detached from the goods placed at the target temporary storage position, the cargo plate is driven away from the target temporary storage position.

[0307] Among them, the target temporary storage position is one of the temporary storage positions at the bottom of the shelf in the warehousing system, and the temporary storage position is used to temporarily place goods. The thirteenth height is greater than the initial height and less than the height of the target temporary storage position, and the fourteenth height is not less than the height of the target temporary storage position.

[0308] When the handling robot receives a pickup instruction instructing it to pick up goods from the target temporary storage location, it can go to the target temporary storage location to pick up goods in the above manner. The specific implementation is similar to the implementation of the handling robot picking up goods from the target temporary storage location in the above-mentioned first method of handling goods, and will not be repeated here. Among them, the thirteenth height can be the same as the first height or different from the first height, and the fourteenth height can be the same as the second height or different from the second height.

[0309] It can be seen that in the present embodiment, since the cargo board can be controlled to rise from the initial height to the thirteenth height during the process of the transport robot moving to the target temporary storage position, when the transport robot moves to the bottom of the target temporary storage position, the cargo board can be directly controlled to rise from the thirteenth height to the fourteenth height without controlling the cargo board to rise from the initial height to the fourteenth height. This can reduce the time for the cargo board to rise to the fourteenth height when below the target temporary storage position, and can improve the transport efficiency of the transport robot.

[0310] As an implementation of the embodiment of the present application, the above method may also include:

[0311] When leaving the target temporary storage location or the shelf where the target temporary storage location is located, the lifting drive mechanism is controlled to drive the scissor mechanism to retract, so as to drive the cargo plate to descend to a ninth height.

[0312] Among them, the ninth height is greater than or equal to the initial height and not greater than the fourteenth height, and the fourteenth height is not less than the height of the target temporary storage position. When the handling robot leaves the target temporary storage position or the shelf where the target temporary storage position is located, the lifting drive mechanism can be controlled to drive the scissors mechanism to retract, so as to drive the cargo plate to descend to the ninth height. The specific implementation is similar to the implementation in which the handling robot controls the lifting drive mechanism to drive the scissors mechanism to retract, so as to drive the cargo plate to descend to the third height in the first cargo handling method mentioned above, and will not be repeated here.

[0313] It can be seen that in this embodiment, when the transport robot drives away from the target temporary storage location or the shelf where the target temporary storage location is located, the cargo plate is controlled to drop to the ninth height. This can ensure the stability of the transport robot during the movement. During the movement of the transport robot, the transport efficiency of the transport robot is improved while the stability of the transported goods can be ensured.

[0314] As an implementation method of the embodiment of the present application, the lifting drive mechanism drive includes a motor and a motor brake;

[0315] The step of controlling the lifting drive mechanism to drive the scissor mechanism to contract, so as to drive the cargo plate to descend to the ninth height, may include:

[0316] According to the structural parameters of the scissors-type mechanism and the principle of virtual displacement, the driving force range of the lifting drive mechanism to drive the scissors-type mechanism to expand from the minimum height that can be retracted to the maximum height that can be expanded is calculated; based on the driving force range, the height of the cargo plate when the driving force of the lifting drive mechanism is minimum within the preset center of gravity position range is determined as the ninth height.

[0317] Among them, the preset center of gravity position range is set in advance according to the center of gravity position range at which the transport robot can maintain stability when the speed reaches a preset value; when the motor is controlled to drive the scissors mechanism to contract to drive the cargo plate to drop to the ninth height, the motor brake is turned on to lock the motor.

[0318] As an implementation method of an embodiment of the present application, the handling robot can determine the vertical distance range between the uppermost end and the lowermost end of the scissors-fork mechanism and the angle range between the scissors arms of the scissors-fork mechanism and the horizontal direction within the range of the minimum height that the scissors-fork mechanism can retract and the maximum height that it can expand, and calculate the driving force range of the lifting drive mechanism to drive the scissors-fork mechanism to expand from the minimum height that can be retracted to the maximum height that can be expanded according to the vertical distance range, the arm length of the scissors arms, the angle range and the principle of virtual displacement.

[0319] As an implementation method of the embodiment of the present application, the handling robot can calculate the driving force range of the lifting drive mechanism driving the scissor mechanism to expand from the minimum height that can be retracted to the maximum height that can be extended according to the following formula based on the vertical distance range, the arm length of the scissor arm, the angle range and the virtual displacement principle:

[0320] ;

[0321] ;

[0322] ;

[0323] ;

[0324] ;

[0325] ;

[0326] Among them, r is 1 / 2 of the arm length of the scissor arm, θ is the angle within the angle range, and h is the vertical distance within the vertical distance range. It is a formula constructed based on the principle of virtual displacement. F is the driving force of the lifting drive mechanism when the 1 / 2 arm length of the scissor arm is r, the angle is θ, and the vertical distance is h.

[0327] The specific method for calculating the driving force range in the second cargo handling method is similar to the method for calculating the driving force range in the first cargo handling method. Please refer to the implementation example of the corresponding part of the first cargo handling method, which will not be repeated here.

[0328] It can be seen that in this embodiment, the handling robot can calculate the driving force range of the lifting drive mechanism to drive the scissor mechanism to expand from the minimum height that can be retracted to the maximum height that can be expanded according to the structural parameters of the scissor mechanism and the principle of virtual displacement, and then determine the height of the cargo board when the driving force of the lifting drive mechanism is the minimum within the preset center of gravity position range, as the ninth height, and control the motor to drive the scissor mechanism to contract, so as to drive the cargo board to drop to the ninth height, and then turn on the motor brake to lock the motor. The ninth height determined in this way minimizes the driving force of the lifting drive mechanism, and can ensure the stability of the operation of the handling robot, and when the cargo board drops to the ninth height, the motor brake controls the cargo board to stop safely and stably at the ninth height.

[0329] As an implementation of an embodiment of the present application, in the process of moving from the current position to the position of the inventory location, the step of controlling the lifting drive mechanism to drive the scissor mechanism to expand so as to drive the cargo plate to rise from the current ninth height to the tenth height may include:

[0330] During the process of moving from the current position to the position of the inventory location, when the first identification code is identified, the lifting drive mechanism is controlled to drive the scissors mechanism to expand, so as to drive the cargo plate to rise from the current ninth height to the tenth height, wherein the first identification code is set at a position at a preset distance from the inventory location.

[0331] The specific method of identifying the first identification code in the second cargo handling method is similar to the method of identifying the first identification code in the first cargo handling method. Please refer to the implementation example of the corresponding part of the first cargo handling method, and will not be repeated here.

[0332] It can be seen that in this embodiment, by setting the first identification code at a position at a preset distance from the inventory location, the rise of the cargo plate can be controlled when the transport robot recognizes the first identification code. In this way, before the transport robot moves to the inventory location, the height of the cargo plate can be controlled to rise to a height higher than the inventory location, which facilitates the transport robot to move directly to the bottom of the inventory location, thereby improving the transport efficiency of the transport robot.

