Goods storage method and system and readable storage medium

Abstract

The invention discloses a cargo storage method and system and a readable storage medium, relates to the field of logistics, and is used for improving the probability of successful storage. The goods storage method comprises the following steps that a goods access mechanism determines storage coordinates of a target storage position on a goods shelf according to an obtained box storage task; the goods storing and taking mechanism carries goods. The goods access mechanism drives the goods to move to a working position corresponding to the target storage position according to the storage coordinates; the cargo storing and taking mechanism obtains point cloud information of a target storage position through laser scanning; according to the point cloud information of the target storage location, judging whether the target storage location meets goods storage requirements or not; and if the target storage position meets the goods storage requirement, the goods are moved to the target storage position. According to the cargo storage method, whether the target storage position can contain the cargos borne by the cargo access mechanism or not can be accurately judged, and the success rate of cargo storage is greatly improved.

Description

Technical Field

[0001] The present invention relates to the field of logistics, and in particular to a cargo storage method, system and readable storage medium. Background Art

[0002] When the material box storage and retrieval system puts the material box into the warehouse, the loading platform first picks up the material box through the movement of the picking mechanism, and then moves the material box to the target storage location and stores the material box in the storage location.

[0003] Before storing a material box in a storage location, it is necessary to first determine whether there is a material box in the target storage location. Currently, most methods use a camera on the loading platform to take a picture of the storage location. If there is a material box (the box has a QR code), the relevant data can be decoded; if there is no material box, there is no data.

[0004] The inventors have found that there are at least the following problems in the prior art: during the storage operation of the material box, it is impossible to determine whether the space size of the target storage location meets the storage requirements, and during the actual storage operation, storage failures, jamming and even falling of the material box are prone to occur. Summary of the invention

[0005] The present invention provides a cargo storage method, system and readable storage medium, which are used to improve the probability of successful storage.

[0006] An embodiment of the present invention provides a cargo storage method, comprising the following steps:

[0007] The cargo storage and retrieval mechanism determines the storage coordinates of the target storage location on the shelf according to the acquired box storage task; wherein the cargo storage and retrieval mechanism carries cargo;

[0008] The cargo storage and retrieval mechanism drives the cargo to move to a working position corresponding to the target storage location according to the storage coordinates;

[0009] The cargo storage and retrieval mechanism obtains point cloud information of the target storage location through laser scanning;

[0010] Determining whether the target storage location meets the cargo storage requirements according to the point cloud information of the target storage location;

[0011] If the target storage location meets the cargo storage requirements, the cargo is moved from the cargo storage and retrieval mechanism to the target storage location of the shelf.

[0012] In some embodiments, judging whether the target storage location meets the cargo storage requirements according to the point cloud information of the target storage location specifically includes the following steps:

[0013] According to the point cloud information of the target storage location, determining whether the target storage location is occupied, and / or calculating that the width of the target storage location is greater than the width of the goods;

[0014] If the target storage location is not occupied, and / or the width of the target storage location is greater than the width of the goods, then the target storage location meets the goods storage requirements.

[0015] In some embodiments, the width of the target storage location is calculated according to the following method:

[0016] The width of the target storage location is calculated according to the acquired point cloud information of the target storage location; or, the shortest distance between the goods on both sides of the target storage location in the acquired point cloud information of the target storage location is used as the width of the target storage location.

[0017] In some embodiments, the cargo storage method further comprises the following steps:

[0018] If the target storage location is occupied, a new target storage location is allocated for the goods.

[0019] In some embodiments, the cargo storage method further comprises the following steps:

[0020] If the width of the target storage location is less than or equal to the width of the goods, the target storage location is reallocated to the goods.

[0021] In some embodiments, the cargo storage method further comprises the following steps:

[0022] The laser scanning acquires point cloud information of the stored goods at the target storage location;

[0023] Determining whether the storage position of the goods at the target storage location meets the requirements according to the point cloud information of the goods;

[0024] If the storage position of the goods in the target storage location does not meet the requirements, the goods are taken out and then moved back to the target storage location.

[0025] In some embodiments, after the step of the cargo storage and retrieval mechanism acquiring the point cloud information of the target storage location through laser scanning, the following steps are also included:

[0026] The position of the goods carried by the goods storage and retrieval mechanism on the goods storage and retrieval mechanism is moved so that the goods are away from the target storage location.

