Goods taking method and device and shuttle vehicle

Abstract

The invention discloses a goods taking method and device, a computer readable medium, electronic equipment, a shuttle vehicle and a computer program product. According to one specific embodiment, the method comprises the steps that in the posture changing process of a shifting fork, whether power parameters of the shifting fork are abnormal or not is determined, and the shifting fork is arranged on a pallet fork of the shuttle vehicle and used for applying pulling force to a target container in the shrinking process of the pallet fork; in response to abnormal determination, controlling a pallet fork and a shifting fork to correct the pose of the target container; and a pallet fork and a shifting fork are controlled to move the target container with the posture corrected to a shuttle vehicle. According to the method, the shuttle vehicle can automatically execute the cargo taking task on the cargo boxes with the poses changed, and the cargo taking success rate and the cargo taking efficiency of the warehousing system are improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of computer technology, specifically to the field of automated warehousing technology, and in particular to a method and device for picking up goods, a computer-readable medium, an electronic device, a shuttle vehicle, and a computer program product. Background Art

[0002] The shuttle rack system is a high-density automated storage system that has been widely used and developed in recent years. As the shuttles reciprocate on the shelves at a high speed, the shelves vibrate slightly, which may cause the cargo boxes on the storage positions to move to the rear, or tilt at a certain angle in the left and right directions, and the position of the cargo boxes is changed. This is a common problem in current storage systems. In the case of the above-mentioned cargo box position change, the shuttles often cannot automatically pick up the cargo boxes during the picking process. Summary of the invention

[0003] The embodiments of the present application provide a method, device, computer-readable medium, electronic device, shuttle vehicle and computer program product for picking up goods.

[0004] In a first aspect, an embodiment of the present application provides a method for picking up goods, comprising: determining whether a power parameter of a shift fork is abnormal during a posture change of a shift fork, wherein the shift fork is arranged on a fork of a shuttle vehicle, and is used to apply a pulling force to a target cargo box during a retraction process of the fork; in response to determining an abnormality, controlling the fork and the shift fork to correct the posture of the target cargo box; and controlling the fork and the shift fork to move the target cargo box with the corrected posture to the shuttle vehicle.

[0005] In some examples, the above-mentioned control of the fork and the shift fork to correct the position and posture of the target cargo box includes: controlling the fork to move the shift fork to the fulcrum of the target cargo box; controlling the fork to retract, and during the retraction process of the fork, controlling the shift fork to apply a pulling force to the target cargo box with the help of the fulcrum to correct the position and posture of the target cargo box.

[0006] In some examples, two forks are symmetrically arranged on the shuttle, and each fork is provided with a shift fork, and force points are symmetrically arranged on the target cargo box. Before the above-mentioned control of the fork retraction, it also includes: for each shift fork, changing the posture of the shift fork until the shift fork abuts against the force point of the adjacent fork.

[0007] In some examples, the above-mentioned control of the fork and the shift fork to move the target cargo box with corrected posture to the shuttle includes: controlling the fork to extend to move the shift fork to the target position of the target end of the target cargo box, wherein the target end is the end of the target cargo box away from the shuttle; controlling the fork to retract, and during the retraction process of the fork, controlling the shift fork to apply a pulling force to the target end to move the target cargo box to the shuttle.

[0008] In some examples, determining whether the power parameters of the shift fork are abnormal during the posture change of the shift fork includes: obtaining the power parameters of the shift fork during the posture change of the shift fork; and determining whether the power parameters are abnormal based on a comparison result between the power parameters and normal power parameters of the shift fork under normal operating conditions.

[0009] In some examples, before determining whether the power parameters of the fork are abnormal during the above-mentioned posture change process of the fork, it also includes: parsing the picking task output by the warehouse control system to determine the cargo box position of the target cargo box; controlling the shuttle car to run to the cargo box position; controlling the fork to extend to a specified length, wherein the specified length matches the length of the target cargo box in the extension direction of the fork.

[0010] In some examples, the method further includes: setting a limit value of a power parameter for a power device of the shift fork to control the power device to operate below the limit value.

[0011] In the second aspect, an embodiment of the present application provides a cargo picking device, comprising: an abnormality determination unit, configured to determine whether a power parameter of a shift fork is abnormal during a posture change of the shift fork, wherein the shift fork is arranged on the fork of a shuttle vehicle, and is used to apply a pulling force to a target cargo box during the retraction of the fork; a posture correction unit, configured to control the fork and the shift fork to correct the posture of the target cargo box in response to determining an abnormality; and a cargo picking unit, configured to control the fork and the shift fork to move the target cargo box with the corrected posture to the shuttle vehicle.

[0012] In some examples, the posture correction unit is further configured to: control the fork to move the fork to the fulcrum of the target cargo box; control the fork to retract, and during the retraction process of the fork, control the fork to apply a pulling force to the target cargo box with the help of the fulcrum to correct the posture of the target cargo box.

