Container storing and taking device of logistics warehouse and container taking method

Abstract

The invention discloses a container storing and taking device of a logistics warehouse and a container taking method. The container storing and taking device of the logistics warehouse comprises a cargo carrying part; the hook-shaped component can extend towards the outer side of the cargo loading part relative to the cargo loading part so as to hook the cargo box needing to be taken out from the goods shelf or retract towards the inner side of the cargo loading part so as to pull the cargo box towards the cargo loading part; the first driving part is configured to drive the hook-shaped part to stretch out and draw back relative to the cargo carrying part; the second driving part is configured to drive the cargo carrying part to move in the arrangement direction of the cargo boxes; the distance detection component is configured to scan the container in a plane parallel to the bearing surface so as to detect the position of the container relative to the container access device; and the controller is in signal connection with the first driving part, the second driving part and the distance detection part and is configured to control the cargo carrying part to move in the arrangement direction according to the position of the cargo box relative to the cargo box storing and taking device so as to align the cargo box storing and taking device with the cargo box or control the extending distance of the hook-shaped part to the outer side of the cargo carrying part.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics equipment, and in particular to a cargo box storage and retrieval device and a cargo box retrieval method in a logistics warehouse. Background Art

[0002] The shelves in the logistics warehouse include a plurality of storage locations for placing cargo boxes arranged in rows and columns in a vertical plane. Usually, a cargo box storage and retrieval device that can move relative to the shelves in the vertical plane is used to place the cargo box in the corresponding storage location or to take the cargo box out of the storage location to move the cargo box out of the warehouse. The cargo box storage and retrieval device includes a cargo platform and a cargo box push-pull component that extends and retracts relative to the cargo platform. The cargo box push-pull component is used to push the cargo box on the cargo platform to the storage location of the shelf or pull the cargo box on the storage location out of the shelf.

[0003] In some technical solutions, the cargo box push-pull component of the cargo box storage and retrieval device includes a hook-shaped component, which extends to the corresponding position of the outer end of the cargo box and hooks the designated hook position set in advance on the material box to pull the cargo box out of the storage position or push the cargo box into the storage position. Because this method does not require a gap between two adjacent cargo boxes for picking up goods, it is conducive to improving the storage density of the cargo box.

[0004] During the process of the hook component extending to hook the cargo box or retracting to pull the cargo box onto the cargo platform, the moving distance of the hook component is usually controlled based on the storage position of the cargo box recorded by the system, and the extension distance and retraction distance of the hook component are monitored by a displacement monitoring component (such as an encoder).

[0005] Due to shelf vibration, system recording errors and other reasons, the front and rear positions of the cargo boxes may change. If the storage and retrieval operations of the cargo boxes are completed simply by the system default values ​​and the calculation of the encoder, there will often be problems such as the hook-shaped parts not being able to hook the box and not being able to take out the designated cargo box. In addition, it is impossible to confirm whether the cargo box is in place after being taken out, resulting in the situation that the cargo box is not in the right position during the transportation process and scratches other cargo boxes and shelves. Summary of the invention

[0006] The present invention aims to provide a cargo box storage and retrieval device and a cargo box retrieval method for a logistics warehouse, so as to improve the problem existing in the melon technology that the hook-shaped component cannot accurately hook the cargo box due to the deviation between the position of the cargo box and the predetermined position.

[0007] According to one aspect of an embodiment of the present invention, the present invention provides a cargo box storage and retrieval device and a cargo box retrieval method for a logistics warehouse, wherein the cargo box storage and retrieval device for the logistics warehouse comprises:

[0008] The cargo carrying part has a carrying surface for carrying cargo boxes and is configured to be movable along the arrangement direction of the plurality of cargo boxes;

[0009] The hook-shaped member can extend toward the outside of the cargo loading portion relative to the cargo loading portion to hook the cargo box to be taken out from the shelf or retract toward the inside of the cargo loading portion to pull the cargo box toward the cargo loading portion;

[0010] a first driving portion configured to drive the hook-shaped member to extend and retract relative to the cargo carrying portion;

[0011] A second driving unit is configured to drive the cargo carrying unit to move along the arrangement direction of the cargo box;

[0012] a distance detection component configured to scan the cargo box in a plane parallel to the load-bearing surface to detect the position of the cargo box relative to the cargo box storage and retrieval device;

[0013] The controller is signal-connected to the first drive unit, the second drive unit and the distance detection unit respectively, and is configured to control the movement of the cargo-carrying part along the arrangement direction according to the position of the cargo box relative to the cargo box storage and retrieval device so as to align the cargo box storage and retrieval device with the cargo box or to control the distance by which the outer side of the hook-shaped part of the cargo-carrying part extends so as to hook the cargo box.