[0027] In some embodiments, the cargo storage method further comprises the following steps:

[0028] The cargo storage and retrieval mechanism obtains the height information of the target storage location through laser scanning;

[0029] According to the height information of the target storage location, calculating whether the height of the carrying surface of the cargo storage and retrieval mechanism for carrying the cargo is consistent with the height of the target storage location;

[0030] If the height of the carrying surface of the cargo storage and retrieval mechanism for carrying the cargo matches the height of the target storage location, the cargo carried by the cargo storage and retrieval mechanism is moved to the target storage location.

[0031] In some embodiments, the cargo storage method further comprises the following steps:

[0032] If the height of the carrying surface of the cargo storage and retrieval mechanism for carrying the cargo does not match the height of the target storage location, adjust the height of the cargo storage and retrieval mechanism until the height of the carrying surface of the cargo storage and retrieval mechanism for carrying the cargo matches the height of the target storage location.

[0033] In some embodiments, the cargo storage and retrieval mechanism obtains the height information of the target storage location by laser scanning, which specifically includes the following steps:

[0034] Acquire point cloud information of the beam at the target storage location at the working position;

[0035] The height information of the target storage location is calculated based on the point cloud information of the beam.

[0036] The embodiment of the present invention further provides a cargo storage system, comprising:

[0037] Memory; and

[0038] A processor coupled to the memory, wherein the processor is configured to execute the cargo storage method provided by any technical solution of the present invention based on instructions stored in the memory.

[0039] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a cargo storage method as provided by any technical solution of the present invention.

[0040] In the cargo storage method provided by the above technical solution, before the cargo storage and retrieval mechanism stores the cargo in the target storage location of the shelf, it will use the laser scanning device on the cargo storage and retrieval mechanism to obtain the point cloud information of the target storage location, and calculate and judge whether the target storage location meets the storage requirements based on the obtained point cloud information. The point cloud information includes various types of data such as coordinate information, which can not only determine whether the target storage location is occupied, but also calculate the width of the target storage location, and then accurately determine whether the target storage location can accommodate the cargo carried by the cargo storage and retrieval mechanism, so as to greatly improve the success rate of cargo storage. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0042] Figure 1 A schematic structural diagram of a cargo storage and retrieval mechanism used in the cargo storage method provided in an embodiment of the present invention.

[0043] Figure 2 A schematic diagram of laser light emitted by a laser scanning device of a cargo storage and retrieval mechanism used in the cargo storage method provided in an embodiment of the present invention.

[0044] Figure 3 A schematic diagram of a cargo storage method provided in an embodiment of the present invention.

[0045] Figure 4 A schematic diagram of a cargo storage method provided in an embodiment of the present invention detecting whether a target storage location meets cargo storage requirements.

[0046] Figure 5 A schematic diagram of the state of the cargo storage method provided in an embodiment of the present invention when detecting the width of a target storage location.

[0047] Figure 6 A schematic diagram of a state in which a mechanism is blocked when the cargo storage method provided in an embodiment of the present invention detects whether a target storage location is occupied.

[0048] Figure 7 A schematic diagram of a state in which a mechanism is blocked when the cargo storage method provided in an embodiment of the present invention detects whether a target storage location is occupied.

[0049] Figure 8 A schematic diagram of determining the height of cargo on a cargo storage and retrieval mechanism according to the cargo storage method provided in an embodiment of the present invention.

[0050] Fig. 9 A schematic diagram of the state of determining the height of goods on a goods storage and retrieval mechanism in a goods storage method provided by an embodiment of the present invention.

[0051] Reference numerals:

[0052] 10. Goods storage and retrieval mechanism; 20. Goods; 30. Shelves;

[0053] 1. Base; 2. Mounting components; 3. Cargo moving mechanism; 4. Laser scanning device; 5. Laser scanning equipment;

[0054] 21. vertical plate; 22. first driving assembly; 23. second driving assembly; 24. bracket;

[0055] 31. Beam. DETAILED DESCRIPTION

[0056] Combine the following Figures 1 to 9 The technical solution provided by the present invention is described in more detail. The description of the exemplary embodiments is merely illustrative and is by no means intended to limit the present disclosure and its application or use. The present disclosure can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided to make the present disclosure thorough and complete and to fully express the scope of the present disclosure to those skilled in the art. It should be noted that unless otherwise specifically stated, the relative arrangement of the components and steps, the composition of the materials, the numerical expressions and the numerical values ​​described in these embodiments should be interpreted as being merely exemplary and not limiting.

[0057] The words "first", "second" and similar words used in this disclosure do not indicate any order, quantity or importance, but are only used to distinguish different parts. The words "include" or "comprise" and similar words mean that the elements before the word include the elements listed after the word, and do not exclude the possibility of also including other elements.