[0013] In some examples, two forks are symmetrically arranged on the shuttle, each of the two forks is provided with a shift fork, force points are symmetrically arranged on the target cargo box, and the posture correction unit is further configured to: for each shift fork, change the posture of the shift fork until the shift fork abuts against the force point of the adjacent fork.

[0014] In some examples, the picking unit is further configured to: control the fork to extend to move the fork to a target position of a target end of a target cargo box, wherein the target end is an end of the target cargo box away from the shuttle; control the fork to retract, and during the retraction process of the fork, control the fork to apply a pulling force to the target end to move the target cargo box onto the shuttle.

[0015] In some examples, the abnormality determination unit is further configured to: obtain a power parameter of the shift fork during a posture change of the shift fork; and determine whether the power parameter is abnormal based on a comparison result between the power parameter and a normal power parameter of the shift fork under normal operating conditions.

[0016] In some examples, the above-mentioned device also includes: a parsing unit, configured to parse the picking task output by the warehouse control system and determine the cargo box position of the target cargo box; an operation unit, configured to control the shuttle vehicle to run to the cargo box position; and a fork control unit configured to control the fork to extend to a specified length, wherein the specified length matches the length of the target cargo box in the extension direction of the fork.

[0017] In some examples, the apparatus further includes: a power limiting unit configured to set a limit value of a power parameter for a power device of the shift fork to control the power device to operate below the limit value.

[0018] In a third aspect, an embodiment of the present application provides a computer-readable medium having a computer program stored thereon, wherein when the program is executed by a processor, the method described in any implementation manner of the first aspect is implemented.

[0019] In a fourth aspect, an embodiment of the present application provides an electronic device, comprising: one or more processors; a storage device on which one or more programs are stored, and when the one or more programs are executed by one or more processors, the one or more processors implement the method described in any implementation manner of the first aspect.

[0020] In a fifth aspect, an embodiment of the present application provides a shuttle vehicle, comprising: a shuttle vehicle body and an electronic device as shown in the fourth aspect and arranged on the shuttle vehicle body.

[0021] In a sixth aspect, an embodiment of the present application provides a computer program product, including: a computer program, which implements the method described in any implementation manner of the first aspect when executed by a processor.

[0022] The picking method and device provided in the embodiment of the present application determine whether the power parameters of the fork are abnormal during the process of the fork's posture change, wherein the fork is set on the fork of the shuttle car, and is used to apply pulling force to the target cargo box during the retraction process of the fork; in response to the determination of the abnormality, the fork and the shift fork are controlled to correct the posture of the target cargo box; the fork and the shift fork are controlled to move the target cargo box with the corrected posture to the shuttle car, so that the shuttle car can automatically perform the picking task for the cargo box with the changed posture, thereby improving the picking success rate and picking efficiency of the warehousing system. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0024] Figure 1 is an exemplary system architecture diagram in which an embodiment of the present application may be applied;

[0025] Figure 2 is a flow chart of an embodiment of a method for picking up goods according to the present application;

[0026] Figure 3 is a schematic structural diagram of a shuttle vehicle storage system according to this embodiment;

[0027] Figure 4 is a schematic structural diagram of a shuttle vehicle according to this embodiment;

[0028] Figure 5 is a schematic diagram of the shuttle vehicle picking up goods under normal circumstances according to this embodiment;

[0029] Figure 6 is a schematic diagram of a situation where the cargo box changes its posture according to this embodiment;

[0030] Figure 7 is a schematic diagram of another situation where the cargo box changes its posture according to this embodiment;

[0031] Figure 8 is a schematic diagram of controlling the fork to move the fork to the force point of the target cargo box according to this embodiment;

[0032] Fig. 9 is a schematic diagram of correcting the position and posture of the target cargo box according to this embodiment;

[0033] Fig.10 is a schematic diagram of moving target cargo to a shuttle vehicle according to this embodiment;

[0034] Fig.11 is a schematic diagram of an application scenario of the method for picking up goods according to this embodiment;

[0035] Fig.12 is a flow chart of another embodiment of the method for picking up goods according to the present application;

[0036] Fig.13 is a structural diagram of an embodiment of a pickup device according to the present application;

[0037] Fig.14 It is a structural diagram of a computer system suitable for implementing the embodiments of the present application. DETAILED DESCRIPTION

[0038] The present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It should also be noted that, for ease of description, only the parts related to the relevant invention are shown in the accompanying drawings.

[0039] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0040] It should be noted that the collection, collection, updating, analysis, processing, use, transmission, storage and other aspects of user personal information involved in the technical solution of this disclosure are in compliance with the provisions of relevant laws and regulations, are used for legitimate purposes, and do not violate public order and good morals. Necessary measures are taken for user personal information to prevent illegal access to user personal information data and maintain the security of user personal information, network security and national security.