[0014] In some embodiments, the controller is configured to control the distance detection component to scan the end surface of the cargo box along the extension and retraction direction of the hook-shaped component close to the cargo box storage and retrieval device to obtain the distance between the cargo box and the cargo box storage and retrieval device in the extension and retraction direction, and control the distance that the hook-shaped component extends to the outside of the cargo loading part according to the distance.

[0015] In some embodiments, the controller is configured to control the distance detection component to scan the end surface of the cargo box along the extension and retraction direction of the hook component close to the cargo box storage and retrieval device to obtain the distance between the cargo box and the cargo box storage and retrieval device in the arrangement direction of the cargo box, and control the cargo loading part to move along the arrangement direction according to the distance to align the cargo box storage and retrieval device with the cargo box.

[0016] In some embodiments, the controller is configured to control the distance detection component to scan the end surface of the cargo box close to one end of the cargo box storage and retrieval device along the extension and retraction direction of the hook component to determine whether the end surface is inclined relative to the arrangement direction.

[0017] In some embodiments, a displacement detection component is further included to detect the displacement of the hook-shaped component. The controller is connected to the displacement monitoring component signal and determines whether the speed at which the hook-shaped component retracts toward the inner side of the load-bearing portion is consistent with the speed at which the cargo box moves toward the load-bearing portion.

[0018] In some embodiments, the controller determines whether the hook-shaped member moves to a predetermined position to be separated from the cargo box based on the displacement of the hook-shaped member detected by the displacement detection member.

[0019] In some embodiments, the controller is configured to control the distance detection component to scan the side surface of the cargo box at one end along the arrangement direction of the cargo box or the end surface of the cargo box at one end close to the cargo box storage and retrieval device along the extension and retraction direction of the hook component to determine whether the cargo box has moved to a predetermined position to disengage from the hook component.

[0020] According to another aspect of the present invention, a method for retrieving a cargo box of the cargo box storage and retrieval device is also provided. In some embodiments, the method includes:

[0021] Moving step, the cargo box storage and retrieval device moves along the arrangement direction of the cargo boxes to the position of the cargo box to be taken out from the shelf;

[0022] a hooking step, controlling the distance detection component to scan the cargo box to obtain the distance between the cargo box and the cargo box access device in the extension direction of the hook component, and controlling the hook component to extend outward of the cargo carrying portion by a predetermined distance to hook the cargo box;

[0023] In the pulling step, the hook-shaped member is retracted toward the inner side of the cargo loading portion to pull the cargo box toward the cargo loading portion.

[0024] In some embodiments, the moving step further comprises:

[0025] The distance detection component is controlled to scan the end surface of the cargo box along the extension and retraction direction of the hook-shaped component close to the cargo box storage and retrieval device to obtain the distance between the cargo box and the cargo box storage and retrieval device in the arrangement direction of the cargo box, and the cargo loading part is controlled to move along the arrangement direction according to the distance to align the cargo box storage and retrieval device with the cargo box.

[0026] In some embodiments, the hooking step includes controlling the distance detection component to scan the end surface of the cargo box close to one end of the cargo box storage and retrieval device along the extension and retraction direction of the hook component to obtain the distance between the cargo box and the cargo box storage and retrieval device in the extension and retraction direction.

[0027] In some embodiments, the distance detection component is controlled to scan the end surface of the cargo box close to one end of the cargo box storage and retrieval device along the extension and retraction direction of the hook component to determine whether the end surface is inclined relative to the arrangement direction.

[0028] In some embodiments, the pulling step includes:

[0029] The moving speed of the cargo box and the moving speed of the hook-shaped component are detected, and it is determined whether the moving speeds of the cargo box and the hook-shaped component are consistent. If the speeds are inconsistent, it is determined that the hook-shaped component is detached from the cargo box.

[0030] In some embodiments, it also includes:

[0031] The unhooking step determines whether the cargo box has moved to a predetermined position to be disengaged from the hook-shaped component. If the cargo box has moved to the predetermined position to be disengaged from the hook-shaped component, the hook-shaped component is controlled to separate from the cargo box.

[0032] In some embodiments,

[0033] Control the distance detection component to scan the side surface of the cargo box at one end along the arrangement direction of the cargo box or the end surface of the cargo box at one end close to the cargo box storage and retrieval device along the extension direction of the hook-shaped component to determine whether the cargo box has moved to a predetermined position that is separated from the hook-shaped component;

[0034] The displacement of the hook-shaped component is detected to determine whether the cargo box has moved to a predetermined position where it is disengaged from the hook-shaped component.

[0035] In some embodiments, the distance detection component is controlled to scan the side surface of the cargo box at one end along the arrangement direction of the cargo box to determine whether the cargo box has moved to the target position of the cargo box on the load-bearing portion.

