A somatic intelligent storage and retrieval system and method for a bin-dense warehouse environment

Abstract

The present application relates to a kind of embodied intelligent access system of bin dense warehousing environment, including storage rack, picking transport vehicle and embodied intelligent control system, storage rack is multiple columns, reserved between two adjacent columns of storage rack for the lane of picking transport vehicle passing, storage rack has multiple layers of loading platform, the top of loading bin located on loading platform and the space between the loading platform of last layer is allowed to pass through the space of robot gripper;Robot gripper at least has one vision camera;Embodied intelligent control system includes imaging module, drive module, communication module, power distribution module, control module and remote control platform.The embodied intelligent access system can access the bin in different positions, and can orderly access the goods in loading bin, improve access efficiency, reduce labor cost.A kind of embodied intelligent access method of bin dense warehousing environment also has the advantages of ensuring use effect and reducing use cost.

Description

Technical Field

[0001] This invention relates to the field of warehouse management technology, specifically to an intelligent storage and retrieval system and method for dense bin storage environments. Background Technology

[0002] Automated storage and retrieval systems (AS / RS), also known as high-bay warehouses, are modern warehousing facilities that use multi-layered, even dozens-layered, racking systems to store unitized goods and utilize corresponding material handling equipment for inbound and outbound operations. AS / RS is a new concept in logistics warehousing, enabling the rationalization of warehouse heights, automation of storage and retrieval, and simplification of operations.

[0003] To enable the handling of materials located in automated warehouses, the prior art, Chinese invention patent CN202410946758.8, discloses an automated warehouse picking system and its control method based on intelligent robots, including: storage racks, picking mechanism, controller, identification conveyor, and handling robot; the picking mechanism is located at the rear of the storage racks; the controller is located at the right side of the picking mechanism; the identification conveyor is located at the right side of the storage racks; and the handling robot is located outside the identification conveyor. It only performs picking operations on the entire bin and can only pick out the outer bins before picking out the deeper bins, which has great limitations and affects the user experience. Summary of the Invention

[0004] To overcome the shortcomings of the prior art, the first objective of this invention is to provide an embodied intelligent storage and retrieval system for a dense bin storage environment. This system can store and retrieve bins in different locations and can orderly store and retrieve items within the bins, improving storage and retrieval efficiency while reducing the labor intensity of operators and lowering labor costs. This meets user needs, enhances the user experience, and facilitates the market promotion and application of the aforementioned embodied intelligent storage and retrieval system for dense bin storage environments. The second objective of this invention is to provide an embodied intelligent storage and retrieval method for a dense bin storage environment, which utilizes the aforementioned embodied intelligent storage and retrieval system for dense bin storage environments, and similarly possesses the advantages of ensuring effective use and reducing operating costs.

[0005] To achieve the first objective mentioned above, the present invention adopts the following technical solution: an embodied intelligent storage and retrieval system for a dense bin storage environment, comprising a storage rack for carrying cargo bins, a picking and transport vehicle with a robotic gripper, and an embodied intelligent control system. The storage racks are in multiple rows, with aisles reserved between adjacent rows for the picking and transport vehicle to pass through. The storage racks have multiple loading platforms, and space is provided between the top of the cargo bin on each loading platform and the loading platform above it to allow the robotic gripper to pass through. The robotic gripper has at least one vision camera. The embodied intelligent control system includes... The system includes an imaging module, a drive module, a communication module, a power distribution module, a control module, and a remote control platform for operators. The imaging module receives signals transmitted from a vision camera, displays the image, and is connected to the control module via the communication module. The control module analyzes the image and compares it with a pre-trained model to select the best object to pick up. It is then connected to the drive module via the communication module to enable the picking and transport vehicle to switch postures according to instructions. The robot gripper includes a gripper with at least one vertical lifting degree of freedom and one vertical rotation degree of freedom around the center. The power distribution module provides power to each electronic control module.

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

[0007] As a preferred embodiment of the present invention, the robotic gripper has a degree of freedom to extend and retract laterally relative to the picking and transport vehicle.

[0008] As a preferred embodiment of the present invention, each layer of the cargo platform can hold one or more rows of cargo bins.

[0009] As a preferred embodiment of the present invention, the cargo bins are configured to have different or the same size.

[0010] As a preferred embodiment of the present invention, the picking transport vehicle also has a sorting bin capable of accommodating the picked items.