[0041] Figure 1 An exemplary architecture 100 is shown to which the pickup method and apparatus of the present application can be applied.

[0042] like Figure 1 As shown, the system architecture 100 may include terminal devices 101, 102, 103, a network 104 and a server 105. The communication connection between the terminal devices 101, 102, 103 constitutes a topological network, and the network 104 is used to provide a medium for the communication link between the terminal devices 101, 102, 103 and the server 105. The network 104 may include various connection types, such as wired, wireless communication links or optical fiber cables, etc.

[0043] The terminal devices 101, 102, 103 can interact with the server 105 through the network 104 to receive or send data, etc. The terminal devices 101, 102, 103 can be hardware devices or software that support network connection for data interaction and data processing. When the terminal devices 101, 102, 103 are hardware, they can be various electronic devices that support network connection, information acquisition, interaction, display, processing and other functions, including but not limited to shuttle vehicles in automated warehousing systems, smart phones, on-board computers, tablet computers, e-book readers, laptop portable computers and desktop computers, etc. When the terminal devices 101, 102, 103 are software, they can be installed in the electronic devices listed above. It can be implemented as multiple software or software modules for providing distributed services, for example, or it can be implemented as a single software or software module. No specific limitation is made here.

[0044] The server 105 may be a server that provides various services. For example, after determining that the position of the cargo box has been changed according to the power parameters of the forks of the terminal devices 101, 102, and 103, the cargo box is moved to the background processing server on the shuttle vehicle in combination with a two-step pickup method of first correcting the position of the cargo box and then picking up the cargo. As an example, the server 105 may be a cloud server.

[0045] It should be noted that the server can be hardware or software. When the server is hardware, it can be implemented as a distributed server cluster consisting of multiple servers, or it can be implemented as a single server. When the server is software, it can be implemented as multiple software or software modules (for example, software or software modules used to provide distributed services), or it can be implemented as a single software or software module. No specific limitation is made here.

[0046] It should also be noted that the pickup method provided in the embodiments of the present application can be executed by a server, or by a terminal device, or by the server and the terminal device in cooperation with each other. Accordingly, the various parts (e.g., various units) included in the pickup device can be all set in the server, or all set in the terminal device, or can be set in the server and the terminal device respectively.

[0047] It should be understood that Figure 1 The number of terminal devices, networks, and servers in the system is only illustrative. Depending on the implementation requirements, there may be any number of terminal devices, networks, and servers. When the electronic device on which the pickup method is running does not need to transmit data with other electronic devices, the system architecture may only include the electronic device (such as a server or terminal device) on which the pickup method is running.

[0048] Continue to refer Figure 2 , a process 200 of an embodiment of a method for picking up goods is shown, comprising the following steps:

[0049] Step 201, during the posture change process of the shift fork, determining whether the power parameters of the shift fork are abnormal.

[0050] In this embodiment, the execution entity of the pickup method (for example Figure 1 The terminal device or server in the fork can determine whether the power parameter of the fork is abnormal during the posture change of the fork. The fork is set on the fork of the shuttle vehicle and is used to apply a pulling force to the target cargo box during the retraction process of the fork.

[0051] Continue to refer Figure 3 , showing the structural schematic diagram of the shuttle car garage system.

[0052] The shuttle car vertical warehouse system includes a shelf 301, a cargo box 302 and a shuttle car 303. The shelf includes a track for the shuttle car to travel and a multi-layer storage space for placing the cargo box, and a cargo box can be placed on each storage space.

[0053] Continue to refer Figure 4 , showing a schematic structural diagram of the shuttle.

[0054] The shuttle vehicle includes a vehicle frame 3011, a wheel train action module 3012, a fork mechanism 3013, a cargo box guide mechanism 3014, and a fork mechanism 3015 on the fork mechanism. A storage cavity for placing the cargo box is provided in the middle of the shuttle vehicle, and the fork mechanisms are symmetrically and slidably (or telescopically) provided on both sides of the storage cavity. Multiple groups of fork mechanisms are symmetrically provided on the two fork mechanisms. For example, fork mechanisms are provided at both ends and in the middle of the fork mechanism.

[0055] Continue to refer Figure 5 , which shows a schematic diagram of the shuttle picking up goods under normal circumstances.

[0056] like Figure 5 As shown, the cargo boxes are evenly distributed on the cargo box storage positions on both sides of the shuttle. When the shuttle receives the picking task issued by the warehouse control system, it first parses the picking task and identifies the specific location of the cargo box. After the shuttle wheel system moves to the location of the cargo box, first, the fork mechanism extends the specified length; then, the fork rotates around the extension direction of the fork, changing from a coincident posture with the fork to a perpendicular posture with the fork; then, the shuttle controls the fork mechanism to retract, and during the retraction process, a pulling force is applied to the cargo box through the fork, thereby moving the goods to the accommodating cavity on the shuttle. Among them, the specified length matches the length of the cargo box in the extension direction of the fork. For example, the specified length is slightly longer than the length of the cargo box in the extension direction of the fork, so that the rotated fork is in the gap between the two cargo boxes placed opposite each other, so that the fork can be lowered smoothly.