[0036] By applying the technical solution of the present invention, the cargo box storage and retrieval device of the logistics warehouse includes a distance detection component for detecting the position of the cargo box relative to the cargo box storage and retrieval device. Therefore, the distance that the hook-shaped component extends toward the cargo box can be adjusted according to the position of the cargo box, thereby improving the problem in the related art that the hook-shaped component cannot accurately hook the cargo box due to the deviation between the position of the cargo box and the predetermined position.

[0037] Further features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0039] Figure 1 A schematic diagram showing the structure of a cargo box storage and retrieval device of a logistics warehouse according to an embodiment of the invention;

[0040] Figure 2 A schematic diagram showing the working principle of a distance detection component of a cargo box access device of a logistics warehouse according to an embodiment of the invention;

[0041] Figure 3 A schematic diagram showing a first state of a box retrieval process of a box storage and retrieval device of a logistics warehouse according to an embodiment of the invention;

[0042] Figure 4 A schematic diagram showing a second state of a box retrieval process of a box storage and retrieval device of a logistics warehouse according to an embodiment of the invention;

[0043] Figure 5A schematic diagram showing a second state of a box retrieval process of a box storage and retrieval device of a logistics warehouse according to an embodiment of the invention;

[0044] Figure 6 A schematic diagram showing the detection process of a distance detection component of a cargo box storage and retrieval device of a logistics warehouse according to an embodiment of the invention;

[0045] Figure 7 A control system block diagram of a cargo box storage and retrieval device of a logistics warehouse according to an embodiment of the invention is shown. DETAILED DESCRIPTION

[0046] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which the present invention belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention; the terms "including" and "having" in the specification and claims of the present invention and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0048] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0049] In the description of the present invention, it should be noted that, unless otherwise specified, "multiple" means more than two; the terms "upper", "lower", "left", "right", "inside", "outside", etc. indicate positions or positional relationships only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. "Vertical" is not strictly vertical, but is within the allowable error range. "Parallel" is not strictly parallel, but is within the allowable error range.

[0050] The directional words appearing in the following description are all directions shown in the figures, and do not limit the specific structure of the present invention. In the description of the present invention, it should also be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0051] If there is no special explanation, the "include" and "comprising" mentioned in the present invention represent open-ended or closed-ended expressions. For example, the "include" and "comprising" may represent that other components not listed may also be included or only the listed components may be included or only the listed components may be included.

[0052] If not specifically stated, in the present invention, the term "or" is inclusive. For example, the phrase "A or B" means "A, B, or both A and B". More specifically, any of the following conditions satisfies the condition "A or B": A is true (or exists) and B is false (or does not exist); A is false (or does not exist) and B is true (or exists); or both A and B are true (or exist).

[0053] like Figure 1 and 7 As shown, the cargo box storage and retrieval device of the logistics warehouse of this embodiment includes a cargo carrying part 1, a hook-shaped part 2, a first driving part 3, a second driving part 7, a distance detection part 4 and a controller 6.

[0054] The cargo carrying portion 1 has a carrying surface for carrying the cargo boxes 5 , and is configured to be movable along an arrangement direction of the plurality of cargo boxes 5 .

[0055] The hook-shaped member 2 can extend toward the outside of the cargo loading portion 1 relative to the cargo loading portion 1 to hook the cargo box 5 to be taken out from the shelf, or retract toward the inside of the cargo loading portion 1 to pull the cargo box 2 toward the cargo loading portion 1 .

[0056] The first driving part 3 is configured to drive the hook-shaped member 2 to extend and retract relative to the cargo carrying part 1 ; the second driving part 7 is configured to drive the cargo carrying part 1 to move along the arrangement direction of the cargo box 5 .

[0057] The distance detection component 4 is configured to scan the cargo box 5 in a plane parallel to the load-bearing surface to detect the position of the cargo box 5 relative to the cargo box storage and retrieval device.

[0058] The controller 6 is signal-connected to the first drive unit 3, the second drive unit 7 and the distance detection component 4 respectively, and is configured to control the movement of the cargo loading part 1 along the arrangement direction according to the position of the cargo box 5 relative to the cargo box storage and retrieval device to align the cargo box storage and retrieval device with the cargo box 5 or control the distance that the hook-shaped component 2 extends to the outside of the cargo loading part 1.

[0059] Specifically, the shelves of the logistics warehouse include a plurality of vertically arranged rows of storage spaces for storing cargo boxes 5, and each row of storage spaces includes a plurality of storage spaces arranged in a horizontal direction, that is, the arrangement direction of the cargo boxes 5 is horizontal.