[0333] As an implementation of an embodiment of the present application, the step of controlling the lifting drive mechanism to drive the scissor mechanism to contract so as to drive the cargo plate to descend from the tenth height to the eleventh height when the cargo plate moves to the bottom of the inventory position may include:

[0334] When moving to the bottom of the inventory location and recognizing the second identification code, the lifting drive mechanism is controlled to drive the scissors mechanism to expand, so as to drive the cargo plate to drop from the tenth height to the eleventh height, wherein the second identification code is set below the inventory location.

[0335] The specific method of identifying the second identification code in the second cargo handling method is similar to the method of identifying the second identification code in the first cargo handling method. Please refer to the implementation example of the corresponding part of the first cargo handling method, which will not be repeated here.

[0336] It can be seen that in this embodiment, by setting the second identification code below the inventory location, when the transport robot recognizes the second identification code, the lowering of the cargo plate is controlled, thereby ensuring the accuracy of the inventory location reached.

[0337] As an implementation of an embodiment of the present application, before the step of controlling the lifting drive mechanism to drive the scissor mechanism to contract in the case of moving to the bottom of the inventory position to drive the cargo board to descend from the tenth height to the eleventh height, the method may further include:

[0338] Detect whether there are goods in the inventory location; when there are no goods in the inventory location and the goods are moved to the bottom of the inventory location, control the lifting drive mechanism to drive the scissors mechanism to contract, so as to drive the cargo plate to descend from the tenth height to the eleventh height.

[0339] The specific method of detecting whether there are goods in the inventory location in the second cargo handling method is similar to the method of detecting whether there are goods in the inventory location in the first cargo handling method. Please refer to the implementation example of the corresponding part of the first cargo handling method, and will not be repeated here.

[0340] It can be seen that in this embodiment, before the transport robot carries the goods and moves to the bottom of the inventory location, it detects whether there are goods in the inventory location, thereby avoiding the situation where the transport robot cannot perform the inventory task due to the presence of goods in the inventory location, thereby ensuring the smooth execution of the inventory task.

[0341] As an implementation of the embodiment of the present application, before the above step of receiving the inventory instruction, as Fig.15 As shown, the above method may also include:

[0342] S1501, in the process of moving from the position where the pickup instruction is received to the position of the workstation, controlling the lifting drive mechanism to drive the scissor mechanism to expand, so as to drive the cargo plate to rise from the initial height to the twelfth height;

[0343] The picking instruction includes the position of the workstation, the twelfth height is set based on the height of the transporter, the height of the workstation is determined based on the working height of the transporter, and the workstation is used to store the goods transported to the cargo board by the transporter. The picking instruction can include the height of the workstation, and the transport robot can also pre-store the height of the workstation, which is reasonable.

[0344] Before the handling robot performs the inventory task, it needs to move to the pickup location to pick up the goods. The pickup location can be a target temporary storage location or a workstation. In the case where the pickup location is a workstation, the handling robot can move to the workstation to pick up the goods, and the handling personnel will move the goods to the cargo board of the handling robot. Then the handling robot can receive the pickup instruction, which may include the location and height of the workstation. The height of the workstation is determined based on the working height of the handling personnel. The workstation can be used to store the goods that the handling personnel have moved to the cargo board.

[0345] Depending on the actual scenario, the workstation can include various forms, such as a manual operation station, a sorting station, an assembly station, an operation process, etc. For example, a workstation such as Fig.12 As shown, the height of the workstation can be 1m, 1.2m, etc., and is not specifically limited here.

[0346] As an implementation method, when the handling robot obtains the location of the workstation according to the pickup instruction, it can obtain the moving path and then move to the location of the workstation according to the moving path. In addition, during the movement, the accuracy of the movement can be ensured by identifying the identification code set at the preset position in the path.

[0347] Since it takes a certain amount of time for the transport robot to move to the workstation, the time of the transport robot's movement can be used to control the cargo plate to rise to the height for placing the goods. This way, there is no need to control the cargo plate to rise when the transport robot moves to the workstation, which can improve the transport efficiency of the transport robot. In the process of the transport robot moving from the position where the pickup instruction is received to the position of the workstation, the lifting drive mechanism can be controlled to drive the scissor mechanism to expand, so as to drive the cargo plate to rise from the initial height to the twelfth height. The twelfth height is set based on the height of the transporter, such as 1.2m, 1.3m, etc.

[0348] S1502, when the workstation is moved to and a third identification code is identified, determining whether the transporter places the goods on the cargo board;

[0349] Wherein, the third identification code is set at the location of the workstation.

[0350] S1503: When it is determined that the transporter has placed the goods on the cargo board, the transporter leaves the workstation.

[0351] When the transport robot moves to a workstation, in order to ensure the accuracy of the workstation, a third identification code can be set at the workstation. In this way, when the transport robot moves to the workstation, the third identification code is identified, and if the third identification code is identified to be correct, it is further determined whether the transporter has placed the goods on the cargo board. If it is determined that the transporter has placed the goods on the cargo board, the picking task is completed and the robot leaves the workstation.

[0352] For example, a QR code is set at the location of a workstation. When the transport robot moves to the location of the workstation and recognizes the QR code, it indicates that the workstation is accurate. When the transport personnel place the goods on the cargo board, the transport robot completes the picking task and drives away from the workstation to perform the inventory task.

[0353] It can be seen that in this embodiment, when the handling robot receives the order to pick up goods, it can control the cargo board to rise from the initial height to the twelfth height at the current position. In this way, the handling efficiency of the handling robot can be improved by controlling the rise of the cargo board during the movement time of the handling robot, and the third identification code is set at the workstation to ensure the accuracy of the workstation reached.

[0354] As an implementation of the embodiment of the present application, the above-mentioned transport robot further includes a gravity sensor, and the above-mentioned step of leaving the workstation when it is determined that the transporter places the goods on the cargo board may include:

[0355] When it is found that the gravity value detected by the gravity sensor is not less than a preset value, or when a cargo release completion instruction is received from a porter, the vehicle leaves the workstation.

[0356] In order to determine whether goods have been placed on the cargo board, in one embodiment, it can be determined by detecting the gravity value on the cargo board. If the gravity value detected by the gravity detector is not less than the preset value, it means that goods have been placed on the cargo board. If the gravity value detected by the gravity detector is less than the preset value, it means that no goods have been placed on the cargo board or there is a problem with placing the goods. The preset value can be set according to the weight of the goods.

[0357] In another embodiment, the transporter can send a cargo placement completion instruction after placing the goods on the cargo board. When the transport robot receives the cargo placement completion instruction sent by the transporter, it determines that the goods have been placed on the cargo board and then drives away from the workstation.

[0358] It can be seen that in this embodiment, the transport robot can determine that the goods have been placed on the cargo board by obtaining the gravity value detected by the gravity sensor as a preset value and receiving the release completion instruction issued by the transport personnel, so as to further determine the completion of the picking task and continue to execute the inventory task.

[0359] As an implementation method of an embodiment of the present application, the shelf where the target temporary storage location is located includes multiple storage locations, and the storage locations are located above the temporary storage locations; the target temporary storage location is used to temporarily place the goods taken out from the storage locations, and a channel for the transport robot to travel is also provided at the bottom of the shelf.