[0057] Continue to refer Figure 6 , which shows a schematic diagram of a situation where the cargo box changes its position.

[0058] On the same shelf, one of the two boxes placed opposite each other moves backward (moves closer to the other box), causing the adjacent ends of the two boxes to touch each other, and the gap between the two boxes disappears. In this case, when the shuttle picks up the goods, the fork will be blocked by the box during the rotation process, so when the fork is retracted, the fork cannot provide pulling force on the box, resulting in failure to pick up the goods.

[0059] Continue to refer Figure 7 , showing a schematic diagram of another situation where the cargo box changes its position.

[0060] The cargo box is tilted in the left and right directions. In the skewed state, one end corner of the cargo box away from the shuttle vehicle exceeds the extension and retraction range of the fork; or one end corner away from the shuttle vehicle contacts another cargo box placed opposite, which also causes the fork to be blocked by the cargo box during the rotation process. As a result, when the fork is retracted, the fork cannot provide pulling force to the cargo box, resulting in failure to pick up the goods.

[0061] When the above situation occurs, during the posture change of the shift fork, the power parameters of the power device of the shift fork become abnormal. The power parameters are, for example, the current, torque and other parameters of the shift fork.

[0062] In this embodiment, after the shuttle extends the fork to a specified length, the fork is controlled to rotate around the telescopic direction of the fork. During the posture change of the fork, it is determined whether the power parameter of the fork is abnormal, thereby determining whether to change the control logic of the picking process.

[0063] When an abnormality is determined, the subsequent steps 202-203 are used to execute the logic of picking up goods under abnormal conditions; when it is determined to be normal, the posture change process of the fork is completed, and the fork is changed from a posture that overlaps with the fork to a posture that is perpendicular to the fork; then, the shuttle controls the fork mechanism to retract, and during the retraction process, a pulling force is applied to the cargo box through the fork, thereby moving the goods to the storage cavity on the shuttle.

[0064] It should be noted that for shift forks of different structures, the posture change process is different. Taking the telescopic structure of the shift fork structure different from the above-mentioned figure as an example, the shift fork can also adopt a telescopic structure. When the shift fork is in the extended state, it can provide a pulling force to the cargo box, and when the shift fork is in the retracted state, it does not provide a pulling force to the cargo box.

[0065] In this embodiment, the shuttle generally refers to an RGV (Rail Guided Vehicle) that travels on the shelves; however, the shuttle can also be any robot that uses the above-mentioned fork and shift fork structure to pick up goods, including but not limited to multi-layer material box robots, stackers, miniload (a box-type automated stereoscopic warehouse) automatic stacking cranes, etc.

[0066] In some optional implementations of this embodiment, the execution subject may perform step 201 in the following manner:

[0067] Firstly, during the posture change process of the shift fork, the dynamic parameters of the shift fork are obtained.

[0068] In this implementation, during the posture change of the shift fork, the power parameters of the shift fork are obtained in real time. The shift fork in this implementation is, for example, a shift fork located at the front end of the fork and used to provide pulling force to the cargo box when the fork is retracted.

[0069] Then, based on the comparison result between the power parameter and the normal power parameter of the fork under normal operation, it is determined whether the power parameter is abnormal.

[0070] As an example, the power parameter acquired in real time is compared with the normal power parameter of the fork under normal operation to obtain a comparison result. In response to the comparison result being significantly greater than the normal power parameter, it is determined that the current power parameter is abnormal.

[0071] In this implementation, during the posture change process of the shift fork, parameters are determined and compared in real time, thereby improving the accuracy and timeliness of the abnormality determination result.

[0072] In some optional implementations of the present embodiment, before executing the above step 201, the above execution entity may also perform the following operations: first, parse the picking task output by the warehouse control system to determine the cargo box position of the target cargo box; then, control the shuttle vehicle to run to the cargo box position; finally, control the fork to extend to a specified length, wherein the specified length matches the length of the target cargo box in the extension direction of the fork.

[0073] In this implementation, a complete method for picking up goods is provided, which improves the comprehensiveness of the shuttle vehicle picking up goods process.

[0074] Step 202, in response to determining an abnormality, controlling the forks and the shift fork to correct the position and posture of the target container.

[0075] In this embodiment, in response to determining that the power parameters of the shift fork are abnormal, the above-mentioned execution body can control the fork and the shift fork to correct the posture of the target cargo box.