[0060] The hook-shaped member 2 can be extended and retracted relative to the cargo-carrying part 1, and can also be moved in the vertical direction relative to the load-bearing part 1. The end surface of the cargo box 5 facing the outer side of the shelf (i.e., the end close to the access device along the extension direction of the hook-shaped member 2) is provided with a hook structure that matches the hook-shaped member 2. After the hook-shaped member 2 extends outward to the bottom of the hook structure, it moves upward for a certain distance to achieve connection with the cargo box 5, so that the cargo box 5 can be pulled onto the cargo-carrying part 1.

[0061] Furthermore, the cargo carrying part 1 includes a frame 11 and a conveyor belt 12 rotatably mounted on the frame 11, and the conveyor belt 12 can drive the cargo box 5 to move along the extension direction of the hook-shaped component 2 to move the cargo box 5 into the cargo carrying part 1 or to the outside of the cargo carrying part 1. In this embodiment, the surface of the conveyor belt 12 constitutes a bearing surface for bearing the cargo box 5.

[0062] In the technical solution of the present invention, the cargo box storage and retrieval device of the logistics warehouse includes a distance detection component 4 for detecting the position of the cargo box 5 relative to the cargo box storage and retrieval device. Therefore, the distance that the hook component 2 extends toward the cargo box 5 can be adjusted according to the position of the cargo box 5, thereby improving the problem in the related art that the hook component 2 cannot accurately hook the cargo box 5 due to the deviation between the position of the cargo box 5 and the predetermined position.

[0063] In some embodiments, see Figures 3 to 5The extension direction of the hook-shaped member 2 is perpendicular to the arrangement direction of the cargo boxes 5. After the cargo box storage and retrieval device moves to the position of the corresponding cargo box 5, the hook-shaped member 2 extends outward to hook the corresponding cargo box 5 and pull the cargo box 5 toward the cargo loading part 1, thereby moving the cargo box 5 on the shelf to the cargo box storage and retrieval device. Then, the cargo box storage and retrieval device carries the cargo box 5 and moves outside the warehouse to complete the removal of the cargo box.

[0064] In some embodiments, the distance detection component 4 includes one of a laser distance measurement sensor and a radar distance measurement sensor. In other embodiments, the distance detection component 4 includes a single-line laser radar.

[0065] See also Figure 2 In this embodiment, the distance detection component 4 is configured to rotate around an axis perpendicular to the load-bearing surface (horizontal plane) of the cargo-carrying portion 1 to scan the position of the cargo box 5 in a plane parallel to the load-bearing surface of the cargo-carrying portion 1. In this embodiment, the distance detection component 4 is installed on the cargo-carrying portion 1, and the distance detection component 4 continuously detects the distance between the distance detection component 4 and the cargo box 5 during the rotation process, and the distance data detected by the distance detection component 4 each time corresponds to the scanning angle corresponding to the data and is recorded.

[0066] See also Figure 6 In some embodiments, the distance between the cargo box 5 and the distance detection component 4 in the extension direction of the hook-shaped component 2 can be calculated based on the data of the two distances and the corresponding angles. Further, the distance detection component 4 scans the end surface of the cargo box 5 facing the outside of the shelf and / or the side surface of the cargo box 5 at one end along the arrangement direction to form point cloud data of the scanning angle of the distance detection component 4 corresponding to the distance data. The point cloud data is formed by multiple point data, and the point data is the distance between the cargo box 5 and the distance detection component 4 detected when the distance detection component 4 rotates to a certain angle.

[0067] In other embodiments, the controller 6 is configured to control the distance detection component 4 to scan the end surface of the cargo box 5 close to the cargo box storage and retrieval device along the extension direction of the hook-shaped component 2, so as to obtain the distance between the cargo box 5 and the cargo box storage and retrieval device in the extension direction, and control the distance of the hook-shaped component 2 extending outward from the cargo carrying portion 1 according to the distance. According to the position control of the cargo box 5, the hook-shaped component 2 extends a corresponding distance, which improves the problem in the related art that the hook-shaped component 2 cannot accurately hook the cargo box 5 due to the deviation between the position of the cargo box 5 and the predetermined position.

[0068] In some embodiments, the controller 6 is configured to control the distance detection component 4 to scan the end surface of the cargo box 5 close to the cargo box storage and retrieval device along the extension and retraction direction of the hook component 2 to obtain the distance between the cargo box 5 and the cargo box storage and retrieval device in the arrangement direction of the cargo box 5, and control the cargo loading part 1 to move along the arrangement direction according to the distance to align the storage and retrieval device with the cargo box 5.

[0069] Specifically, participate in Figure 6 By scanning the point cloud data formed by the end face of the cargo box 5 facing the outside of the shelf, optionally, the point data of the cargo box 5 at both ends along the arrangement direction of the cargo box 5 and the width of the cargo box 5 in the point cloud data are obtained to calculate the distance between the cargo box 5 and the cargo box storage and retrieval device in the arrangement direction of the cargo box 5.