[0011] As a preferred embodiment of the present invention, the picking and transport vehicle further includes a material bin storage compartment and a mobile loading platform, wherein the mobile loading platform enables the picking material bin to be pulled out or temporarily stored and pushed in relative to the material bin storage compartment.

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

[0013] As a preferred embodiment of the present invention, the picking and transporting vehicle is either a stacker AGV or a stacker truck.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: The embodied intelligent storage and retrieval system for a dense bin storage environment of the present invention, through the setting of storage racks, picking and transport vehicles with robotic grippers, and embodied intelligent control system, leaves aisles between two adjacent rows of storage racks for the picking and transport vehicles to pass through, and leaves space between the loaded bins and the upper loading platform to allow the robotic grippers to pass through, so that the robotic grippers can easily grasp different loaded bins or the items inside the loaded bins. During use, it is not necessary to move the loaded bins located on the outside first, thereby meeting the usage needs, enhancing the user experience, and greatly reducing labor costs, which is conducive to the promotion and application of the above-mentioned embodied intelligent storage and retrieval system for a dense bin storage environment in the market.

[0015] To achieve the second objective mentioned above, the present invention adopts the following technical solution: an embodied intelligent storage and retrieval method for a dense bin storage environment, comprising the following steps:

[0016] S1: Manually enter the order information on 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 transport vehicle.

[0017] S2: The picking and transport vehicle navigates to the corresponding plane coordinate point of the aisle based on the coordinate information of the storage location, and lifts the robot gripper to the height value of the spatial coordinate.

[0018] S3: The robot gripper extends toward the storage location. At the same time, the picking and transport vehicle performs a self-rotation fine adjustment to ensure that the robot gripper enters and exits along the shelf clearance aisle. After the robot gripper is in place, the camera captures the posture of the item. After the control module analyzes the image, it issues a gripping posture command, and the robot gripper extends its gripper to grab the item.

[0019] S4: In S3, when the gripper picks up an item, the feedback system gives a feedback signal to determine the firmness of the gripper's grip on the item, and then takes out the item and transports it to the sorting bin that contains the picked items.

[0020] S5: If the object's position is not optimal for grasping in S3 or S4, or if there is jamming or obstruction, manual intervention can be performed on the remote control platform to move the object before the grasping process is executed.

[0021] Compared with the prior art, the beneficial effects of the present invention are: the embodied intelligent storage and retrieval method for a dense bin storage environment in the present invention applies the above-mentioned embodied intelligent storage and retrieval system for a dense bin storage environment, and also has the advantages of ensuring the effectiveness of use and reducing the cost of use. Attached Figure Description

[0022] Figure 1This is a schematic diagram of the structure of an embodied intelligent storage and retrieval system for a dense storage environment of material bins in an embodiment of the present invention;

[0023] Figure 2 This is a schematic diagram of the structure of an embodied intelligent storage and retrieval system for a dense storage environment of material bins in an embodiment of the present invention;

[0024] Figure 3 This is a schematic diagram of the structure of the picking and transport vehicle in an embodiment of the present invention;

[0025] Figure 4 This is a partial structural schematic diagram of the picking and transport vehicle in an embodiment of the present invention;

[0026] Figure 5 This is a schematic diagram of the robot gripper in the embodiment;

[0027] Figure 6 This is a schematic diagram of the extended state of the gripper in an embodiment of the present invention.

[0028] Attached reference numerals: 1. Storage rack; 1-1. Cargo platform; 2. Picking vehicle; 2-1. Robot gripper; 2-1-1. Gripper; 2-2. Sorting bin; 2-3. Bin storage compartment; 2-4. Mobile loading platform; 3. Cargo bin. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this invention clearer, the invention is described below with reference to specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are merely exemplary and not intended to limit the scope of the invention. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