[0076] As an example, each fork is provided with a group of forks including a plurality of forks arranged adjacent to each other, and the above-mentioned execution body can control the rotation of the plurality of forks to change their postures. For a skewed target cargo box, the above-mentioned execution body can determine the group of forks that first contacts the cargo box from the two groups of forks on the two forks according to the power parameters of the forks, and only control the group of forks to apply pressure to the target cargo box, and return the other group of forks to the initial posture that coincides with the forks, so as to correct the posture of the target cargo box. For the situation where the cargo boxes placed relatively to each other come into contact due to the backward movement, the above-mentioned execution body can simultaneously control the two groups of forks on the two forks, so that the forks on both sides of the cargo box are in contact with the sides of the cargo box. In the process of retracting the forks, the target cargo box is moved toward the direction of the shuttle based on the friction between the forks and the cargo box, so that a gap is generated between the two cargo boxes that are in contact with each other.

[0077] In some optional implementations of this embodiment, the execution subject may perform the second step in the following manner:

[0078] The first step is to control the fork to move the fork to the fulcrum of the target cargo box.

[0079] Continue to refer Figure 8 , showing a schematic diagram of controlling the fork to move the fork to the fulcrum of the target cargo box.

[0080] As an example, during the posture change process of the fork, in response to determining that the power parameters of the fork are abnormal, the posture change process of the fork is stopped, and the fork is returned to the original posture (the posture that coincides with the fork); the fork is controlled to retract to move the fork to the fulcrum of the target cargo box.

[0081] Among them, the fulcrum points of the target cargo box are, for example, reinforcement ribs, raised parts, recessed parts, etc. on the side of the cargo box.

[0082] The second step is to control the fork to retract, and during the retraction process of the fork, control the fork to apply a pulling force to the target cargo box with the help of the force point to correct the position of the target cargo box.

[0083] Continue to refer Fig. 9 , which shows a schematic diagram of correcting the position and posture of the target cargo box.

[0084] As an example, the above-mentioned execution entity can control the fork to rotate around the fork so that the fork abuts against the fulcrum of the target cargo box; control the fork to retract, and during the retraction process of the fork, control the fork to apply pulling force to the target cargo box with the help of the fulcrum to correct the position of the target cargo box.

[0085] In this implementation, based on the original structure of the shuttle, the position correction operation of the target cargo box is achieved by controlling the cargo fork and the shift fork, thereby improving the operability of the correction process.

[0086] In some optional implementations of the present embodiment, two forks are symmetrically arranged on the shuttle vehicle, shift forks are respectively arranged on the two forks, and force points are symmetrically arranged on the target cargo box.

[0087] In this implementation, before executing the second step, the execution subject may further perform the following operation: for each shift fork, change the posture of the shift fork until the shift fork abuts against the force point of the adjacent shift fork.

[0088] In this implementation, each fork can be controlled individually, and based on the power parameter, it is determined whether the fork has abutted against the force point of the adjacent fork. For example, in the process of changing the posture of the fork, in response to determining that the power parameter of the fork has increased sharply, it is determined that the fork has abutted against the force point of the adjacent fork, and power is no longer output to the fork, and the current posture of the fork is maintained.

[0089] In this implementation, each shift fork can be set individually, which improves the flexibility and convenience of the operation process based on the shift fork.

[0090] Step 203, controlling the fork and the shift fork to move the target cargo box with the corrected posture to the shuttle.

[0091] In this embodiment, the above-mentioned execution entity can control the fork and the shift fork to move the target cargo box with corrected posture to the shuttle.

[0092] As an example, the above-mentioned execution entity can control the fork to extend to a specified length, and change the fork from a coincident posture with the fork to a perpendicular posture with the fork; then, the shuttle car main controller controls the fork mechanism to retract, and during the retraction process, a pulling force is applied to the cargo box through the fork, thereby moving the cargo to the storage cavity on the shuttle car.

[0093] Continue to refer Fig.10 , a schematic diagram of moving the target cargo to the shuttle is shown.

[0094] In some optional implementations of this embodiment, the execution subject may perform step 203 in the following manner:

[0095] The first step is to control the fork to extend so as to move the fork to a target position at a target end of the target container, wherein the target end is an end of the target container away from the shuttle.

[0096] As an example, during the process of controlling the extension of the fork, it is detected in real time whether the fork moves to the target position of the target end of the target cargo box, and in response to determining that the fork is moved to the target position of the target end of the target cargo box, the extension operation of the fork is stopped.

[0097] The execution entity may detect, through a sensor, whether the shift fork moves to the target position at the target end of the target cargo box.

[0098] The second step is to control the fork to retract, and during the retraction process of the fork, control the fork to apply a pulling force to the target end to move the target cargo box to the shuttle.

[0099] As an example, when the fork moves the shift fork to the target position, the shift fork is controlled to rotate around the fork, changing the shift fork from a coincident posture with the fork to a perpendicular posture with the fork; the fork is controlled to retract, and during the retraction process of the fork, the shift fork applies a pulling force to the target end to move the target cargo box to the shuttle.