[0070] In some embodiments, the controller 6 is configured to control the distance detection component 4 to scan the end surface of the cargo box 5 close to the cargo box storage and retrieval device along the extension direction of the hook component 2 to determine whether the end surface is inclined relative to the arrangement direction. Figure 6 In the two distance detection results where the detection angles of the distance detection component 4 differ by an angle a, the distance difference between the cargo box 5 and the distance detection component 4 in the extension direction of the hook-shaped component 2 calculated under the premise that the outer cross-section of the cargo box 5 is parallel to the arrangement direction of the cargo box 5 can be used to determine whether the outer end surface of the cargo box 5 is tilted. If the distances between the cargo box 5 and the distance detection component 4 in the extension direction of the hook-shaped component 2 calculated from the two distance detection results are the same, the cargo box 5 is not tilted.

[0071] In some embodiments, there are two distance detection components 4, which are symmetrically arranged on both sides of the cargo carrying portion 1. Optionally, whether the cargo box 5 is tilted can be determined by determining whether the distances detected by the two distance detection components 4 are consistent.

[0072] In some embodiments, a displacement detection component 8 is further included to detect the displacement of the hook component 2. The controller 6 is connected to the displacement monitoring component 8 by signal, and determines whether the speed at which the hook component 2 retracts toward the inner side of the load-bearing portion 1 is consistent with the speed at which the cargo box 5 moves toward the load-bearing portion 1. In the process of the hook component 2 driving the cargo box to move, the movement of the hook component 2 is synchronized with the movement of the cargo box 5. If the movement of the two is not synchronized, it means that the hook component 2 may be separated from the cargo box 5.

[0073] In some embodiments, the displacement monitoring component 8 for detecting the displacement of the hook component 2 comprises an encoder.

[0074] In some embodiments, the controller 6 determines whether the hook-shaped component 2 moves to a predetermined position separated from the cargo box 5 based on the displacement of the hook-shaped component 2 detected by the displacement detection component 8. In this embodiment, the hook-shaped component 2 separates from the cargo box 5 after pulling the cargo box 5 onto the cargo-carrying portion 1 to a predetermined distance, and then the cargo box 5 continues to move toward the inside of the cargo-carrying portion 1 and reaches the final target position under the drive of the conveyor belt 12. Optionally, after the hook-shaped component 2 drags the cargo box 5 onto the cargo-carrying portion 1, the conveyor belt 12 and the hook-shaped component 2 move the cargo box 5 toward the inside of the cargo-carrying portion 1 together, and after the cargo box 5 moves to the above-mentioned predetermined position, the hook-shaped component 2 separates from the cargo box 5, and the conveyor belt 12 continues to move the cargo box 5 toward the inside of the cargo-carrying portion 1, and finally reaches the target position.

[0075] In some embodiments, the controller 6 is configured to control the distance detection component 4 to scan the side surface of the cargo box 5 along one end of the arrangement direction of the cargo box 5 or the end surface of the cargo box 5 along the extension and retraction direction of the hook component 2 close to the cargo box storage and retrieval device to determine whether the cargo box 5 has moved to a predetermined position disengaged from the hook component 2.

[0076] Whether the hook-shaped component 2 moves to the predetermined position separated from the cargo box 5 is determined by the detection result of the distance detection component 4 and the detection result of the displacement detection component 8. Optionally, the predetermined position is located in the middle position of the cargo carrying portion 1 or in the middle position closer to the target position, and the distance detection component 4 can determine whether the predetermined position is reached based on the point cloud of the side and / or the point cloud of the front of the cargo box 5.

[0077] In some embodiments, since the distance detection component 4 is arranged at the middle part of the cargo loading portion 1 along the extension and retraction direction of the hook-shaped component or at one end close to the shelf, after the hook-shaped component is separated from the cargo box 5, the distance detection component 4 can no longer detect the position of the cargo box 5 by scanning the outer end surface of the cargo box 5. Therefore, the position of the cargo box 5 can be calculated by scanning the side surface of the cargo box 5 along the above-mentioned cargo box 5 at one end along the arrangement direction of the cargo box 5.

[0078] In other embodiments, the distance detection component 4 is disposed at one end of the cargo carrying portion 1 away from the cargo box 5 along the extension direction of the hook-shaped component 2. The distance detection component 4 can determine the position of the cargo box 5 in the extension direction of the hook-shaped component 2 by scanning the outer end surface of the cargo box.