[0058] In the present disclosure, when a specific device is described as being located between a first device and a second device, there may or may not be an intermediate device between the specific device and the first device or the second device. When a specific device is described as being connected to other devices, the specific device may be directly connected to the other devices without an intermediate device, or may not be directly connected to the other devices but have an intermediate device.

[0059] All terms used in the present disclosure, including technical terms or scientific terms, have the same meanings as those understood by ordinary technicians in the field to which the present disclosure belongs, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries, such as general dictionaries, should be interpreted as having meanings consistent with their meanings in the context of the relevant technology, and should not be interpreted in an idealized or extremely formal sense, unless explicitly defined herein.

[0060] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment are considered part of the specification.

[0061] The dimensions of the various parts shown in the drawings are not drawn according to the actual proportional relationship. In the drawings, the same reference numerals are attached to common structural elements or structural elements of the same type, and their repeated descriptions are appropriately omitted.

[0062] Figure 1 A schematic structural diagram of a cargo storage and retrieval mechanism used in the cargo storage method provided in an embodiment of the present invention. Figure 2A schematic diagram of laser light emitted by a laser scanning device of a cargo storage and retrieval mechanism used in the cargo storage method provided in an embodiment of the present invention.

[0063] See also Figure 1 The cargo storage and retrieval mechanism 10 is used to realize the transfer of cargo 20 from the shelf 30 to the cargo storage and retrieval mechanism 10, and the cargo 20 (see Figure 4 ) from the cargo access mechanism 10 to the shelf 30 (see Figure 4 ) on the shelf 30, the goods 20 can be taken out from the shelf 30. The cargo storage and retrieval mechanism 10 includes a base 1, a cargo moving mechanism 3, two or more mounting components 2 and a laser scanning device 4. The base 1 is constructed to provide support. Each mounting component 2 includes a vertical plate 21, a first drive component 22 and a second drive component 23; the vertical plate 21 is installed on the base 1 and supported by the base 1; the first drive component 22 is installed on one side of the vertical plate 21, and the second drive component 23 is installed on the other side of the vertical plate 21; the first bearing surface of the first drive component 22 and the second bearing surface of the second drive component 23 are located at different heights and are parallel. The cargo moving mechanism 3 is installed on the second drive component 23 to move linearly under the drive of the second drive component 23. The cargo moving mechanism 3 itself is constructed to be liftable. Among them, the first drive component 22 is constructed to drive the cargo 20 to move. The second driving assembly 23 is configured to drive the cargo moving mechanism 3 to move, so as to move the cargo 20 from the shelf 30 to the first driving assembly 22, or to push the cargo 20 on the first driving assembly 22 into the shelf 30. The laser scanning device 4 is mounted on the mounting assembly 2. In other embodiments, the cargo storage and retrieval mechanism 10 further includes two brackets 24, which are dispersedly arranged and both brackets 24 are located on the outside of the mounting assembly 2. A laser scanning device 4 is mounted on each bracket 24, and the mounting height of the laser scanning device 4 roughly corresponds to the middle height position after the cargo 20 is stored on the shelf 30. With such a configuration, the laser scanning device 4 scans the flattest area of ​​the cargo 20, and the scanned point cloud information has little interference and high accuracy.

[0064] See also Figure 2 The laser scanning device 4 is rotatable around its own mounting axis, and the rotation angle range is between 30° and 360°. The rotation range of the laser scanning device 4 is determined according to the range that the laser scanning device 4 needs to scan in actual applications. In the embodiments of this article, it is taken as an example that the laser scanning device 4 can rotate 360°.

[0065] The laser scanning device 4 specifically adopts a single-line laser radar, which can form a scanning plane centered on itself, and has fast scanning speed, high efficiency and high accuracy.

[0066] The above content describes two movement modes of the goods 20: the first is to move the goods 20 from the shelf 30 to the goods access mechanism 10, which is a picking operation. The second is to move the goods 20 from the goods access mechanism 10 to the shelf 30, which is a storage operation.

[0067] The following text focuses on describing the specific method and steps of the storage operation.

[0068] The inventor has found through research that: Under normal circumstances, when the goods 20 need to be stored from the goods storage and retrieval mechanism 10 to the shelf 30: the goods 20 are first moved to the edge of the goods storage and retrieval mechanism 10 under the drive of the first drive component 22; then, the goods transfer mechanism 3 is moved to the set position by the second drive component 23 and then raised, and the goods transfer mechanism 3 pushes the goods 20 away from the first drive component 22. Since then, the storage operation is completed. Before performing the above storage operation, if it is not determined whether the storage space of the shelf 30 can normally place the goods 20, the storage operation of the goods 20 may fail: if the storage space is occupied or the storage space is too small, the goods 20 cannot be stored.