[0360] Before the step of controlling the lifting drive mechanism to drive the scissor mechanism to contract so as to drive the cargo board to descend to the ninth height, the method may further include:

[0361] Move to the channel, control the lifting drive mechanism to drive the scissor mechanism to retract, so as to drive the cargo plate to drop from the fourteenth height to the fifteenth height; rotate until the driving direction is parallel to the passage direction of the channel; drive away from the shelf of the target temporary storage position along the channel according to the current driving direction; wherein the fifteenth height is less than the fourteenth height and not less than the initial height; or,

[0362] Move to the channel, control the lifting drive mechanism to drive the scissor mechanism to retract, so as to drive the cargo plate to descend from the fourteenth height to the fifteenth height, and at the same time rotate until the driving direction is parallel to the passage direction of the channel; drive away from the shelf of the target temporary storage position along the channel according to the current driving direction; or,

[0363] Move to the channel and rotate until the driving direction is parallel to the passage direction of the channel; along the channel, while driving away from the shelf of the target temporary storage position according to the current driving direction, control the lifting drive mechanism to drive the scissors mechanism to retract, so as to drive the cargo plate to descend from the fourteenth height to the fifteenth height.

[0364] The steps performed in the second cargo handling method for leaving the target temporary storage location are similar to the steps performed in the first cargo handling method for leaving the target temporary storage location. Please refer to the implementation example of the corresponding part of the first cargo handling method, which will not be repeated here.

[0365] It can be seen that in this embodiment, when the transport robot exits the target temporary storage position and drives away from the shelf of the target temporary storage position, it can first lower the cargo plate to a certain height and then rotate in the direction of driving away from the shelf, or it can rotate in the direction of driving away from the shelf while lowering the cargo plate to a certain height, or it can first rotate in the direction of driving away from the shelf and then lower the cargo plate to a certain height. In this way, the transport robot can quickly and smoothly drive out of the shelf of the target temporary storage position.

[0366] Fig.16 This is the first specific flow chart of the goods handling provided by the embodiment of the present application. Fig.16 The cargo handling method provided in the embodiment of the present application is introduced by way of example. Fig.16 As shown, the cargo handling method provided in the embodiment of the present application may include the following steps:

[0367] S1601, receiving a pickup instruction;

[0368] The transport robot can receive a pickup instruction, which can include the location of the target temporary storage location. When the transport robot obtains the location of the target temporary storage location according to the pickup instruction, it can obtain a moving path and then move to the location of the target temporary storage location according to the moving path.

[0369] S1602, in the process of moving from the initial position to the target temporary storage position, controlling the lifting drive mechanism to drive the scissor mechanism to expand, so as to drive the cargo plate to rise from the initial height to the first height;

[0370] When the handling robot moves from the initial position to the target temporary storage position, the cargo plate can be controlled to rise to a certain height while moving, that is, the lifting drive mechanism is controlled to drive the scissor mechanism to expand, so as to drive the cargo plate to rise from the initial height to the first height. The first height is greater than the initial height and less than the height of the target temporary storage position. In one embodiment, the handling robot can control the cargo plate to rise to the first height through switch detection or a servo motor.

[0371] S1603, when moving to the lower part of the target temporary storage position, identifying the identification code set below the target temporary storage position;

[0372] An identification code is provided below the temporary storage location. When the transport robot moves to the bottom of the target temporary storage location, the identification code can be identified to confirm the target temporary storage location.

[0373] S1604, when the identification code is identified, controlling the lifting drive mechanism to drive the scissor mechanism to expand, so as to drive the cargo plate to rise from the first height to the second height;

[0374] When the handling robot recognizes the identification code, it can confirm that the target temporary storage location is correct, and then control the lifting drive mechanism to drive the scissor mechanism to expand, so as to drive the cargo plate to rise from the first height to the second height. The second height is not less than the height of the target temporary storage location, so that the handling robot can lift the goods placed on the target temporary storage location.

[0375] S1605, when the goods leave the target temporary storage location, drive away from the target temporary storage location.

[0376] When the height of the cargo plate rises to the second height and the goods placed at the target temporary storage location are lifted up, the transport robot can drive away from the target temporary storage location.

[0377] It can be seen that in the solution provided in the embodiment of the present application, it is applied to the transport robot in the warehousing system. Since the cargo board can be controlled to rise from the initial height to the first height during the process of the transport robot moving from the initial position to the target temporary storage position, when the transport robot moves to the bottom of the target temporary storage position, the cargo board can be directly controlled to rise from the first height to the second height without controlling the cargo board to rise from the initial height to the second height. This can reduce the time for controlling the cargo board to rise from the initial height to the first height, thereby improving the transport efficiency of the transport robot.

[0378] Fig.17 This is a second specific flow chart of goods handling provided in the embodiment of the present application. Fig.17 The cargo handling method provided in the embodiment of the present application is introduced by way of example. Fig.17 As shown, the cargo handling method provided in the embodiment of the present application may include the following steps:

[0379] S1701, receiving inventory instructions;

[0380] The handling robot may receive a storage instruction at the same time as receiving a pickup instruction, or may receive a storage instruction after picking up the goods. The storage instruction may include the location of the storage location. When the handling robot obtains the location of the storage location according to the storage instruction, it may obtain a moving path and then move to the location of the storage location according to the moving path.

[0381] S1702, when leaving the target temporary storage position or the shelf where the target temporary storage position is located, controlling the lifting drive mechanism to drive the scissor mechanism to retract, so as to drive the cargo plate to descend to the ninth height;

[0382] In order to ensure the stability of the handling robot during the movement, when the handling robot leaves the target temporary storage position or the shelf where the target temporary storage position is located, the lifting drive mechanism can be controlled to drive the scissor mechanism to retract, so as to drive the cargo plate to descend to the ninth height. The ninth height is greater than the initial height and not greater than the fourteenth height, and the fourteenth height is not less than the height of the target temporary storage position.

[0383] S1703, when the first identification code is identified, the lifting drive mechanism is controlled to drive the scissor mechanism to expand, so as to drive the cargo plate to rise from the ninth height to the tenth height;

[0384] After the transport robot runs a certain distance, the cargo plate can be controlled to rise based on the ninth height, so that before moving to the bottom of the inventory position, the cargo plate can be controlled to rise to a height higher than the inventory position, so that it can move directly to the bottom of the inventory position.

[0385] In one embodiment, a first identification code can be set at a preset distance from the inventory location. In this way, when the handling robot recognizes the first identification code, the lifting drive mechanism can be controlled to drive the scissor mechanism to expand, so as to drive the cargo plate to rise from the ninth height to the tenth height. Among them, the fourth height is greater than the height of the inventory location. The preset distance can be 1m, 2m, etc., and can be set according to the actual scenario. The identification code can be a QR code, a label code, etc., which is not specifically limited here.

[0386] S1704, when the product moves to the bottom of the target inventory location, identifying a second identification code set below the target inventory location;

[0387] A second identification code is provided below the stocking location. When the transport robot moves below the stocking location, the second identification code can be identified to confirm the stocking location.