[0100] In this implementation, for the target cargo box after posture correction, the fork does not need to be extended to a specified length, but is extended to the target position, which reduces the extension length and the retracted length, thereby helping to improve the shuttle vehicle's picking efficiency.

[0101] In some optional implementations of this embodiment, the execution subject may further perform the following operation: setting a limit value of a power parameter for the power device of the shift fork to control the power device to operate below the limit value.

[0102] Among them, the restriction data can be set according to the actual situation and is not limited here.

[0103] In this implementation, the power device is controlled to operate below the limit value, which can ensure that the fork is not damaged during operation and improve the reliability of the picking process.

[0104] Continue to see Fig.11 , Fig.11 FIG. 1100 is a schematic diagram of an application scenario of the method for picking up goods according to this embodiment. Fig.11 In the application scenario, multiple shuttles are running in the shuttle warehouse, and each shuttle is used to perform a pickup task. For each shuttle 1101, after obtaining the pickup task from the warehouse control system 1102, it determines the target position of the target cargo box indicated by the pickup task and runs to the target position.

[0105] After running to the target position, the shuttle controls the fork to extend to a specified length, and controls the shift fork to rotate around the extension and retraction direction of the fork. During the posture change of the shift fork, it is determined whether the power parameter of the shift fork is abnormal. The shift fork is arranged on the fork of the shuttle, and is used to apply a pulling force to the target cargo box during the retraction of the fork. In response to determining the abnormality, the fork and the shift fork are controlled to correct the posture of the target cargo box. The fork and the shift fork are controlled to move the target cargo box with the corrected posture to the shuttle.

[0106] The method provided by the above-mentioned embodiment of the present application determines whether the power parameters of the shift fork are abnormal during the posture change of the shift fork, wherein the shift fork is arranged on the fork of the shuttle car, and is used to apply pulling force to the target cargo box during the retraction process of the fork; in response to the determination of the abnormality, the cargo fork and the shift fork are controlled to correct the posture of the target cargo box; the cargo fork and the shift fork are controlled to move the target cargo box with the corrected posture to the shuttle car, so that the shuttle car can automatically perform the picking task for the cargo box with the changed posture, thereby improving the picking success rate and picking efficiency of the warehousing system.

[0107] Continue to refer Fig.12 , shows a schematic process 1200 of another embodiment of the method for picking up goods according to the present application, including the following steps:

[0108] Step 1201, parse the picking task output by the warehouse control system to determine the cargo box position of the target cargo box.

[0109] Step 1202, control the shuttle vehicle to move to the cargo box position.

[0110] Step 1203, controlling the fork to extend to a specified length.

[0111] The specified length matches the length of the target cargo box in the extension and retraction direction of the fork.

[0112] Step 1204: during the posture change process of the shift fork, determine whether the power parameters of the shift fork are abnormal.

[0113] The shift fork is arranged on the fork of the shuttle vehicle and is used to apply a pulling force to the target cargo box during the retraction process of the fork.

[0114] Step 1205: In response to determining that an abnormality has occurred, the fork is controlled to move to a force point of the target cargo box.

[0115] Step 1206: for each shift fork, change the posture of the shift fork until the shift fork abuts against the force point of the adjacent shift fork.

[0116] Two forks are symmetrically arranged on the shuttle vehicle, shift forks are respectively arranged on the two forks, and force points are symmetrically arranged on the target cargo box.

[0117] Step 1207, controlling the fork to retract, and during the retraction process of the fork, controlling the fork to apply a pulling force to the target container by means of a force point, so as to correct the position and posture of the target container.

[0118] Step 1208, controlling the fork to extend to move the fork to a target position at a target end of the target cargo box.

[0119] The target end is the end of the target cargo box away from the shuttle.

[0120] Step 1209, controlling the fork to retract, and during the retraction process of the fork, controlling the shift fork to apply a pulling force to the target end to move the target cargo box to the shuttle.

[0121] It can be seen from this embodiment that Figure 2 Compared with the corresponding embodiments, the process 1200 of the picking method in this embodiment specifically illustrates the posture correction process of the target cargo box and the picking process of the target cargo box after the posture correction, further improving the picking success rate and picking efficiency of the warehousing system.

[0122] Continue to refer Fig.13 As an implementation of the methods shown in the above figures, the present application provides an embodiment of a pickup device, which is similar to Figure 2 Corresponding to the method embodiment shown, the device can be specifically applied to various electronic devices.

[0123] like Fig.13As shown, the picking device 1300 includes: an abnormality determination unit 1301 is configured to determine whether the power parameters of the fork are abnormal during the posture change of the fork, wherein the fork is set on the fork of the shuttle car, and is used to apply pulling force to the target cargo box during the retraction of the fork; the posture correction unit 1302 is configured to control the fork and the shift fork to correct the posture of the target cargo box in response to determining the abnormality; the picking unit 1303 is configured to control the fork and the shift fork to move the target cargo box with the corrected posture to the shuttle car.