[0069] By adopting the cargo storage method provided by the embodiment of the present invention, the success rate of cargo 20 storage can be greatly improved.

[0070] Figure 3 A schematic diagram of a cargo storage method provided in an embodiment of the present invention. Figure 4 A schematic diagram of a cargo storage method provided by an embodiment of the present invention for detecting whether a target storage location meets cargo storage requirements. Figure 3 , an embodiment of the present invention provides a cargo storage method, comprising the following steps:

[0071] In step S100 , the cargo storage and retrieval mechanism 10 determines the storage coordinates of the target storage location on the shelf 30 according to the acquired box storage task; wherein the cargo storage and retrieval mechanism 10 carries cargo 20 .

[0072] In the above step S100, the cargo storage and retrieval mechanism 10 can first pick up the cargo and then obtain the storage coordinates of the target storage location; the cargo storage and retrieval mechanism 10 can also first obtain the storage coordinates of the target storage location and then pick up the cargo. Picking up the cargo here means moving the cargo 20 from the AGV trolley or other components to the cargo storage and retrieval mechanism 10.

[0073] Step S200, the cargo storage and retrieval mechanism 10 drives the cargo 20 to move to a working position corresponding to the target storage location according to the storage coordinates.

[0074] The cargo storage and retrieval mechanism 10 can move horizontally and vertically along the shelf 30. Through the movement of the cargo storage and retrieval mechanism 10, the cargo 20 is brought to the working position corresponding to the target storage position. Here, the working position refers to the position where the cargo storage and retrieval mechanism 10 is ready to push the cargo 20 onto the shelf 30. This position can be a precise position or an approximate position. If it is subsequently determined that the position of the cargo storage and retrieval mechanism 10 is difficult to push the cargo 20 to the target storage position of the shelf 30, the position of the cargo storage and retrieval mechanism 10 can be fine-tuned so that the position of the cargo storage and retrieval mechanism 10 just corresponds to the position where the cargo 20 can be pushed to the shelf 30.

[0075] In step S300, the cargo storage and retrieval mechanism 10 obtains point cloud information of the target storage location through laser scanning.

[0076] After the cargo storage and retrieval mechanism 10 drives the cargo 20 to move to the working position, the laser scanning device 4 scans the shelf 30 directly in front of it, and obtains the point cloud information of the target storage location after scanning.

[0077] Point cloud information refers to recording the scanning results in the form of points, each of which contains three-dimensional coordinates (X, Y, Z). Point cloud information may also contain color information (RGB) or reflection intensity information (Intensity) as needed. Coordinate information is mainly used in various embodiments of this article.

[0078] Step S400, judging whether the target storage location meets the cargo storage requirements according to the point cloud information of the target storage location.

[0079] See also Figure 4 , the cargo storage and retrieval mechanism 10 moves from position A to working position B, and the two laser scanning devices 4 of the cargo storage and retrieval mechanism 10 can each form a scanning plane. The scanning device of the laser scanning device 4 can reach the storage position of the shelf 30 adjacent to the laser scanning device 4. Taking storage position C as the target storage position as an example, the cargo storage and retrieval mechanism 10 stops at working position B, and then the two laser scanning devices 4 of the cargo storage and retrieval mechanism 10 each form a scanning plane, and the two laser scanning devices 4 each obtain multiple sets of point cloud information.

[0080] According to the point cloud information obtained by scanning, after calculation, it is possible to obtain whether the target storage location is occupied and / or the width information of the target storage location. The following four judgment methods can be used to judge whether the goods 20 can be successfully stored.

[0081] The first method is to directly move the goods 20 to the target storage location if the target storage location is not occupied. If the target storage location is occupied, the target storage location is reassigned to the goods 20, that is, return to step S100. This method has high judgment efficiency and high efficiency of goods warehousing operation.

[0082] Second, if the target storage location is not occupied and the width of the target storage location is greater than the width of the goods 20 to be stored, the goods 20 can be successfully stored in the target storage location.

[0083] If it is determined after calculation that the target storage location is occupied, the target storage location is reallocated to the goods 20, and the process returns to step S100.