[0079] According to another aspect of the present invention, a method for retrieving a cargo box of the cargo box storage and retrieval device is also provided, the method comprising:

[0080] Moving step, the cargo box storage and retrieval device moves along the arrangement direction of the cargo boxes 5 to the position of the cargo box 5 to be taken out from the shelf;

[0081] A hooking step, controlling the distance detection component 4 to scan the cargo box 5 to obtain the distance between the cargo box 5 and the cargo box access device in the extension direction of the hook component 2, and controlling the hook component 2 to extend outward of the cargo carrying portion 1 by a predetermined distance to hook the cargo box 5;

[0082] In the pulling step, the hook member 2 is retracted toward the inner side of the cargo loading portion 1 to pull the cargo box 2 toward the cargo loading portion 1 .

[0083] After the cargo box storage and retrieval device moves along the horizontal arrangement direction of the cargo boxes 5 to the storage position of the cargo box to be taken out, the distance detection component 4 detects the position of the cargo box 5 relative to the cargo box storage and retrieval device, and adjusts the distance that the hook component 2 extends toward the cargo box 5 according to the position of the cargo box 5, thereby improving the problem in the related art that the hook component 2 cannot accurately hook the cargo box 5 due to the deviation between the position of the cargo box 5 and the predetermined position.

[0084] After the hook-shaped component 2 extends to the target distance, it moves upward to hook the hook structure at the outer end of the cargo box 5.

[0085] In some embodiments, the moving step also includes: controlling the distance detection component 4 to scan the end face of the cargo box 5 along the extension and retraction direction of the hook component 2, which is close to the cargo box storage and retrieval device (that is, the outer end face of the cargo box 5 facing outside the shelf), so as to obtain the distance between the cargo box 5 and the cargo box storage and retrieval device in the arrangement direction of the cargo box 5, and controlling the cargo loading part 1 to move along the arrangement direction according to the distance, so as to align the cargo box storage and retrieval device with the cargo box 5.

[0086] The distance detection component 4 obtains point cloud data by scanning the outer end surface of the cargo box 5. Based on the point cloud data and the trigonometric function calculation method, the distance between the cargo box 5 and the cargo box storage and retrieval device in the arrangement direction of the cargo box 5 and the distance in the extension and retraction direction of the hook component 2 can be calculated.

[0087] In addition to obtaining the distance between the hook component 2 and the cargo box storage and retrieval device in the extension and retraction direction of the hook component 2, the positional relationship between the center of the cargo box 5 and the center of the cargo loading part 1 can also be calculated based on a point cloud line. If a large deviation occurs, the horizontal position of the cargo loading part 1 needs to be adjusted to align the hook component 2 with the hooking structure of the cargo box 5.

[0088] In some embodiments, the hooking step includes controlling the distance detection component 4 to scan the end surface of the cargo box 5 close to the cargo box storage and retrieval device along the extension direction of the hook-shaped component 2, so as to obtain the distance between the cargo box 5 and the cargo box storage and retrieval device in the extension direction. This improves the problem in the related art that the hook-shaped component 2 cannot accurately hook the cargo box 5 due to the deviation between the position of the cargo box 5 and the predetermined position.

[0089] In some embodiments, the distance detection component 4 is controlled to scan the end face of the cargo box 5 near the cargo box storage and retrieval device along the extension direction of the hook-shaped component 2 to determine whether the end face is inclined relative to the arrangement direction. Based on a point cloud line, the inclination angle of the outer end face of the cargo box 5 relative to the arrangement direction of the cargo box 5 can also be calculated. If the inclination angle is too large, the cargo box 5 cannot be taken out, and the alarm is handled by manual intervention.

[0090] In some embodiments, the pulling step includes:

[0091] The moving speed of the cargo box 5 and the moving speed of the hook-shaped component 2 are detected, and it is determined whether the moving speeds of the cargo box 5 and the hook-shaped component 2 are consistent. If the speeds are inconsistent, it is determined that the hook-shaped component 2 is separated from the cargo box 5.

[0092] When the hook-shaped member 2 is pulling the cargo box 5 toward the inner side of the cargo loading portion 1, the hook-shaped member 2 may not be hooked to the cargo box 5 and may become unhooked. In this case, the hook-shaped member 2 needs to be moved to hook the cargo box 5 again and continue to pull the cargo box 5. Figure 4 As shown, during this process, the distance detection component 4 can still scan the outer end surface of the cargo box 5, so it is possible to monitor in real time whether the progress of the cargo box movement is synchronized with the movement of the hook component 2 detected by the displacement detection component 8 that detects the position of the hook component 2. If there is an asynchrony, it is determined to be unhooked, and the position of the hook component 2 is adjusted using the distance information to hook the cargo box 5 to continue to take the box.

[0093] In some embodiments, it also includes:

[0094] The unhooking step determines whether the cargo box 5 moves to a predetermined position to be disengaged from the hook-shaped component 2. If the cargo box 5 moves to a predetermined position to be disengaged from the hook-shaped component 2, the hook-shaped component 2 is controlled to separate from the cargo box 5.