[0124] In some optional implementations of the present embodiment, the posture correction unit 1302 is further configured to: control the fork to move the fork to the fulcrum of the target cargo box; control the fork to retract, and during the retraction process of the fork, control the fork to apply pulling force to the target cargo box with the help of the fulcrum, so as to correct the posture of the target cargo box.

[0125] In some optional implementations of this embodiment, two forks are symmetrically arranged on the shuttle vehicle, each of the two forks is provided with a shift fork, force points are symmetrically arranged on the target cargo box, and the posture correction unit 1302 is further configured to: for each shift fork, change the posture of the shift fork until the shift fork abuts against the force point of the adjacent fork.

[0126] In some optional implementations of the present embodiment, the picking unit 1303 is further configured to: control the fork to extend so as to move the fork to the target position of the target end of the target cargo box, wherein the target end is the end of the target cargo box away from the shuttle vehicle; control the fork to retract, and during the retraction process of the fork, control the fork to apply a pulling force to the target end so as to move the target cargo box onto the shuttle vehicle.

[0127] In some optional implementations of this embodiment, the abnormality determination unit 1301 is further configured to: obtain the power parameters of the shift fork during the posture change of the shift fork; and determine whether the power parameters are abnormal based on the comparison results between the power parameters and the normal power parameters of the shift fork under normal operating conditions.

[0128] In some optional implementations of this embodiment, the above-mentioned device also includes: an analysis unit (not shown in the figure) is configured to analyze the picking task output by the warehouse control system and determine the cargo box position of the target cargo box; the operation unit (not shown in the figure) is configured to control the shuttle vehicle to run to the cargo box position; the fork control unit (not shown in the figure) is configured to control the fork to extend to a specified length, wherein the specified length matches the length of the target cargo box in the extension direction of the fork.

[0129] In some optional implementations of this embodiment, the above-mentioned device also includes: a power limiting unit (not shown in the figure) is configured to set a limiting value of a power parameter for the power device of the fork to control the power device to operate below the limiting value.

[0130] In this embodiment, the abnormality determination unit in the picking device is configured to determine whether the power parameters of the fork are abnormal during the posture change of the fork, wherein the fork is arranged on the fork of the shuttle car, and is used to apply pulling force to the target cargo box during the retraction of the fork; the posture correction unit is configured to control the fork and the shift fork to correct the posture of the target cargo box in response to the determination of the abnormality; the picking unit is configured to control the fork and the shift fork to move the target cargo box with the corrected posture to the shuttle car, so that the shuttle car can automatically perform the picking task for the cargo box with the changed posture, thereby improving the picking success rate and picking efficiency of the warehousing system.

[0131] According to an embodiment of the present application, the present application also provides an electronic device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can implement the pickup method described in any of the above embodiments when executing.

[0132] According to an embodiment of the present application, the present application also provides a shuttle vehicle, comprising: a shuttle vehicle body and an electronic device as shown above and arranged on the shuttle vehicle body.

[0133] According to an embodiment of the present application, the present application also provides a readable storage medium, which stores computer instructions, and the computer instructions are used to enable a computer to implement the pickup method described in any of the above embodiments when executed.

[0134] According to an embodiment of the present application, the present application provides a computer program product, which, when executed by a processor, can implement the pickup method described in any of the above embodiments.

[0135] Reference below Fig.14 , which shows a device suitable for implementing the embodiments of the present application (eg Figure 1 A schematic diagram of the structure of a computer system 1400 of the devices 101, 102, 103, 105 shown. Fig.14 The device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0136] like Fig.14As shown, the computer system 1400 includes a processor (e.g., CPU, central processing unit) 1401, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1402 or a program loaded from a storage part 1408 into a random access memory (RAM) 1403. Various programs and data required for the operation of the system 1400 are also stored in the RAM 1403. The processor 1401, ROM 1402, and RAM 1403 are connected to each other via a bus 1404. An input / output (I / O) interface 1405 is also connected to the bus 1404.

[0137] The following components are connected to the I / O interface 1405: an input section 1406 including a keyboard, a mouse, etc.; an output section 1407 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 1408 including a hard disk, etc.; and a communication section 1409 including a network interface card such as a LAN card, a modem, etc. The communication section 1409 performs communication processing via a network such as the Internet. A drive 1410 is also connected to the I / O interface 1405 as needed. A removable medium 1411, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1410 as needed, so that a computer program read therefrom is installed into the storage section 1408 as needed.

[0138] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through the communication part 1409, and / or installed from a removable medium 1411. When the computer program is executed by the processor 1401, the above-mentioned functions defined in the method of the present application are executed.