[0388] S1705, when the second identification code is identified, controlling the lifting drive mechanism to drive the scissor mechanism to retract, so as to drive the cargo plate to descend from the tenth height to the eleventh height;

[0389] When the handling robot recognizes the second identification code, it can be confirmed that the stocking position is correct, so the lifting drive mechanism can be controlled to drive the scissor mechanism to retract, so as to drive the cargo plate to drop from the tenth height to the eleventh height. The eleventh height is less than the height of the stocking position, so that the handling robot can place the goods on the stocking position.

[0390] In one embodiment, the transport robot can control the rise and fall of the cargo plate through switch detection or a servo motor.

[0391] S1706, when the goods are off the pallet, the inventory is completed;

[0392] S1707, drive away from the target inventory location, return to the initial position, or execute the next instruction.

[0393] When the height of the cargo board drops to the eleventh height and the goods are separated from the cargo board, that is, the goods have been placed on the storage location, the handling robot completes the storage and can leave the storage location. The handling robot can return to the initial position or execute the next instruction.

[0394] It can be seen that in the solution provided in the embodiment of the present application, the first identification code is set at a position at a preset distance from the stocking position. When the transport robot recognizes the first identification code, the cargo plate can be controlled to rise from the ninth height to the tenth height, so that the transport robot can move directly to the bottom of the stocking position. When it moves to the bottom of the stocking position, the cargo plate is controlled to drop from the tenth height to the eleventh height to place the goods on the stocking position, so as to improve the transport efficiency of the transport robot. And when the transport robot leaves the target temporary storage position or the shelf where the target temporary storage position is located, the cargo plate is controlled to drop to the ninth height to ensure the stability of the transport robot during movement.

[0395] Fig.18 This is a third specific flow chart of the cargo handling provided in the embodiment of the present application. Fig.18 The cargo handling method provided in the embodiment of the present application is introduced by way of example. Fig.18 As shown, the cargo handling method provided in the embodiment of the present application may include the following steps:

[0396] S1801, receiving a pickup instruction;

[0397] The handling robot can receive a pickup instruction, which can include the height and position of the workstation. When the handling robot obtains the position of the workstation according to the pickup instruction, it can obtain a moving path and then move to the position of the workstation according to the moving path.

[0398] S1802, in the process of moving from the initial position to the workstation, controlling the lifting drive mechanism to drive the scissor mechanism to expand, so as to drive the cargo plate to rise from the initial height to the twelfth height;

[0399] When the handling robot moves from the initial position to the workstation, the cargo plate can be controlled to rise to a certain height while moving, that is, the lifting drive mechanism is controlled to drive the scissor mechanism to expand, so as to drive the cargo plate to rise from the initial height to the twelfth height. The twelfth height is set based on the height of the handling personnel, and the height can be set according to actual needs. In one embodiment, the handling robot can control the cargo plate to rise to the twelfth height through switch detection or servo motor.

[0400] S1803, in the case of moving to a workstation, identifying an identification code set at the workstation;

[0401] S1804, when the identification code is recognized, the goods are released manually.

[0402] The workstation is provided with an identification code, and when the handling robot moves to the workstation, the identification code can be identified to confirm the workstation. When the handling robot recognizes the identification code, it can be confirmed that the workstation is correct, and the handling personnel place the goods on the cargo board.

[0403] It can be seen that in the solution provided in the embodiment of the present application, it is applied to the transport robot in the warehousing system. Since the cargo plate can be controlled to rise from the initial height to the twelfth height during the movement of the transport robot from the initial position to the workstation, the moving time of the transport robot can be effectively utilized, thereby improving the transport efficiency of the transport robot.

[0404] Fig.19 This is a fourth specific flow chart of the cargo handling provided by the embodiment of the present application. Fig.19 The cargo handling method provided in the embodiment of the present application is introduced by way of example. Fig.19 As shown, the cargo handling method provided in the embodiment of the present application may include the following steps:

[0405] S1901, receiving inventory instructions;

[0406] The handling robot can receive inventory instructions, which may include the height and position of the workstation. When the handling robot obtains the position of the workstation according to the inventory instructions, it can obtain a moving path and then move to the position of the workstation according to the moving path.

[0407] S1902, in the process of moving to the workstation, controlling the lifting drive mechanism to drive the scissor mechanism to retract, so as to drive the cargo plate to descend from the ninth height to the sixteenth height;

[0408] In the process of the transport robot moving from the initial position to the workstation, after running a certain distance, the cargo plate can be controlled to continue to descend based on the ninth height, so that before moving to the workstation, the lifting drive mechanism is controlled to drive the scissor mechanism to contract, so as to drive the cargo plate to descend from the ninth height to the sixteenth height. The sixteenth height can be set according to actual needs. In one embodiment, the transport robot controls the descent of the cargo plate to the sixteenth height through switch detection or a servo motor.

[0409] S1903, in the case of moving to a workstation, identifying an identification code set at the workstation;

[0410] S1904, when the identification code is recognized, the goods are released manually.

[0411] The workstation is provided with an identification code, and when the handling robot moves to the workstation, the identification code can be identified to confirm the workstation. When the handling robot identifies the identification code, it can be confirmed that the workstation is correct, and the handling personnel remove the goods on the cargo board.

[0412] S1905, drive away from the workstation, return to the initial position, or execute the next instruction.

[0413] When the handling robot detects that the goods on the loading plate have been removed by the handling personnel, it completes the inventory and can leave the workstation. The handling robot can return to the initial position or execute the next instruction.

[0414] It can be seen that in the solution provided in the embodiment of the present application, it is applied to the transport robot in the warehousing system. Since the cargo plate can be controlled to drop from the ninth height to the sixteenth height during the movement of the transport robot to the position of the workstation, the moving time of the transport robot can be effectively utilized, and the transport efficiency of the transport robot can be improved.

[0415] The embodiment of the present application also provides another cargo handling method. The cargo handling method is applied to a handling robot in a warehousing system, wherein the handling robot comprises a mobile chassis, a lifting assembly, a lifting drive mechanism, and a cargo board; wherein one end of the lifting assembly is movably connected to the mobile chassis, and the other end is movably connected to the cargo board, and the lifting assembly is used to lift the cargo board.

[0416] The lifting assembly includes two groups of scissor-type mechanisms arranged up and down in the lifting direction, and the lifting drive mechanism is arranged between the two groups of scissor-type mechanisms. The lifting drive mechanism is used to drive the scissor-type mechanisms to contract to drive the cargo plate to descend, and to drive the scissor-type mechanisms to expand to drive the cargo plate to rise.

[0417] like Fig. 20 As shown, a method for transporting goods, the method comprising:

[0418] S2001, receiving a pickup instruction;

[0419] The pickup instruction includes the location of a target temporary storage location, which is one of the temporary storage locations at the bottom of a shelf in the warehousing system, and is used to temporarily place goods.

[0420] S2002, when the cargo plate moves to the lower side of the target temporary storage position, controlling the lifting drive mechanism to drive the scissor mechanism to expand, so as to drive the cargo plate to rise from the initial height to the second height;

[0421] Wherein, the second height is not less than the height of the target temporary storage location.

