Intelligent storing and taking system and storing and taking method for tool body in dense storage environment of workbins

Abstract

The invention relates to an intelligent body storing and taking system in a workbin intensive storage environment, which comprises a plurality of rows of storage shelves, a sorting transport vehicle and an intelligent body control system, a roadway for the sorting transport vehicle to pass through is reserved between every two adjacent rows of storage shelves, and each storage shelf is provided with a plurality of layers of cargo carrying platforms; a space allowing the robot gripper to pass through is reserved between the top of the cargo carrying box located on the cargo carrying platform and the cargo carrying platform located on the upper layer. The robot gripper is provided with at least one visual camera; the intelligent control system comprises an imaging module, a driving module, a communication module, a power distribution module, a control module and a remote control platform. The intelligent storage and taking system can store and take the material boxes at different positions and can store and take the objects in the cargo carrying material box in order, the storage and taking efficiency is improved, and the labor cost is reduced. The intelligent storage and taking method for the tool body in the dense storage environment of the workbins also has the advantages that the using effect is guaranteed, and the using cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of warehouse management, and in particular to an embodied intelligent storage and retrieval system and storage and retrieval method for a material box dense storage environment. Background Art

[0002] Stereoscopic warehouses, also known as high-bay warehouses or high-bay warehouses, are modern storage facilities that use shelves with several, dozens or even dozens of layers to store unit goods, and use corresponding material handling equipment to carry out the warehousing and outbound operations of goods. Stereoscopic warehouses are a new concept in logistics warehousing. Stereoscopic warehouse equipment can realize high-level rationalization of warehouses, automatic access, and simple operation.

[0003] In order to be able to move materials located in a three-dimensional warehouse, in the prior art, a Chinese invention patent with patent number CN202410946758.8 discloses a three-dimensional warehouse picking system based on an intelligent robot and its control method, including: storage shelves, picking mechanisms, controllers, identification conveyors and handling robots; the picking mechanism is arranged on the rear side of the storage shelves; the controller is arranged on the right side of the picking mechanism; the identification conveyor is arranged on the right side of the storage shelves; the handling robot is arranged outside the identification conveyor, which is only for picking operations of the entire material box, and can only realize the use of deep material boxes after the outer material boxes are taken, which has great limitations on use and affects the user experience. Summary of the invention

[0004] In order to overcome the defects in the above-mentioned prior art, the first invention object of the present invention is to provide an embodied intelligent storage and retrieval system for a storage environment with dense material boxes, which can store and retrieve material boxes at different locations, and can orderly store and retrieve items in cargo boxes, thereby improving storage and retrieval efficiency while reducing the labor intensity of operators and reducing labor costs, thereby meeting the user's usage needs and enhancing the user experience, which is conducive to the promotion and application of the above-mentioned embodied intelligent storage and retrieval system for a storage environment with dense material boxes in the market. The second invention object of the present invention is to provide an embodied intelligent storage and retrieval method for a storage environment with dense material boxes, which is applied with the above-mentioned embodied intelligent storage and retrieval system for a storage environment with dense material boxes, and also has the advantages of ensuring the use effect and reducing the use cost.

[0005] In order to achieve the above-mentioned first invention purpose, the present invention adopts the following technical scheme: an embodied intelligent storage and retrieval system for a material box dense storage environment, comprising a storage shelf for carrying cargo boxes, a picking and transporting vehicle with a robot gripper, and an embodied intelligent control system, wherein the storage shelf is arranged in multiple rows, and a lane for the picking and transporting vehicle to pass through is reserved between two adjacent rows of the storage shelves, and the storage shelf has multiple layers of cargo platforms, and a space for allowing the robot gripper to pass through is reserved between the top of the cargo box on the cargo platform and the cargo platform on the upper layer; the robot gripper has at least one visual camera; the embodied intelligent control system includes The system comprises an imaging module, a driving module, a communication module, a power distribution module, a control module and a remote control platform for operators. The imaging module receives the signal transmitted by the visual camera, displays the image and is connected to the control module by the communication module. The control module compares the image with the pre-trained model after analysis, selects the object to be picked up, and connects to the driving module through the communication module, so that the picking and transporting vehicle switches its posture according to the command movement. The robot gripper comprises a clamping claw, which has at least one degree of freedom of vertical lifting and lowering and one degree of freedom of rotation around the center of a circle on a vertical surface. The power distribution module provides power to each electric control module.