[0095] In some embodiments, the distance detection component 4 is controlled to scan the side surface of the cargo box 5 along one end of the arrangement direction of the cargo box 5 or the end surface of the cargo box 5 along the extension and retraction direction of the hook component 2 close to the cargo box storage and retrieval device to determine whether the cargo box 5 moves to a predetermined position disengaged from the hook component 2; and the displacement of the hook component 2 is detected to determine whether the cargo box 5 moves to a predetermined position disengaged from the hook component 2.

[0096] Whether the hook-shaped component 2 moves to the predetermined position separated from the cargo box 5 is determined by the detection result of the distance detection component 4 and the detection result of the displacement detection component 8. Optionally, the predetermined position is located in the middle position of the cargo carrying portion 1 or in the middle position closer to the target position, and the distance detection component 4 can determine whether the predetermined position is reached based on the point cloud of the side and / or the point cloud of the front of the cargo box 5.

[0097] In some embodiments, the distance detection component 4 is controlled to scan the side surface of the cargo box 5 located at one end along the arrangement direction of the cargo box 5 to determine whether the cargo box 5 moves to the target position of the cargo box 5 on the load-bearing portion 1.

[0098] The distance detection component 4 scans the point cloud data obtained along the side of the cargo box 5 at one end of the cargo box 5 along the arrangement direction of the cargo box 5 to determine whether the above-mentioned target position has been reached. Since the installation position of the distance detection component 4 and the size of the cargo loading part are known, the analysis of the positional relationship between the entire point cloud data of the side of the cargo box 5 and the distance detection component 4 can determine whether the cargo box 5 has reached the target position and whether it can meet the requirements of safe transportation.

[0099] The above are merely exemplary embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A cargo box storage and retrieval device for a logistics warehouse, characterized in that: include: The cargo carrying portion (1) has a carrying surface for carrying cargo boxes (5) and is configured to be movable along the arrangement direction of the plurality of cargo boxes (5); A hook-shaped component (2) can extend relative to the cargo carrying portion (1) toward the outside of the cargo carrying portion (1) to hook a cargo box (5) to be taken out from the shelf, or retract toward the inside of the cargo carrying portion (1) to pull the cargo box (2) toward the cargo carrying portion (1); A first driving part (3) configured to drive the hook-shaped component (2) to extend and retract relative to the cargo carrying part (1); A second driving unit (7) is configured to drive the cargo carrying unit (1) to move along the arrangement direction of the cargo boxes (5); A distance detection component (4) is configured to scan the cargo box (5) in a plane parallel to the carrying surface to detect the position of the cargo box (5) relative to the cargo box storage and retrieval device; A controller (6) is connected to the first drive unit (3), the second drive unit (7) and the distance detection unit (4) by signals, and is configured to control the cargo carrying unit (1) to move along the arrangement direction according to the position of the cargo box (5) relative to the cargo box storage and retrieval device so as to align the cargo box storage and retrieval device with the cargo box (5) or to control the distance that the hook-shaped unit (2) extends to the outside of the cargo carrying unit (1) so as to hook the cargo box (5).

2. The cargo box storage and retrieval device for a logistics warehouse according to claim 1, characterized in that: The controller (6) is configured to control the distance detection component (4) to scan the end surface of the cargo box (5) close to one end of the cargo box storage and retrieval device along the extension and retraction direction of the hook-shaped component (2) to obtain the distance between the cargo box (5) and the cargo box storage and retrieval device in the extension and retraction direction, and control the distance that the hook-shaped component (2) extends to the outside of the cargo loading part (1) according to the distance.

3. The cargo box storage and retrieval device for a logistics warehouse according to claim 1, characterized in that: The controller (6) is configured to control the distance detection component (4) to scan the end surface of the cargo box (5) close to one end of the cargo box storage and retrieval device along the extension and retraction direction of the hook-shaped component (2) to obtain the distance between the cargo box (5) to be taken out from the shelf and the cargo box storage and retrieval device in the arrangement direction of the cargo box (5), and control the cargo carrying part (1) to move along the arrangement direction according to the distance so that the cargo box storage and retrieval device is aligned with the cargo box (5).

4. The cargo box storage and retrieval device for a logistics warehouse according to claim 1, characterized in that: The controller (6) is configured to control the distance detection component (4) to scan the end surface of the cargo box (5) close to one end of the cargo box storage and retrieval device along the extension and retraction direction of the hook-shaped component (2) to determine whether the end surface is inclined relative to the arrangement direction.

5. The cargo box storage and retrieval device for a logistics warehouse according to claim 1, characterized in that: It also includes a displacement detection component (8) for detecting the displacement of the hook-shaped component (2). The controller (6) is connected to the displacement monitoring component (8) by signal, and determines whether the speed at which the hook-shaped component (2) retracts toward the inner side of the load-bearing portion (1) is consistent with the speed at which the cargo box (5) moves toward the load-bearing portion (1).