[0422] S2003, when the height of the cargo plate rises to the second height and the target temporary storage location is separated from the goods placed at the target temporary storage location, driving away from the target temporary storage location;

[0423] S2004, when leaving the target temporary storage location or the shelf where the target temporary storage location is located, controlling the lifting drive mechanism to drive the scissor mechanism to retract, so as to drive the cargo plate to descend to a third height.

[0424] The third height is greater than or equal to the initial height and not greater than the second height.

[0425] The above steps S2001 to S2004 are similar to step S201 and step S203 to S205 in the above-mentioned first cargo handling method, respectively, and will not be repeated here.

[0426] It can be seen that in the solution provided in the embodiment of the present application, it is applied to the transport robot in the warehousing system. When the transport robot leaves the target temporary storage location or the shelf where the target temporary storage location is located, the cargo plate is controlled to drop to the third height. This can ensure the stability of the transport robot during movement and the stability of the transported goods.

[0427] The present application also provides a transport robot. Figure 1 As shown, the transport robot includes a processor (not shown), a mobile chassis 110, a lifting assembly 120, a lifting drive mechanism 130 and a cargo board 140; wherein, one end of the lifting assembly 120 is movably connected to the mobile chassis 110, and the other end is movably connected to the cargo board 140, and the lifting assembly 120 is used to lift the cargo board 140.

[0428] The lifting assembly 120 includes two sets of scissor-fork mechanisms 121 arranged up and down in the lifting direction. In one embodiment, the lifting drive mechanism 130 can be arranged between the two sets of scissor-fork mechanisms 121, and the lifting drive mechanism 130 is used to drive the scissor-fork mechanisms 121 to contract to drive the cargo board 140 to descend, and to drive the scissor-fork mechanisms 121 to expand to drive the cargo board 140 to rise.

[0429] In another embodiment, the lifting drive mechanism 130 can be arranged at the lower end of the two sets of scissor-type mechanisms, and the lifting drive mechanism 130 is used to drive the scissor-type mechanism 121 to contract to drive the cargo plate 140 to descend, and to drive the scissor-type mechanism 121 to expand to drive the cargo plate 140 to rise.

[0430] The processor is used to execute the above-mentioned first cargo handling method, the second cargo handling method, or the third cargo handling method.

[0431] As an implementation method of the present application, Fig.21As shown, the fixed end at the bottom of the scissor mechanism 2101 matches the grooved stop of the mobile chassis through the through shaft 2102, the movable end at the bottom of the scissor mechanism 2101 is connected to the mobile chassis through the linear slide rail 2103, and the top of the scissor mechanism 2101 is connected to the cargo board.

[0432] The lifting drive mechanism includes a guide component and a power component, such as Fig. 22 As shown, the guide assembly includes a driving bracket 2201, a guide shaft 2202, a linear bearing 2203 and a connecting bracket 2204. The driving bracket 2201 connects one end in the middle of the two sets of scissor-type mechanisms to the guide shaft 2202, and the connecting bracket 2204 connects the other end in the middle of the two sets of scissor-type mechanisms to the linear bearing 2203. The guide shaft 2202 and the linear bearing 2203 perform relative linear reciprocating motion.

[0433] like Fig.23 As shown, the power assembly includes a motor 2301, a reducer 2302, a coupling 2303, a bearing seat 2304 and a screw assembly 2305. The motor 2301 is connected to the reducer 2302. The motor 2301 drives the screw in the screw assembly 2305 to rotate to drive the nut on the screw to move. The motor 2301 and the reducer 2302 are fixed to the driving bracket, and the nut in the screw assembly 2305 is fixed to the connecting bracket.

[0434] A pallet consists of custom-made tooling that is used to carry the cargo. For example, Fig.24 As shown, the cargo plate 2401 is rectangular and can carry a rectangular material box 2402. The cargo plate 2401 can also be circular or elliptical, or a specific cargo device can be installed on the cargo plate 2401, etc., which can be set according to actual needs.

[0435] As an implementation of the embodiment of the present application, the above-mentioned transport robot further includes a gravity sensor, wherein:

[0436] The gravity sensor is used to detect the gravity value of the goods;

[0437] The processor is specifically configured to control the transport robot to leave the workstation when the gravity value detected by the gravity sensor is obtained to be an initial value, or when a pickup completion instruction sent by a transporter is received;

[0438] Or, it is specifically used to control the transport robot to leave the workstation when the gravity value detected by the gravity sensor is not less than a preset value, or when a cargo release completion instruction sent by a transporter is received.

[0439] The embodiment of the present application further provides a warehousing system, the warehousing system comprising a plurality of transport robots, wherein:

[0440] Each transport robot is used to execute at least one of the first cargo transport method, the second cargo transport method, and the third cargo transport method.

[0441] In another embodiment provided in the present application, a computer-readable storage medium is also provided, in which a computer program is stored. When the computer program is executed by a processor, the steps of any one of the first cargo handling method, the second cargo handling method, or the third cargo handling method are implemented.

[0442] In another embodiment provided in the present application, a computer program product comprising instructions is also provided. When the computer program product is run on a computer, the computer executes the first cargo handling method, the second cargo handling method, or the third cargo handling method in the above-mentioned embodiments.

[0443] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a solid-state hard disk (SSD), etc.

[0444] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, product or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, product or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, product or device including the elements.

[0445] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the second cargo handling method, the third cargo handling method, the handling robot, the warehousing system, the computer-readable storage medium, and the computer program product embodiment, since they are basically similar to the first cargo handling method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0446] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A method for transporting goods, characterized in that: The invention is applied to a handling robot in a storage system, wherein the handling robot comprises a mobile chassis, a lifting assembly, a lifting drive mechanism and a cargo board; wherein one end of the lifting assembly is movably connected to the mobile chassis, and the other end is movably connected to the cargo board, the lifting assembly is used to lift the cargo board, and the lifting drive mechanism comprises a motor and a motor brake; The lifting assembly includes two sets of scissor-fork mechanisms arranged up and down in the lifting direction, the lifting drive mechanism is arranged between the two sets of scissor-fork mechanisms, and the lifting drive mechanism is used to drive the scissor-fork mechanisms to contract to drive the cargo board to descend, and to drive the scissor-fork mechanisms to expand to drive the cargo board to ascend; The method comprises: Receiving a pickup instruction, wherein the pickup instruction includes the location of a target temporary storage location, the target temporary storage location is one of the temporary storage locations at the bottom of a shelf in the storage system, and the temporary storage location is used to temporarily place goods; In the process of moving from the initial position to the target temporary storage position, the lifting drive mechanism is controlled to drive the scissor mechanism to expand, so as to drive the cargo plate to rise from the initial height to a first height, wherein the first height is greater than the initial height and less than the height of the target temporary storage position; When the cargo board moves to the lower side of the target temporary storage position, the lifting drive mechanism is controlled to drive the scissor mechanism to expand, so as to drive the cargo board to rise from the first height to a second height, wherein the second height is not less than the height of the target temporary storage position; When the height of the cargo plate rises to the second height and the target temporary storage location is separated from the goods placed at the target temporary storage location, driving away from the target temporary storage location; When leaving the target temporary storage location or the shelf where the target temporary storage location is located, controlling the lifting drive mechanism to drive the scissor mechanism to retract, so as to drive the cargo plate to descend to a third height, wherein the third height is greater than or equal to the initial height and not greater than the second height; The step of controlling the lifting drive mechanism to drive the scissor mechanism to contract, so as to drive the cargo plate to descend to the third height, comprises: According to the structural parameters of the scissor mechanism and the principle of virtual displacement, the driving force range of the lifting drive mechanism driving the scissor mechanism to expand from the minimum height that can be retracted to the maximum height that can be expanded is calculated; Based on the driving force range, determining the height of the cargo plate when the driving force of the lifting drive mechanism is minimum within a preset center of gravity position range as the third height, wherein the preset center of gravity position range is pre-set according to the center of gravity position range where the transport robot can maintain stability when the speed reaches a preset value; The motor is controlled to drive the scissor mechanism to retract, so as to drive the cargo plate to descend to the third height, and then the motor brake is opened to lock the motor.