[0006] As a preferred solution of the present invention, the posture of the picking and transporting vehicle includes the freedom of forward and backward movement, lifting and lowering, and rotation adjustment.

[0007] As a preferred solution of the present invention, the robot gripper has the freedom to extend and retract laterally relative to the picking and transporting vehicle.

[0008] As a preferred solution of the present invention, one or more rows of cargo boxes can be placed on each layer of the cargo platform.

[0009] As a preferred solution of the present invention, the cargo boxes are arranged to have different or identical sizes.

[0010] As a preferred solution of the present invention, the picking and transporting vehicle further comprises a sorting material box capable of accommodating the picked items.

[0011] As a preferred solution of the present invention, the picking and transporting vehicle further comprises a material box temporary storage compartment and a movable cargo platform, and the movable cargo platform can realize the retrieval and pulling out or temporary storage and pushing of the sorting material box relative to the material box temporary storage compartment.

[0012] As a preferred solution of the present invention, the robot gripper can be configured as any one of a folding type, a multi-joint type or a telescopic arm type.

[0013] As a preferred solution of the present invention, the picking and transporting vehicle is any one of a stacking AGV or a stacker.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: an embodied intelligent storage and retrieval system for a densely packed storage environment of material boxes in the present invention, the embodied intelligent storage and retrieval system, by setting up storage shelves, a picking and transporting vehicle with a robot gripper and an embodied intelligent control system, with an aisle for the picking and transporting vehicle to pass through left between two adjacent rows of storage shelves, and a space for allowing the robot gripper to pass through left between the cargo box and the upper cargo platform, so that the robot gripper can easily grab different cargo boxes or items in the cargo boxes, and during use, there is no need to move the cargo boxes located on the outside first, thereby meeting the use requirements, enhancing the user experience, and being able to greatly reduce labor costs, which is conducive to the promotion and application of the above-mentioned embodied intelligent storage and retrieval system for a densely packed storage environment of material boxes in the market.

[0015] In order to achieve the above second invention objective, the present invention adopts the following technical solution: an embodied intelligent access method for a densely packed storage environment, comprising the following steps: S1: Manually input order information into the remote control platform, the warehouse management system feeds back the storage location coordinate information to the control module, and the control module sends instructions to the picking and transporting vehicle; S2: The picking and transporting vehicle navigates to the plane coordinate point of the corresponding lane according to the storage location coordinate information, and lifts the robot gripper to the height value of the space coordinate; S3: The robot gripper extends toward the storage location. At the same time, the picking transport vehicle performs self-rotation fine-tuning to ensure that the robot gripper enters and exits along the empty channel of the shelf. After the robot gripper is in place, it uses a camera to capture the posture of the object. After analysis, the control module issues a grasping posture instruction, and the robot gripper extends its claws to grasp the object. S4: In S3, when the gripper grabs the object, the feedback system gives a feedback signal to determine how firmly the gripper grabs the object, and then takes out the object and transports it to the sorting box that contains the picked object; S5: In S3 or S4, if the position of the object is not optimal for grasping, or there is a jamming or obstruction, humans can intervene in the remote control platform to move the object and then execute the grasping process.

[0016] Compared with the prior art, the beneficial effects of the present invention are: the embodied intelligent storage and retrieval method for a material box dense storage environment in the present invention, which is applied with the above-mentioned embodied intelligent storage and retrieval system for a material box dense storage environment, also has the advantages of ensuring the use effect and reducing the use cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of an embodied intelligent storage and retrieval system for a material box dense storage environment in an embodiment of the present invention; Figure 2It is a structural schematic diagram of an embodied intelligent storage and retrieval system for a material box dense storage environment in an embodiment of the present invention; Figure 3 is a schematic structural diagram of a picking and transporting vehicle in an embodiment of the present invention; Figure 4 It is a partial structural schematic diagram of a picking and transporting vehicle in an embodiment of the present invention; Figure 5 is a schematic diagram of the structure of the robot gripper in the embodiment; Figure 6 Schematic diagram of the extended state of the clamping jaws in the embodiment of the present invention.