[0084] If after calculation, the width of the target storage location obtained is less than or equal to the width of the goods 20, it means that the goods 20 cannot be stored smoothly, so the target storage location is re-allocated for the goods 20, that is, return to step S100.

[0085] Since the amount of data contained in the point cloud information is very large, it is possible to directly calculate whether the target storage location is occupied and whether the width of the target storage location meets the storage requirements. Then, the judgment is made separately. Only when both conditions are met can the goods 20 be stored smoothly. If any of the two conditions is not met, the goods 20 cannot be stored.

[0086] Third, in some embodiments, the judgment may be made in the following order: first determine whether the target storage location is occupied. If the target storage location is occupied, the width dimension of the target storage location is no longer calculated. This is because the occupied storage location cannot meet the storage requirements of the goods 20. On the premise that the target storage location is not occupied, calculate whether the width dimension of the target storage location is greater than the width dimension of the goods 20. Only when the width dimension of the target storage location is greater than the width dimension of the goods 20 can the goods 20 be stored smoothly. If the width dimension of the target storage location is less than or equal to the width dimension of the goods 20, it is difficult to store the goods 20 smoothly. In this way, both the warehousing efficiency and the warehousing success rate can be taken into account.

[0087] Fourthly, in some other embodiments, only the width dimension of the target storage location is calculated, and it is not necessary to calculate whether the target storage location is occupied. Because the width dimension of the target storage location is larger than the width dimension of the goods 20, it can be said that the target storage location is not occupied. Therefore, the width dimension of the target storage location can be directly calculated based on the point cloud information scanned by the laser scanning device 4. If the width dimension of the target storage location is larger than the width dimension of the goods 20, it means that the goods 20 can be stored smoothly. If the width dimension of the target storage location is less than or equal to the width dimension of the goods 20, the goods 20 are difficult to store smoothly, and it is necessary to return to step S100 and redetermine the target storage location. This method has higher warehousing accuracy.

[0088] In some embodiments, the width of the target storage location is calculated according to the following method:

[0089] In the first case, the laser scanning device 4 is not blocked by the goods 20 located on the goods storage and retrieval mechanism 10, and the laser can cover the entire width range of the target storage location on the shelf 30. The width of the target storage location can be directly calculated based on the acquired point cloud information of the target storage location.

[0090] In the second case, see Figure 5 , the laser scanning device 4 is blocked by the goods 20 located on the goods storage and retrieval mechanism 10, and the laser cannot reach the target storage location, but the laser can reach the goods 20 on both sides of the target storage location. The shortest distance between the goods 20 on both sides of the target storage location in the acquired point cloud information of the target storage location is used as the width of the target storage location. Figure 5 The red laser lines shown in the figure are two lasers emitted by the laser scanning device 4 that are in contact with the edges of the goods 20 on the goods storage and retrieval mechanism 10, which can more clearly illustrate the range of the laser. Subsequently, based on the point cloud information corresponding to these two red laser beams, the width of the target storage location can be calculated.

[0091] Step S500: If the target storage location meets the cargo storage requirements, the cargo 20 is moved to the target storage location.

[0092] The first drive assembly 22, the second drive assembly 23 and the cargo transfer mechanism 3 of the cargo storage and retrieval mechanism 10 described above are used to push the cargo 20 from the cargo storage and retrieval mechanism 10 to the target storage location, such as Figure 4 B indicates.

[0093] After the goods 20 are pushed to the target storage location of the shelf 30, the position of the goods 20 on the target storage location may not meet the requirements. It is possible that the goods 20 are not completely pushed to the target storage location, or the goods 20 are pushed too deep. The former situation may cause the goods 20 to be stored inadequately, and when the goods storage and retrieval mechanism 10 leaves later, the goods 20 may be further deviated or even fall; the latter situation may cause the goods 20 to be unable to be hooked when the goods 20 need to be shipped out later. This is because the moving distance of the hook component of the goods storage and retrieval mechanism 10 is set in advance.

[0094] In some embodiments, the cargo storage method further comprises the following steps:

[0095] Step S600: laser scanning to obtain point cloud information of the stored goods 20 at the target storage location.

[0096] After the goods 20 are pushed to the target storage location, the goods storage and retrieval mechanism 10 still stays at the working position and has not left. Therefore, the laser scanning device 4 of the goods storage and retrieval mechanism 10 can be directly used to scan and obtain the point cloud information of the stored goods 20.

[0097] Step S700, judging whether the storage location of the goods 20 meets the requirements according to the point cloud information of the goods 20 in the target storage location.