2. The method according to claim 1, characterized in that The step of calculating the driving force range of the lifting drive mechanism driving the scissors-type mechanism to expand from a minimum retractable height to a maximum retractable height according to the structural parameters of the scissors-type mechanism and the virtual displacement principle comprises: Determine the vertical distance range between the uppermost end and the lowermost end of the scissor mechanism and the angle range between the scissor arms of the scissor mechanism and the horizontal direction within the range of the minimum height that the scissor mechanism can retract and the maximum height that it can expand; According to the vertical distance range, the arm length of the scissor arms, the angle range and the virtual displacement principle, the driving force range of the lifting drive mechanism to drive the scissor mechanism to expand from the minimum height that can be retracted to the maximum height that can be expanded is calculated.

3. The method according to claim 2, characterized in that The step of calculating the driving force range of the lifting drive mechanism driving the scissor mechanism to expand from a minimum retractable height to a maximum retractable height according to the vertical distance range, the arm length of the scissor arm, the angle range and the virtual displacement principle comprises: According to the vertical distance range, the arm length of the scissor arm, the angle range and the virtual displacement principle, the driving force range of the lifting drive mechanism driving the scissor mechanism to expand from the minimum height that can be retracted to the maximum height that can be extended is calculated according to the following formula: ； ； ； ； ； ； Wherein, r is 1 / 2 of the arm length of the scissor arm, θ is the angle within the angle range, and h is the vertical distance within the vertical distance range. It is a formula constructed based on the principle of virtual displacement, F is the driving force of the lifting drive mechanism when 1 / 2 of the arm length of the scissors arm is r, the angle is θ, and the vertical distance is h, G is the gravity of the goods transported by the lifting drive mechanism, and l is 1 / 2 of the projection of the arm length of the scissors arm in the direction of the cargo plate.

4. The method according to claim 1, characterized in that: The method further comprises: Receiving a first inventory instruction, wherein the first inventory instruction includes the location of a conveyor line inventory position, and the conveyor line inventory position is used to dock with a conveying device so as to convey the goods in the conveyor line inventory position to a target location through the conveying device; In the process of moving from the first current position to the position of the conveyor line inventory position, controlling the lifting drive mechanism to drive the scissor mechanism to expand, so as to drive the cargo plate to rise from the third height to a fourth height, wherein the fourth height is greater than the height of the conveyor line inventory position; When the cargo plate moves to the lower side of the storage position of the conveyor line, the lifting drive mechanism is controlled to drive the scissor mechanism to contract, so as to drive the cargo plate to descend from the fourth height to the fifth height, wherein the fifth height is less than the height of the storage position of the conveyor line; When the height of the cargo plate drops to the fifth height and the goods placed at the storage location of the conveyor line are detached from the cargo plate, the cargo plate leaves the storage location of the conveyor line.

5. The method according to claim 4, characterized in that The step of controlling the lifting drive mechanism to drive the scissor mechanism to expand so as to drive the cargo plate to rise from the third height to the fourth height during the movement from the first current position to the position of the conveyor line inventory position includes: During the process of moving from the first current position to the position of the conveyor line inventory location, when the first identification code is identified, the lifting drive mechanism is controlled to drive the scissors mechanism to expand, so as to drive the cargo plate to rise from the third height to the fourth height, wherein the first identification code is set at a position at a preset distance from the conveyor line inventory location.

6. The method according to claim 4, characterized in that The step of controlling the lifting drive mechanism to drive the scissor mechanism to contract to drive the cargo plate to descend from the fourth height to the fifth height when the cargo plate moves to below the storage position of the conveyor line comprises: When moving to the bottom of the conveyor line inventory position and recognizing the second identification code, the lifting drive mechanism is controlled to drive the scissors mechanism to retract, so as to drive the cargo plate to drop from the fourth height to the fifth height, wherein the second identification code is set below the conveyor line inventory position.

7. The method according to claim 4, characterized in that Before the step of controlling the lifting drive mechanism to drive the scissor mechanism to contract to drive the cargo plate to descend from the fourth height to the fifth height when the cargo plate moves to the bottom of the conveyor line storage position, the method further includes: Detect whether there are goods in the storage position of the conveyor line; When there is no goods at the storage position of the conveyor line and the cargo plate moves to below the storage position of the conveyor line, the lifting drive mechanism is controlled to drive the scissors mechanism to contract, so as to drive the cargo plate to descend from the fourth height to the fifth height.

8. The method according to claim 1, characterized in that The method further comprises: receiving a second inventory instruction, wherein the second inventory instruction includes a position of a workstation, the height of the workstation is determined based on the working height of the transporter, and the workstation is used to store the goods taken from the cargo board of the transport robot by the transporter; In the process of moving from the second current position to the position of the workstation, controlling the lifting drive mechanism to drive the scissor mechanism to contract or expand, so as to drive the cargo plate to adjust from the third height to a sixth height, wherein the sixth height is not less than the initial height; When the vehicle moves to the workstation and a third identification code is identified, determining whether the goods on the cargo board are removed, wherein the third identification code is set at the position of the workstation; When it is determined that the goods on the cargo plate are taken off, the vehicle leaves the workstation.

9. The method according to claim 8, characterized in that The handling robot also includes a gravity sensor; The step of leaving the workstation when it is determined that the goods on the cargo board are removed comprises: When the gravity value detected by the gravity sensor is obtained as an initial value, or when a pickup completion instruction issued by the transporter is received, the vehicle leaves the workstation.

10. The method according to any one of claims 1 to 9, characterized in that: The step of controlling the lifting drive mechanism to drive the scissor mechanism to expand so as to drive the cargo plate to rise from the first height to the second height when the cargo plate moves to the lower side of the target temporary storage position comprises: When the vehicle moves to the bottom of the target temporary storage position and recognizes the fourth identification code, the lifting drive mechanism is controlled to drive the scissor mechanism to expand, so as to drive the cargo plate to rise from the first height to the second height.