[0018] Figure numbers: 1. Storage shelf; 1-1. Cargo platform; 2. Picking and transporting vehicle; 2-1. Robot gripper; 2-1-1. Gripper; 2-2. Sorting material box; 2-3. Material box temporary storage grid; 2-4. Mobile cargo platform; 3. Cargo material box. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is described below by the specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, the description of well-known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present invention.

[0020] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are 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 direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0021] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0022] Example: Figures 1 to 6As shown, an embodied intelligent storage and retrieval system for a material box-intensive storage environment is mainly composed of a storage shelf 1 for carrying cargo boxes 3, a picking and transporting vehicle 2 with a robot gripper 2-1, and an embodied intelligent control system. In order to maximize the storage function, the above-mentioned storage shelves 1 are arranged in multiple rows, and aisles are reserved between two adjacent rows of the above-mentioned storage shelves 1 for the above-mentioned picking and transporting vehicle 2 to pass through. In order to solve the technical problem in the prior art that when the cargo box 3 on the inside needs to be moved, the cargo box 3 on the outside often needs to be moved first, resulting in low handling efficiency and a long operation process, the storage shelf 1 in this embodiment has a multi-layer cargo platform 1-1, and a space is left between the top of the cargo box 3 on the cargo platform 1-1 and the cargo platform 1-1 on the upper layer to allow the robot gripper 2-1 to pass through. During operation, when the cargo box 3 on the inside needs to be moved, it is not necessary to move the cargo box 3 on the outside first, which can greatly improve the operation efficiency and reduce the labor intensity of the operator. In order to be able to pick the materials in each cargo box 3 on the storage shelf 1, improve the picking efficiency and the picking accuracy, and reduce the probability of misoperation, the robot gripper 2-1 has at least one visual camera.

[0023] The above-mentioned embodied intelligent control system includes an imaging module, a driving module, a communication module, a power distribution module, a control module, and a remote control platform. The imaging module receives the signal transmitted by the visual camera, displays the image and is connected to the control module by the communication module. The control module compares the image with the pre-trained model after analysis, selects the object to be picked up, and connects to the driving module through the communication module, so that the picking and transporting vehicle 2 switches its posture according to the movement command, wherein the picking and transporting vehicle 2 has the freedom of advance and retreat, lifting and rotation adjustment, and the robot gripper 2-1 has the freedom of lateral extension and contraction relative to the picking and transporting vehicle 2. The robot gripper 2-1 includes a clamping claw 2-1-1, which has at least one degree of freedom of vertical lifting and one degree of freedom of rotation around the center of a circle on a vertical surface. The power distribution module provides power to each electric control module, and the remote control platform is used by operators, which can realize automatic picking operation recording, manual intervention and troubleshooting of faults and other working conditions.

[0024] The posture of the above-mentioned picking and transporting vehicle 2 includes the degrees of freedom of advancing and retreating, lifting and rotating. By adjusting the posture, the picking and transporting vehicle 2 can adapt to different working environments and ground conditions. For example, the lifting function can keep the vehicle stable on uneven ground. By adjusting the posture, the picking and transporting vehicle 2 can adapt to different working environments and ground conditions. For example, the lifting function can keep the vehicle stable on uneven ground. Through precise posture adjustment, the picking and transporting vehicle 2 can approach the target object more accurately, improving the efficiency and accuracy of picking and handling. Especially on slopes or uneven ground, the posture adjustment function can help the vehicle remain stable and reduce the risk of overturning caused by uneven ground. The rotation adjustment function allows the vehicle to turn in place without long-distance movement and rotation, which can reduce the time of mobile transportation and improve maneuverability. During the movement process, since repeated movement and rotation may cause the accumulation of control errors and positioning errors, the posture adjustment function also helps to reduce these errors and improve the positioning accuracy of the robot. When picking and transporting operations, the correct posture can ensure the stable transportation of goods and reduce the risk of damage to goods and injury to operators.