[0098] According to the point cloud information of the goods 20, the distance between the laser scanning device 4 and the goods 20 can be obtained, which is the distance in the extension direction of the hook assembly of the goods storage and retrieval mechanism 10. According to the distance information, it can be judged whether the goods 20 are not stored deep enough or too deep. Whether the storage is too deep or not deep enough, it means that the storage position of the goods 20 does not meet the requirements.

[0099] Step S800: If the storage position of the goods 20 in the target storage location does not meet the requirements, the goods 20 are taken out and then moved back to the target storage location.

[0100] In the above step S800, under the premise that the storage position of the goods 20 does not meet the requirements, the storage position of the goods 20 is changed by taking the goods 20 out again and re-storing them, which can greatly improve the accuracy of the storage position of the goods 20 and improve the success rate of subsequent outbound operations.

[0101] Some other embodiments are described below.

[0102] Figure 6 A schematic diagram of a state in which a mechanism is blocked when the cargo storage method provided in an embodiment of the present invention detects whether a target storage location is occupied. Figure 7 A schematic diagram of a state in which a mechanism is blocked when the cargo storage method provided in an embodiment of the present invention detects whether a target storage location is occupied. Figure 8 A schematic diagram of a method for determining whether a laser is blocked by a cargo 20 on a cargo storage and retrieval mechanism 10 in a cargo storage method provided in an embodiment of the present invention.

[0103] See also Figure 6 and Figure 7 In the above step S300, since the cargo storage and retrieval mechanism 10 is still placed on the cargo storage and retrieval mechanism 10 when acquiring the point cloud information of the target storage location, the cargo 20 may block the scanning path of the laser scanning device 4, see Figure 6 As shown, the red laser cannot reach the target storage location, resulting in the inability of the laser scanning to obtain the complete point cloud information of the target storage location. At this time, after the step of the cargo storage and retrieval mechanism 10 obtaining the point cloud information of the target storage location through laser scanning, the cargo storage method also includes the following steps: moving the cargo 20 carried by the cargo storage and retrieval mechanism 10 on the cargo storage and retrieval mechanism 10 so that the cargo 20 is away from the target storage location, leaving more scanning space for the laser scanning device 4 to obtain more point cloud information of the target storage location. If the data of the target storage location obtained by the laser scanning device 4 is discontinuous, it means that the cargo 20 has blocked the laser emitted by the laser scanning device 4. The cargo 20 is located on the path of the laser, such as Figure 7 (a) shows the position of the cargo 20 carried by the cargo storage and retrieval mechanism 10, and the position of the cargo 20 on the cargo storage and retrieval mechanism 10 is moved so that the cargo 20 avoids the path of the laser. The cargo 20 is placed on the first driving component 22 of the cargo storage and retrieval mechanism 10, and the first driving component 22 is started to change the position of the cargo 20 on the cargo storage and retrieval mechanism 10, and the cargo 20 retreats to the position shown in FIG. Figure 7 At the position indicated by b, the laser emitted by the laser scanning device 4 is no longer blocked by the goods 20, and the laser scanning device 4 can successfully obtain the point cloud information of the target storage location.

[0104] After obtaining the point cloud information of the target storage location, it is possible to calculate whether the target storage location is occupied. Of course, the width of the target storage location can also be calculated.

[0105] Figure 8 A schematic diagram of determining the height of a cargo 20 on a cargo storage and retrieval mechanism 10 according to the cargo storage method provided in an embodiment of the present invention. Fig. 9 A schematic diagram of a state of determining the height of a cargo 20 on a cargo storage and retrieval mechanism 10 in a cargo storage method provided by an embodiment of the present invention.

[0106] See also Figure 8 and Fig. 9 In some embodiments, the height of the working position of the cargo storage and retrieval mechanism 10 may not match the height of the target storage location. Therefore, in addition to determining whether the target storage location meets the storage requirements of the cargo 20, it is also necessary to determine whether the height of the cargo 20 on the cargo storage mechanism 20 matches the height of the target storage location. Only when the two match, the cargo storage and retrieval mechanism 10 can successfully push the cargo 20 to the target storage location. Otherwise, if the height of the cargo 20 is lower than the height of the target storage location, the cargo 20 may be stuck outside the target storage location and cannot enter. Therefore, in some embodiments, the cargo storage method further includes the following steps:

[0107] Step S900, the cargo storage and retrieval mechanism 10 obtains the height information of the target storage location through laser scanning. The scanning parallelism of the laser scanning device 4 described above is basically parallel to the horizontal plane. In order to obtain the height information of the target storage location, a laser scanning device 5 with a scanning plane vertical to the horizontal plane can be set up to obtain the height information of the target storage location through the laser scanning device 5.