11. The method according to any one of claims 1 to 9, characterized in that: Before the step of controlling the lifting drive mechanism to drive the scissor mechanism to expand so as to drive the cargo plate to rise from the first height to the second height when the cargo plate moves to the lower side of the target temporary storage position, the method further includes: Detecting whether there are goods in the target temporary storage location; When goods exist in the target temporary storage location and move to below the target temporary storage location, the lifting drive mechanism is controlled to drive the scissor mechanism to expand, so as to drive the cargo plate to rise from the first height to the second height.

12. The method according to any one of claims 1 to 9, characterized in that: The shelf includes a plurality of storage locations, wherein the storage locations are located above the temporary storage locations; the target temporary storage locations are used to temporarily place goods taken out from the storage locations, and a passage for the transport robot to travel is also provided at the bottom of the shelf; Before the step of controlling the lifting drive mechanism to drive the scissor mechanism to contract so as to drive the cargo plate to descend to the third height, the method further includes: Move to the channel, control the lifting drive mechanism to drive the scissor mechanism to retract, so as to drive the cargo plate to descend from the second height to the eighth height; rotate until the driving direction is parallel to the passage direction of the channel; and drive away from the shelf of the target temporary storage position along the channel according to the current driving direction; wherein the eighth height is less than the second height and not less than the initial height; or, Move to the channel, control the lifting drive mechanism to drive the scissor mechanism to retract, so as to drive the cargo plate to descend from the second height to the eighth height, and rotate until the driving direction is parallel to the passage direction of the channel; drive away from the shelf of the target temporary storage position along the channel according to the current driving direction; or, Move to the channel and rotate until the driving direction is parallel to the passage direction of the channel; along the channel, while driving away from the shelf of the target temporary storage position according to the current driving direction, control the lifting drive mechanism to drive the scissors mechanism to retract, so as to drive the cargo plate to descend from the second height to the eighth height.

13. A method for transporting goods, characterized in that: A handling robot used in a warehousing system, the handling robot comprising a mobile chassis, a lifting assembly, a lifting drive mechanism and a cargo board; wherein one end of the lifting assembly is movably connected to the mobile chassis, and the other end is movably connected to the cargo board, the lifting assembly is used to lift the cargo board, and the lifting drive mechanism drives a motor and a motor brake; The lifting assembly includes two sets of scissor-fork mechanisms arranged up and down in the lifting direction, the lifting drive mechanism is arranged between the two sets of scissor-fork mechanisms, and the lifting drive mechanism is used to drive the scissor-fork mechanisms to contract to drive the cargo board to descend, and to drive the scissor-fork mechanisms to expand to drive the cargo board to ascend; The method comprises: receiving an inventory instruction, wherein the inventory instruction includes a location of the inventory location; In the process of moving from the current position to the position of the inventory location, the lifting drive mechanism is controlled to drive the scissor mechanism to expand, so as to drive the cargo plate to rise from the current ninth height to the tenth height, wherein the tenth height is greater than the height of the inventory location; When the cargo plate moves to the bottom of the storage position, the lifting drive mechanism is controlled to drive the scissor mechanism to retract, so as to drive the cargo plate to drop from the tenth height to the eleventh height, wherein the eleventh height is less than the height of the storage position; When the height of the cargo board drops to the eleventh height and the goods placed at the storage location are separated from the cargo board, the vehicle leaves the storage location; In the case of leaving the target temporary storage location or the shelf where the target temporary storage location is located, the driving force range of the lifting drive mechanism to drive the scissors mechanism to expand from the minimum height that can be retracted to the maximum height that can be expanded is calculated according to the structural parameters of the scissors mechanism and the principle of virtual displacement; based on the driving force range, the height of the cargo plate when the driving force of the lifting drive mechanism is the smallest within the preset center of gravity position range is determined as the ninth height, wherein the preset center of gravity position range is pre-set according to the center of gravity position range of the transport robot that can maintain stability when the speed reaches a preset value; The motor is controlled to drive the scissor mechanism to retract, so as to drive the cargo plate to descend to the ninth height, and then the motor brake is opened to lock the motor.

14. The method according to claim 13, characterized in that The step of controlling the lifting drive mechanism to drive the scissor mechanism to expand during the movement from the current position to the storage location, so as to drive the cargo plate to rise from the current ninth height to the tenth height, comprises: During the process of moving from the current position to the position of the inventory location, when the first identification code is identified, the lifting drive mechanism is controlled to drive the scissors mechanism to expand, so as to drive the cargo plate to rise from the current ninth height to the tenth height, wherein the first identification code is set at a position at a preset distance from the inventory location.

15. The method according to claim 13, characterized in that The step of controlling the lifting drive mechanism to drive the scissor mechanism to contract so as to drive the cargo plate to descend from the tenth height to the eleventh height when the cargo plate moves to below the inventory position comprises: When moving to the bottom of the inventory location and recognizing the second identification code, the lifting drive mechanism is controlled to drive the scissors mechanism to contract, so as to drive the cargo plate to drop from the tenth height to the eleventh height, wherein the second identification code is set below the inventory location.

16. The method according to claim 13, characterized in that Before the step of controlling the lifting drive mechanism to drive the scissor mechanism to contract to drive the cargo plate to descend from the tenth height to the eleventh height when the cargo plate is moved to the bottom of the inventory position, the method further includes: Detecting whether there is any product in the storage location; When there is no goods at the inventory location and the cargo plate is moved to below the inventory location, the lifting drive mechanism is controlled to drive the scissor mechanism to contract, so as to drive the cargo plate to descend from the tenth height to the eleventh height.

17. The method according to any one of claims 13 to 16, characterized in that: Before the step of receiving the inventory instruction, the method further comprises: In the process of moving from the position where the pickup instruction is received to the position of the workstation, the lifting drive mechanism is controlled to drive the scissor mechanism to expand, so as to drive the cargo board to rise from the initial height to the twelfth height, wherein the twelfth height is set based on the height of the porter, the height of the workstation is determined based on the working height of the porter, and the workstation is used to store the goods that the porter carries to the cargo board; When the vehicle moves to the workstation and a third identification code is identified, determining whether the transporter places the goods on the cargo board, wherein the third identification code is set at the position of the workstation; When it is determined that the transporter has placed the goods on the cargo board, the vehicle leaves the workstation.

18. The method according to claim 17, characterized in that The transport robot further includes a gravity sensor. When it is determined that the transporter places the goods on the cargo board, the step of driving away from the workstation includes: When it is found that the gravity value detected by the gravity sensor is not less than a preset value, or when a cargo release completion instruction is received from a porter, the vehicle leaves the workstation.

19. The method according to any one of claims 13 to 16, characterized in that: Before the step of receiving the inventory instruction, the method further comprises: In the process of moving from the position where the pickup instruction is received to the position of the target temporary storage position, the lifting drive mechanism is controlled to drive the scissor mechanism to expand, so as to drive the cargo plate to rise from the initial height to the thirteenth height, wherein the target temporary storage position is one of the temporary storage positions at the bottom of the shelf in the storage system, the temporary storage position is used to temporarily place goods, and the thirteenth height is greater than the initial height and less than the height of the target temporary storage position; When the cargo board moves to the lower side of the target temporary storage position, the lifting drive mechanism is controlled to drive the scissor mechanism to expand, so as to drive the cargo board to rise from the thirteenth height to the fourteenth height, wherein the fourteenth height is not less than the height of the target temporary storage position; When the height of the cargo plate rises to the fourteenth height and the target temporary storage location is separated from the goods placed at the target temporary storage location, the vehicle leaves the target temporary storage location.