[0025] The robot gripper 2-1 has the freedom to extend and retract laterally relative to the picking and transporting vehicle 2. The lateral extension function enables the robot gripper 2-1 to adapt to cargo boxes 3 of different widths and shapes, thereby achieving the grasping of cargo boxes 3 of various sizes to meet the use requirements. Through lateral extension, the robot gripper 2-1 can adjust the contact distance with the cargo box 3 without changing its own position, which increases the flexibility and adaptability of the operation. The lateral extension freedom allows the robot gripper 2-1 to more accurately control the distance with the cargo box 3, thereby ensuring stability during operation. In complex working environments, such as warehouses or production lines, the lateral extension capability can help the robot gripper 2-1 flexibly grasp and carry objects in a limited space. Through the lateral extension freedom, the robot gripper 2-1 can also reduce dependence on manual intervention, improve the degree of automation, and reduce labor intensity.

[0026] In order to improve space utilization and reduce storage costs, one or more rows of the above-mentioned cargo boxes 3 can be placed on each layer of the above-mentioned cargo platform 1-1 in this embodiment. By placing one or more rows of cargo boxes 3 on each layer of the cargo platform 1-1, the space of the cargo platform 1-1 can be maximized and the storage capacity can be increased. The sizes of the above-mentioned cargo boxes 3 are different or the same. By using cargo boxes 3 of different sizes, it is possible to better adapt to the storage needs of various goods, optimize space utilization, and improve the storage efficiency of the warehouse. Cargo boxes 3 of different sizes can adapt to goods of different sizes and shapes, increase the flexibility of the warehouse, and meet diverse storage needs.

[0027] The picking transport vehicle 2 also has a sorting box 2-2 that can accommodate picked items. The items grabbed by the robot gripper 2-1 from the cargo box 3 can be placed in the sorting box 2-2 first, and then the items can be transported through the sorting box 2-2, thereby reducing the probability of damage to the items due to falling.

[0028] The picking and transporting vehicle 2 also includes a material box temporary storage grid 2-3 and a mobile cargo platform 2-4. The mobile cargo platform 2-4 can realize the pulling out or temporary storage pushing of the sorting material box 2-2 relative to the material box temporary storage grid 2-3. There are multiple material box temporary storage grids 2-3, and multiple material box temporary storage grids 2-3 are arranged in the longitudinal direction to reduce the space occupied by the picking and transporting vehicle 2 in the transverse direction, so that the storage shelf 2 is compact as a whole, thereby improving the storage rate. In this embodiment, by setting the material box temporary storage grid 2-3 and the sorting material box 2-2, a single sorting material box 2-2 on the picking and transporting vehicle 2 can obtain the storage of different parts and items of a set of equipment, or the same parts and items of multiple sets of equipment can be stored in a sorting material box 2-2 at one time, that is, multiple sorting material boxes 2-2 on a picking and transporting vehicle 2 can obtain all or most of the parts and items, which can greatly reduce the number of pick-up and transportation times, thereby improving the assembly efficiency of the equipment, etc., and greatly enhancing the user experience.

[0029] The robot gripper 2 - 1 can be configured as any one of a folding type, a multi-joint type or a telescopic arm type, and can be specifically selected according to needs, as long as it can realize the storage and access of the cargo box 3 .

[0030] The above-mentioned picking and transporting vehicle 2 includes but is not limited to stacker AGV or stacker. Stacker AGV is an automated logistics equipment that combines automatic guided vehicle (AGV) technology and forklift functions. It has the following features and functions: Automatic navigation technology: The stacker AGV adopts advanced automatic navigation technology, which can independently plan paths, avoid obstacles and transport, greatly improving the degree of automation of operations; Loading and unloading, stacking, stacking and short-distance transportation: The stacker AGV can load and unload, stack, stack and short-distance transport operations on palletized goods, and is suitable for a variety of wheeled transport vehicles; Simple and safe structure: The stacker AGV usually has a simple structure, good micro-motion, and high explosion-proof safety performance. It is suitable for a variety of industrial environments, including petroleum, chemical, pharmaceutical and other fields, as well as ports, railways, freight yards, warehouses and other places containing explosive mixtures; Strong adaptability: The stacker AGV can enter the cabin, carriage and container to load and unload, stack, handle and transport palletized goods, and is used in conjunction with pallets. , which can greatly improve the storage efficiency; high precision and high reliability: the stacking AGV is based on a high-precision and high-reliability logistics automatic handling solution, which can realize automatic task allocation, automatic loading and unloading of pallets, automatic transportation of materials to the target site, and multi-layer deep stacking functions; economic benefits: the stacking AGV can reduce labor costs, improve work efficiency, and realize the "machine replacement" of labor costs quickly. High-end laser navigation automation and intelligent vehicles; flexibility and scalability: the stacking AGV system is flexibly designed, and the number of AGVs can be increased according to business growth, and the update and reconfiguration of the path is simple without stopping the entire system; multiple navigation methods: the stacking AGV can use a variety of automatic guidance systems such as laser, magnetic force, wire, timer guidance, etc. to adapt to different application scenarios and needs. Stacker is a mechanical equipment specially used for handling, loading and unloading and stacking materials. It mainly loads and unloads, stacks, stacks and transports pallet goods over short distances. Stacker is also called a stacker or a pallet stacker, and the International Organization for Standardization ISO / TC110 calls it an industrial vehicle. The main function of a stacker is to transport and stack goods. It can be used for loading, unloading and stacking goods in warehouses, construction sites and other places.