[0139] It should be noted that the computer-readable medium of the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0140] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the client computer, partially on the client computer, as a separate software package, partially on the client computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the client computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0141] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the device, method and computer program product according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0142] The units involved in the embodiments described in the present application may be implemented by software or by hardware. The described units may also be provided in a processor, for example, may be described as: a processor comprising an abnormality determination unit, a posture correction unit and a cargo pickup unit. Among them, the names of these units do not constitute a limitation on the units themselves in certain cases, for example, the posture correction unit may also be described as "a unit that controls the forks and shift forks to correct the posture of the target cargo box in response to determining an abnormality".

[0143] As another aspect, the present application also provides a computer-readable medium, which may be included in the device described in the above embodiment; or it may exist independently without being assembled into the device. The above computer-readable medium carries one or more programs, and when the above one or more programs are executed by the device, the computer device: determines whether the power parameters of the fork are abnormal during the posture change of the fork, wherein the fork is set on the fork of the shuttle vehicle, and is used to apply a pulling force to the target cargo box during the retraction of the fork; in response to determining the abnormality, controls the fork and the fork to correct the posture of the target cargo box; controls the fork and the fork to move the target cargo box with the corrected posture to the shuttle vehicle.

[0144] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above invention concept. For example, the above features are replaced with the technical features with similar functions disclosed in this application (but not limited to) by each other to form a technical solution.

Claims

1. A method for picking up goods, comprising: During the posture change of the shift fork, determining whether the power parameter of the shift fork is abnormal, wherein the shift fork is arranged on the fork of the shuttle vehicle and is used to apply a pulling force to the target cargo box during the retraction process of the fork; In response to determining the abnormality, controlling the cargo fork and the shift fork to correct the posture of the target cargo box; The cargo fork and the shift fork are controlled to move the target cargo box with corrected posture to the shuttle vehicle.

2. The method according to claim 1, wherein: The controlling the cargo fork and the shift fork to correct the position and posture of the target cargo box includes: Controlling the fork to move the fork to the force point of the target cargo box; The fork is controlled to retract, and during the retraction process of the fork, the fork is controlled to apply a pulling force to the target cargo box by means of the force point to correct the position and posture of the target cargo box.

3. The method according to claim 2, wherein: The shuttle vehicle is symmetrically provided with two forks, the two forks are respectively provided with the shift forks, the target cargo box is symmetrically provided with the force points, and Before controlling the fork to retract, the method further includes: For each of the shift forks, the posture of the shift fork is changed until the shift fork abuts against a force point adjacent to the shift fork.

4. The method according to claim 2, wherein: The controlling the fork and the shift fork to move the target cargo box with a corrected posture to the shuttle vehicle comprises: Controlling the fork to extend so as to move the fork to a target position at a target end of the target container, wherein the target end is an end of the target container away from the shuttle; The fork is controlled to retract, and during the retraction process of the fork, the shift fork is controlled to apply a pulling force to the target end to move the target cargo box onto the shuttle.

5. The method according to claim 1, wherein: In the process of changing the posture of the shift fork, determining whether the power parameter of the shift fork is abnormal includes: During the posture change process of the shift fork, obtaining the power parameters of the shift fork; Whether the power parameter is abnormal is determined based on a comparison result between the power parameter and a normal power parameter of the fork under normal operating conditions.

6. The method according to claim 1, wherein: In the process of changing the posture of the shift fork, before determining whether the power parameter of the shift fork is abnormal, the method further includes: Parsing the picking task output by the warehouse control system to determine the cargo box location of the target cargo box; Controlling the shuttle vehicle to move to the cargo box position; The fork is controlled to extend to a specified length, wherein the specified length matches the length of the target cargo box in the extension direction of the fork.

7. The method according to claim 1, wherein: Also includes: A limit value of a power parameter is set for a power device of the shift fork to control the power device to operate below the limit value.

8. A cargo picking device, comprising: an abnormality determination unit, configured to determine whether a power parameter of the shift fork is abnormal during a posture change of the shift fork, wherein the shift fork is provided on a fork of a shuttle vehicle and is used to apply a pulling force to a target cargo box during a retraction process of the fork; A posture correction unit, configured to control the fork and the shift fork to correct the posture of the target cargo box in response to determining an abnormality; The cargo picking unit is configured to control the cargo fork and the shift fork to move the target cargo box with corrected posture to the shuttle vehicle.

9. A computer readable medium having a computer program stored thereon, wherein: When the program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

10. An electronic device, comprising: one or more processors; a storage device having one or more programs stored thereon, When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 7.

11. A shuttle vehicle, comprising: A shuttle body and an electronic device as claimed in claim 10 and arranged on the shuttle body.

12. A computer program product comprising: A computer program which, when executed by a processor, implements the method according to any one of claims 1 to 7.

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