[0108] In the above step S900, see Fig. 9 The cargo storage and retrieval mechanism 10 obtains the height information of the target storage location through laser scanning, which specifically includes the following steps:

[0109] First, when the cargo storage and retrieval mechanism 10 reaches the vicinity of the target storage location by means of the encoder, the point cloud information of the storage location beam 31 in front of the target storage location is obtained by means of the laser scanning device 5 arranged on the side of the cargo storage and retrieval mechanism 10. When the cargo storage and retrieval mechanism 10 is in the working position, the beam 31 closest to the cargo storage and retrieval mechanism 10 is the beam of the target storage location. Alternatively, the point cloud information of multiple beams of the shelf 30 closest to the cargo storage and retrieval mechanism 10 is obtained at the working position, such as three, five or seven beams. Among these beams, the beam located in the middle of the shelf height direction is the beam 31 of the target storage location.

[0110] Secondly, the height information of the target storage location is calculated based on the point cloud information of the beam 31. In other embodiments, the height deviation between the target storage location and the bearing surface of the cargo storage and retrieval mechanism 10 for carrying the cargo 20 is calculated based on the point cloud information of the beam 31, and whether the cargo storage and retrieval mechanism 10 can successfully store the cargo 20 is determined based on the deviation.

[0111] The ideal box delivery height of the cargo storage and retrieval mechanism 10 is calculated based on the acquired point cloud information of the crossbeam 31. According to the box delivery height, the cargo storage and retrieval mechanism 10 is controlled to move to a specified position to ensure the safety and reliability of cargo storage.

[0112] Step S1000, based on the height information of the target storage location, calculate whether the height of the carrying surface of the cargo storage and retrieval mechanism 10 for carrying the cargo 20 is consistent with the height of the target storage location.

[0113] Step S1100: If the height of the carrying surface of the cargo storage and retrieval mechanism 10 for carrying the cargo 20 matches the height of the target storage location, the cargo 20 carried by the cargo storage and retrieval mechanism 10 is moved to the target storage location.

[0114] Step S1200, if the height of the carrying surface of the cargo storage and retrieval mechanism 10 for carrying the cargo 20 does not match the height of the target storage location, adjust the height of the cargo storage and retrieval mechanism 10 until the height of the carrying surface of the cargo storage and retrieval mechanism 10 for carrying the cargo 20 matches the height of the target storage location.

[0115] As described above, the cargo storage and retrieval mechanism 10 can be moved vertically or horizontally along the shelf 30 . By moving the cargo storage and retrieval mechanism 10 vertically along the shelf 30 , the height of the cargo storage and retrieval mechanism 10 can be changed.

[0116] An embodiment of the present invention provides a cargo storage system, including a memory and a processor coupled to the memory, wherein the processor is configured to execute the cargo storage method in any one of the aforementioned embodiments based on instructions stored in the memory.

[0117] The memory may include, for example, a system memory, a fixed non-volatile storage medium, etc. The system memory may store, for example, an operating system, an application program, a boot loader, and other programs.

[0118] Some embodiments of the present disclosure further provide a computer-readable storage medium having a computer program stored thereon, wherein when the program is executed by a processor, the cargo storage method in any of the above embodiments is implemented.

[0119] The processor described herein may include a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic, a discrete hardware component, or any combination thereof designed to perform the functions described herein to implement or execute. A general-purpose processor may be a microprocessor, but in an alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. The processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors cooperating with a DSP core, or any other such configuration.

[0120] Storage media can be any available media that can be accessed by a computer. As an example and not limitation, such computer-readable media may include RAM, ROM, EEPROM, CD-ROM or other optical disk storage, disk storage or other magnetic storage devices, or any other media that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer. Any connection is also properly referred to as a computer-readable medium. For example, if the software is transmitted from a website, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwaves, the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwaves are included in the definition of the medium. As used herein, disks (disk) and discs (disc) include compact discs (CDs), laser discs, optical discs, digital versatile discs (DVDs), floppy disks, and blue-ray discs, wherein disks (disk) often reproduce data magnetically, and discs (disc) reproduce data optically with lasers. The above combination should also be included in the scope of computer-readable media.