[0031] An embodied intelligent access method for a bin-intensive storage environment comprises the following steps: S1: Manually input order information into the remote control platform, the warehouse management system feeds back the storage location coordinate information to the control module, and the control module sends instructions to the picking transport vehicle 2; S2: The picking and transporting vehicle 2 navigates and moves to the plane coordinate point of the corresponding lane according to the stored cargo location coordinate information, and lifts the robot gripper 2-1 to the height value of the space coordinate; S3: The robot gripper 2-1 extends toward the storage location. At the same time, the picking transport vehicle 2 performs self-rotation fine-tuning to ensure that the robot gripper 2-1 enters and exits along the empty channel of the shelf. After the robot gripper 2-1 is in place, it captures the posture of the object through video. After analysis, the control module issues a grasping posture instruction, and the robot gripper 2-1 extends the clamping claw 2-1-1 to grasp the object; S4: In S3, when the gripper 2-1-1 grabs the object, the feedback system gives a feedback signal to determine the firmness of the gripper 2-1-1 grabbing the object, and then takes out the object and transports it to the sorting box 2-2 that contains the picked object; S5: In S3 or S4, if the position of the object is not optimal for grasping, or there is a jamming or obstruction, humans can intervene in the remote control platform to move the object and then execute the grasping process.

[0032] A plurality of temporary storage boxes 2-3 are arranged on the picking and transporting vehicle 2. The system can realize that a single sorting box 2-2 on the picking and transporting vehicle 2 can obtain the storage of different parts and items of a set of equipment, or the same parts and items of multiple sets of equipment can be stored in a sorting box 2-2 at one time. Multiple sorting boxes 2-2 can obtain all parts and items, thereby reducing the number of handling times and improving work efficiency.

[0033] The system can also execute a reverse replenishment procedure to the cargo box 3 in the storage shelf 1. When the storage system determines that the quantity of one or more items reaches below the storage critical value, it issues an instruction request to carry out storage replenishment.

[0034] The present embodiment provides an embodied intelligent storage and retrieval system for a material box dense storage environment. The embodied intelligent storage and retrieval system is provided with storage shelves 1, a picking and transporting vehicle 2 with a robot gripper 2-1, and an embodied intelligent control system. An aisle for the picking and transporting vehicle to pass through is reserved between two adjacent rows of storage shelves 1, and a space for allowing the robot gripper 2-1 to pass through is reserved between the cargo box 3 and the upper cargo platform 1-1, so that the robot gripper 2-1 can easily grab different cargo boxes 3 or items in the cargo boxes 3. During use, there is no need to move the cargo boxes 3 located on the outside first, thereby meeting the use requirements, enhancing the user experience, and being able to greatly reduce labor costs, which is conducive to the promotion and application of the above-mentioned embodied intelligent storage and retrieval system for a material box dense storage environment in the market.

[0035] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention; therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0036] Although this article uses the following terms more frequently: 1, storage shelf; 1-1, cargo platform; 2, picking transport vehicle; 2-1, robot gripper; 2-1-1, gripper; 2-2, sorting material box; 2-3, temporary storage compartment of material box; 2-4, mobile cargo platform; 3, cargo material box, etc., it does not exclude the possibility of using other terms. These terms are used only to more conveniently describe and explain the essence of the present invention; interpreting them as any additional limitation is contrary to the spirit of the present invention.