6. The cargo box storage and retrieval device for a logistics warehouse according to claim 5, characterized in that: The controller (6) determines whether the hook-shaped component (2) has moved to a predetermined position separated from the cargo box (5) based on the displacement of the hook-shaped component (2) detected by the displacement detection component (8).

7. The cargo box storage and retrieval device for a logistics warehouse according to claim 1, characterized in that: The controller (6) is configured to control the distance detection component (4) to scan the side surface of the cargo box (5) at one end along the arrangement direction of the cargo box (5) or the end surface of the cargo box (5) at one end close to the cargo box storage and retrieval device along the extension direction of the hook-shaped component (2) to determine whether the cargo box (5) has moved to a predetermined position to be separated from the hook-shaped component (2).

8. A method for retrieving a cargo box using a cargo box storage and retrieval device according to any one of claims 1 to 7, characterized in that: The method comprises: The moving step comprises controlling the cargo box storage and retrieval device to move along the arrangement direction of the cargo boxes (5) to the position of the cargo box (5) to be taken out from the shelf; The hooking step comprises controlling the distance detection component (4) to scan the cargo box (5) to obtain the distance between the cargo box (5) and the cargo box storage and retrieval device in the extension direction of the hook-shaped component (2), and controlling the distance by which the hook-shaped component (2) extends toward the outside of the cargo carrying portion (1) according to the distance to hook the cargo box (5); The pulling step comprises controlling the hook-shaped component (2) to retract toward the inner side of the cargo loading portion (1) so as to pull the cargo box (2) toward the cargo loading portion (1).

9. The method for retrieving a cargo box of the cargo box storage and retrieval device according to claim 8, characterized in that: The moving step further comprises: The distance detection component (4) is controlled to scan the end surface of the cargo box (5) close to one end of the cargo box storage and retrieval device along the extension and retraction direction of the hook-shaped component (2) to obtain the distance between the cargo box (5) and the cargo box storage and retrieval device in the arrangement direction of the cargo box (5), and the cargo carrying part (1) is controlled to move along the arrangement direction according to the distance so that the cargo box storage and retrieval device is aligned with the cargo box (5).

10. The method for retrieving a cargo box of the cargo box storage and retrieval device according to claim 8, characterized in that: The hooking step includes controlling the distance detection component (4) to scan the end surface of the cargo box (5) close to one end of the cargo box storage and retrieval device along the extension and retraction direction of the hook-shaped component (2) to obtain the distance between the cargo box (5) and the cargo box storage and retrieval device in the extension and retraction direction.

11. The method for retrieving a cargo box of the cargo box storage and retrieval device according to claim 8, characterized in that: The distance detection component (4) is controlled to scan an end surface of the cargo box (5) close to one end of the cargo box storage and retrieval device along the extension and retraction direction of the hook-shaped component (2) to determine whether the end surface is inclined relative to the arrangement direction.

12. The method for retrieving a cargo box of the cargo box storage and retrieval device according to claim 8, characterized in that: The pulling step comprises: The moving speed of the cargo box (5) and the moving speed of the hook-shaped component (2) are detected, and it is determined whether the moving speeds of the cargo box (5) and the hook-shaped component (2) are consistent. If the speeds are inconsistent, it is determined that the hook-shaped component (2) is detached from the cargo box (5).

13. The method for retrieving a cargo box of the cargo box storage and retrieval device according to claim 8, characterized in that: Also includes: The unhooking step determines whether the cargo box (5) has moved to a predetermined position for disengaging from the hook-shaped component (2); if the cargo box (5) has moved to the predetermined position for disengaging from the hook-shaped component (2), the hook-shaped component (2) is controlled to separate from the cargo box (5).

14. The method for retrieving a cargo box of the cargo box storage and retrieval device according to claim 13, characterized in that: Controlling the distance detection component (4) to scan a side surface of the cargo box (5) located at one end along the arrangement direction of the cargo box (5) or an end surface of the cargo box (5) close to the cargo box storage and retrieval device along the extension direction of the hook-shaped component (2), to determine whether the cargo box (5) has moved to a predetermined position that is separated from the hook-shaped component (2); The displacement of the hook-shaped component (2) is detected to determine whether the cargo box (5) has moved to a predetermined position where it is separated from the hook-shaped component (2).

15. The method for retrieving a cargo box of the cargo box storage and retrieval device according to claim 13, characterized in that: The distance detection component (4) is controlled to scan a side surface of the cargo box (5) located at one end along the arrangement direction of the cargo box (5) to determine whether the cargo box (5) has moved to a target position of the cargo box (5) on the carrying portion (1).

Images