[0121] Those skilled in the art will appreciate that the method embodiments of the present disclosure may be provided as methods, systems, or computer program products. Therefore, the present disclosure may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present disclosure may take the form of a computer program product implemented on one or more computer-usable non-transient storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0122] The present disclosure is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0123] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0124] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0125] In the description of the present invention, it is necessary to understand that the terms "center", "longitudinal", "lateral", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the protection content of the present invention. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0126] In the description of the present invention, each technical feature may be combined with other technical features where feasible.

[0127] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein, but these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A cargo storage method, characterized in that: The following steps are involved: The cargo storage and retrieval mechanism (10) determines the storage coordinates of the target storage location on the shelf (30) according to the acquired box storage task; wherein the cargo storage and retrieval mechanism (10) carries cargo (20); The cargo storage and retrieval mechanism (10) drives the cargo (20) to move to a working position corresponding to the target storage location according to the storage coordinates; The cargo storage and retrieval mechanism (10) acquires point cloud information of the target storage location through laser scanning; Determining whether the target storage location meets the cargo storage requirements according to the point cloud information of the target storage location; If the target storage location meets the cargo storage requirements, the cargo (20) is moved from the cargo storage and retrieval mechanism (10) to the target storage location of the shelf (30).

2. The cargo storage method according to claim 1, characterized in that: The step of judging whether the target storage location meets the cargo storage requirements according to the point cloud information of the target storage location specifically includes the following steps: According to the point cloud information of the target storage location, determining whether the target storage location is occupied, and / or calculating that the width of the target storage location is greater than the width of the goods (20); If the target storage location is not occupied, and / or the width of the target storage location is greater than the width of the goods (20), then the target storage location meets the goods storage requirements.

3. The cargo storage method according to claim 2, characterized in that: The width of the target storage location is calculated as follows: The width of the target storage location is calculated based on the acquired point cloud information of the target storage location; or the shortest distance between the goods (20) on both sides of the target storage location in the acquired point cloud information of the target storage location is used as the width of the target storage location.

4. The cargo storage method according to claim 2, characterized in that: The following steps are also included: If the target storage location is occupied, a new target storage location is allocated for the goods (20).

5. The cargo storage method according to claim 2, characterized in that: The following steps are also included: If the width of the target storage location is less than or equal to the width of the goods (20), the target storage location is reallocated to the goods (20).

6. The cargo storage method according to claim 1, characterized in that: The following steps are also included: The laser scanning acquires point cloud information of the stored goods (20) at the target storage location; Determining, based on the point cloud information of the goods (20), whether the storage position of the goods (20) at the target storage location meets the requirements; If the storage position of the goods (20) at the target storage location does not meet the requirements, the goods (20) are taken out and then moved back to the target storage location.

7. The cargo storage method according to claim 1, characterized in that: After the step of the cargo storage and retrieval mechanism (10) acquiring the point cloud information of the target storage location by laser scanning, the following steps are also included: The position of the goods (20) carried by the goods storage and retrieval mechanism (10) on the goods storage and retrieval mechanism (10) is moved so that the goods (20) are away from the target storage location.

8. The cargo storage method according to claim 1, characterized in that: The following steps are also included: The cargo storage and retrieval mechanism (10) acquires the height information of the target storage location through laser scanning; Calculating, based on the height information of the target storage location, whether the height of the carrying surface of the cargo storage and retrieval mechanism (10) for carrying the cargo (20) is consistent with the height of the target storage location; If the height of the carrying surface of the cargo storage and retrieval mechanism (10) for carrying the cargo (20) matches the height of the target storage location, the cargo (20) carried by the cargo storage and retrieval mechanism (10) is moved to the target storage location.

9. The cargo storage method according to claim 8, characterized in that: The following steps are also included: If the height of the carrying surface of the cargo storage and retrieval mechanism (10) for carrying the cargo (20) does not match the height of the target storage location, the height of the cargo storage and retrieval mechanism (10) is adjusted until the height of the carrying surface of the cargo storage and retrieval mechanism (10) for carrying the cargo (20) matches the height of the target storage location.

10. The cargo storage method according to claim 8, characterized in that: The cargo storage and retrieval mechanism (10) acquires the height information of the target storage location through laser scanning, specifically comprising the following steps: Acquire point cloud information of the beam at the target storage location at the working position; The height information of the target storage location is calculated based on the point cloud information of the beam.

11. A cargo storage system, characterized in that: include: Memory; and A processor coupled to the memory, wherein the processor is configured to execute the cargo storage method according to any one of claims 1 to 10 based on instructions stored in the memory.

12. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the program is executed by a processor, the cargo storage method according to any one of claims 1 to 10 is implemented.

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