Claims

1. An embodied intelligent storage and retrieval system for a densely packed storage environment, characterized in that: The invention comprises a storage shelf (1) for carrying a cargo box (3), a picking transport vehicle (2) having a robot gripper (2-1), and an embodied intelligent control system, wherein the storage shelf (1) is arranged in multiple rows, and a lane for the picking transport vehicle (2) to pass through is reserved between two adjacent rows of the storage shelves (1); the storage shelf (1) has a multi-layer cargo platform (1-1), and a space for allowing the robot gripper (2-1) to pass through is reserved between the top of the cargo box (3) located on the cargo platform (1-1) and the cargo platform (1-1) located on the upper layer; the robot gripper (2-1) has at least one visual camera; the embodied intelligent control system comprises an imaging module, a drive module, and a control module. The invention relates to a robot gripper (2-1) comprising a gripper (2-1-1), wherein the gripper (2-1-1) has at least one degree of freedom for vertical lifting and lowering and one degree of freedom for vertical rotation around the center of a circle. The power distribution module provides electrical energy to each electric control module.

2. The embodied intelligent storage and retrieval system for a densely packed storage environment of material boxes according to claim 1, characterized in that: The posture of the picking and transporting vehicle (2) includes the freedom of movement, lifting and lowering, and self-rotation adjustment.

3. The embodied intelligent storage and retrieval system for a densely packed storage environment of material boxes according to claim 2, characterized in that: The robot gripper (2-1) has the freedom to extend and retract laterally relative to the picking and transporting vehicle (2).

4. The embodied intelligent storage and retrieval system for a densely packed storage environment of material boxes according to claim 1, characterized in that: One or more rows of cargo boxes (3) can be placed on each layer of the cargo platform (1-1).

5. The embodied intelligent storage and retrieval system for a densely packed storage environment of material boxes according to claim 4, characterized in that: The cargo boxes (3) may be of different or identical sizes.

6. The embodied intelligent storage and retrieval system for a densely packed storage environment of material boxes according to claim 1, characterized in that: The picking transport vehicle (2) also has a sorting box (2-2) capable of accommodating picked items.

7. The embodied intelligent storage and retrieval system for a densely packed storage environment of material boxes according to claim 6, characterized in that: The picking and transporting vehicle (2) further comprises a material box temporary storage compartment (2-3) and a movable cargo platform (2-4), wherein the movable cargo platform (2-4) can realize the pulling out or temporary storage pushing of the sorting material box (2-2) relative to the material box temporary storage compartment (2-3).

8. The embodied intelligent storage and retrieval system for a densely packed storage environment of material boxes according to claim 1, characterized in that: The robot gripper (2-1) can be configured as any one of a folding type, a multi-joint type or a telescopic arm type.

9. The embodied intelligent storage and retrieval system for a densely packed storage environment of material boxes according to claim 1, characterized in that: The picking and transporting vehicle (2) is any one of a stacking AGV and a stacker.

10. An embodied intelligent access method for a densely packed storage environment of material boxes, applied to an embodied intelligent access system for a densely packed storage environment of material boxes as claimed in any one of claims 1 to 9; characterized in that: Access Methods The following steps are involved: S1: Manually input the order information in the remote control platform, the warehouse management system feeds back the storage location coordinate information to the control module, and the control module sends a command to the picking and transporting vehicle (2); S2: The picking and transporting vehicle (2) navigates and moves to the plane coordinate point of the corresponding aisle according to the storage location coordinate information, and lifts the robot gripper (2-1) to the height value of the spatial coordinate; S3: The robot gripper (2-1) extends toward the storage location, and at the same time, the picking and transporting vehicle (2) performs self-rotation fine-tuning to ensure that the robot gripper (2-1) enters and exits along the shelf pick-up channel, and the robot gripper (2-1) is photographed after it is in place The posture of the object is captured, and the control module issues a grasping posture instruction after analysis, and the robot gripper (2-1) extends the clamp (2-1-1) to grasp the object; S4: in S3, when the clamp (2-1-1) grasps the object, the feedback system gives a feedback signal to determine the firmness of the clamp (2-1-1) grasping the object, and then takes out the object and transports it to the sorting box (2-2) containing the picked objects; S5: in S3 or S4, if the posture of the object is not in the best grasping state, or there is a jamming obstruction, the human can intervene in the remote control platform to perform the object shifting operation, and then execute the grasping process.

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