20. The method according to claim 19, characterized in that The method further comprises: When leaving the target temporary storage location or the shelf where the target temporary storage location is located, the lifting drive mechanism is controlled to drive the scissors mechanism to retract, so as to drive the cargo plate to descend to a ninth height, wherein the ninth height is greater than or equal to the initial height and not greater than the fourteenth height, and the fourteenth height is not less than the height of the target temporary storage location.

21. The method according to claim 20, characterized in that The shelf where the target temporary storage location is located includes a plurality of storage locations, and the storage locations are located above the temporary storage locations; the target temporary storage location is used to temporarily place the goods taken out from the storage locations, and a passage for the transport robot to travel is also provided at the bottom of the shelf; Before the step of controlling the lifting drive mechanism to drive the scissor mechanism to contract so as to drive the cargo board to descend to a ninth height, the method further includes: Move to the channel, control the lifting drive mechanism to drive the scissor mechanism to retract, so as to drive the cargo plate to drop from the fourteenth height to the fifteenth height; rotate until the driving direction is parallel to the passage direction of the channel; drive away from the shelf of the target temporary storage position along the channel according to the current driving direction; wherein the fifteenth height is less than the fourteenth height and not less than the initial height; or, Move to the channel, control the lifting drive mechanism to drive the scissor mechanism to retract, so as to drive the cargo plate to descend from the fourteenth height to the fifteenth height, and rotate until the driving direction is parallel to the passage direction of the channel; drive away from the shelf of the target temporary storage position along the channel according to the current driving direction; or, Move to the channel and rotate until the driving direction is parallel to the passage direction of the channel; along the channel, while driving away from the shelf of the target temporary storage position according to the current driving direction, control the lifting drive mechanism to drive the scissors mechanism to retract, so as to drive the cargo plate to descend from the fourteenth height to the fifteenth height.

22. A method for transporting goods, characterized in that: The invention is applied to a handling robot in a storage system, wherein the handling robot comprises a mobile chassis, a lifting assembly, a lifting drive mechanism and a cargo board; wherein one end of the lifting assembly is movably connected to the mobile chassis, and the other end is movably connected to the cargo board, the lifting assembly is used to lift the cargo board, and the lifting drive mechanism comprises a motor and a motor brake; The lifting assembly includes two sets of scissor-fork mechanisms arranged up and down in the lifting direction, the lifting drive mechanism is arranged between the two sets of scissor-fork mechanisms, and the lifting drive mechanism is used to drive the scissor-fork mechanisms to contract to drive the cargo board to descend, and to drive the scissor-fork mechanisms to expand to drive the cargo board to ascend; The method comprises: Receiving a pickup instruction, wherein the pickup instruction includes the location of a target temporary storage location, the target temporary storage location is one of the temporary storage locations at the bottom of a shelf in the storage system, and the temporary storage location is used to temporarily place goods; When the cargo board moves to the lower side of the target temporary storage position, the lifting drive mechanism is controlled to drive the scissor mechanism to expand, so as to drive the cargo board to rise from the initial height to a second height, wherein the second height is not less than the height of the target temporary storage position; When the height of the cargo plate rises to the second height and the target temporary storage location is separated from the goods placed at the target temporary storage location, driving away from the target temporary storage location; When leaving the target temporary storage location or the shelf where the target temporary storage location is located, controlling the lifting drive mechanism to drive the scissor mechanism to retract, so as to drive the cargo plate to descend to a third height, wherein the third height is greater than or equal to the initial height and not greater than the second height; The step of controlling the lifting drive mechanism to drive the scissor mechanism to contract, so as to drive the cargo plate to descend to the third height, comprises: According to the structural parameters of the scissor mechanism and the principle of virtual displacement, the driving force range of the lifting drive mechanism driving the scissor mechanism to expand from the minimum height that can be retracted to the maximum height that can be expanded is calculated; Based on the driving force range, determining the height of the cargo plate when the driving force of the lifting drive mechanism is minimum within a preset center of gravity position range as the third height, wherein the preset center of gravity position range is pre-set according to the center of gravity position range where the transport robot can maintain stability when the speed reaches a preset value; The motor is controlled to drive the scissor mechanism to retract, so as to drive the cargo plate to descend to the third height, and then the motor brake is opened to lock the motor.

23. A transport robot, characterized in that: The transport robot comprises a processor, a mobile chassis, a lifting assembly, a lifting drive mechanism and a cargo plate, wherein: One end of the lifting assembly is movably connected to the mobile chassis, and the other end is movably connected to the cargo board, and the lifting assembly is used to lift the cargo board; The lifting assembly includes two sets of scissor-type mechanisms arranged up and down in the lifting direction, the lifting drive mechanism is arranged between the two sets of scissor-type mechanisms, the lifting drive mechanism is used to drive the scissor-type mechanisms to contract to drive the cargo board to descend, and to drive the scissor-type mechanisms to expand to drive the cargo board to ascend, and the lifting drive mechanism drive includes a motor and a motor brake; The processor is used to execute the method described in any one of claims 1 to 22.

24. The handling robot according to claim 23, characterized in that: The fixed end of the bottom of the scissor mechanism matches the grooved stop of the mobile chassis through a through shaft, and the movable end of the bottom of the scissor mechanism is connected to the mobile chassis through a linear slide rail; the top of the scissor mechanism is connected to the cargo board; The lifting drive mechanism includes a guide assembly and a power assembly, the guide assembly includes a guide shaft, a linear bearing, a drive bracket and a connecting bracket, the drive bracket connects one end between the two sets of scissor-fork mechanisms with the guide shaft, the connecting bracket connects the other end between the two sets of scissor-fork mechanisms with the linear bearing, and the guide shaft and the linear bearing perform relative linear reciprocating motion; The power assembly includes a motor, a reducer, a coupling, a bearing seat and a screw assembly, the motor is connected to the reducer, the motor drives the screw in the screw assembly to rotate, so as to drive the nut on the screw to move, the motor and the reducer are fixed to the driving bracket, and the nut in the screw assembly is fixed to the connecting bracket; The cargo plate includes customized tooling, and the customized tooling is used to carry goods.

25. The handling robot according to claim 24, characterized in that: The handling robot also includes a gravity sensor, wherein: The gravity sensor is used to detect the gravity value of the goods; The processor is specifically configured to control the transport robot to leave the workstation when the gravity value detected by the gravity sensor is an initial value or when a pickup completion instruction sent by a transporter is received; Or, it is specifically used to control the transport robot to leave the workstation when the gravity value detected by the gravity sensor is not less than a preset value, or when a cargo release completion instruction sent by a transporter is received.

26. A storage system, characterized in that: The storage system includes a plurality of handling robots, wherein: Each handling robot is used to execute the method described in any one of claims 1 to 22.

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