[0030] In the description of this invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0031] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0032] Example: Figures 1 to 6As shown, an embodied intelligent storage and retrieval system for a dense storage environment of material bins mainly consists of a storage rack 1 for carrying the material bins 3, a picking and transport vehicle 2 with a robot gripper 2-1, and an embodied intelligent control system. In order to maximize the storage function, the storage rack 1 is in multiple rows, and an aisle is reserved between two adjacent rows of the storage rack 1 for the picking and transport vehicle 2 to pass through. To address the technical problem in existing technologies where moving the innermost cargo bin 3 often requires first moving the outermost cargo bin 3, resulting in low handling efficiency and a lengthy operation process, the storage rack 1 in this embodiment has multiple cargo platforms 1-1. A space is provided between the top of the cargo bin 3 on each of the uppermost cargo platforms 1-1 to allow the robotic gripper 2-1 to pass through. During operation, when moving the innermost cargo bin 3, it is not necessary to first move the outermost cargo bin 3, greatly improving operational efficiency and reducing the workload of operators. To enable picking of materials from each cargo bin 3 on the storage rack 1, improving picking efficiency and accuracy while reducing the probability of misoperation, the robotic gripper 2-1 has at least one vision camera.

[0033] The aforementioned embodied intelligent control system includes an imaging module, a drive module, a communication module, a power distribution module, a control module, and a remote control platform. The imaging module receives signals transmitted from the vision camera, displays the images, and connects to the control module via the communication module. After analysis, the control module compares the images with a pre-trained model, selects the best items to pick, and connects to the drive module via the communication module to enable the picking transport vehicle 2 to switch postures according to instructions. The picking transport vehicle 2 has degrees of freedom for forward and backward movement, lifting, and rotation adjustment. The robot gripper 2-1 has a degree of freedom for lateral extension and retraction relative to the picking transport vehicle 2. The robot gripper 2-1 includes a gripper 2-1-1, which has at least one vertical lifting degree of freedom and one vertical rotation degree of freedom around the center. The power distribution module provides power to each electrical control module. The remote control platform is used by operators and can realize automatic picking operation recording, manual intervention for troubleshooting, and other functions.

[0034] The picking and transport vehicle 2 described above has degrees of freedom in its posture, including forward and backward movement, lifting, and rotation adjustment. By adjusting its posture, the picking and transport vehicle 2 can adapt to different working environments and ground conditions. For example, the lifting function allows the vehicle to maintain stability on uneven ground. Through precise posture adjustment, the picking and transport vehicle 2 can more accurately approach target objects, improving the efficiency and accuracy of picking and handling. Especially on slopes or uneven ground, the posture adjustment function helps the vehicle maintain stability, reducing the risk of tipping over due to uneven ground. The rotation adjustment function allows the vehicle to turn in place without long-distance movement and turning, thus reducing transportation time and improving maneuverability. During movement, repeated movement and rotation can lead to the accumulation of control and positioning errors; the posture adjustment function also helps reduce these errors, improving the robot's positioning accuracy. During picking and transport operations, correct posture ensures stable transport of goods, reducing the risk of damage to goods and injury to operators.

[0035] The aforementioned robotic gripper 2-1 possesses a lateral extension / retraction degree of freedom relative to the picking and transport vehicle 2. This lateral extension / retraction function allows the robotic gripper 2-1 to adapt to cargo boxes 3 of varying widths and shapes, thereby enabling it to grasp cargo boxes 3 of various sizes to meet usage requirements. Through lateral extension / retraction, the robotic gripper 2-1 can adjust its contact distance with the cargo box 3 without changing its own position, increasing operational flexibility and adaptability. The lateral extension / retraction degree of freedom allows the robotic gripper 2-1 to more precisely control the distance between itself and the cargo box 3, ensuring stability during operation. In complex working environments, such as warehouses or production lines, the lateral extension / retraction capability helps the robotic gripper 2-1 flexibly grasp and transport objects within limited space. Furthermore, the lateral extension / retraction degree of freedom also reduces reliance on manual intervention, increases automation, and reduces labor intensity.

[0036] To improve space utilization and reduce warehousing costs, each layer of the aforementioned cargo platform 1-1 in this embodiment can hold one or more rows of the aforementioned cargo bins 3. By placing one or more rows of cargo bins 3 on each layer of the cargo platform 1-1, the space of the cargo platform 1-1 can be maximized, increasing storage capacity. The aforementioned cargo bins 3 can be configured with different or the same size. By using cargo bins 3 of different sizes, the storage needs of various goods can be better adapted, space utilization can be optimized, and warehouse storage efficiency can be improved. Cargo bins 3 of different sizes can accommodate goods of different sizes and shapes, increasing warehouse flexibility and meeting diverse storage needs.

[0037] The picking and transport vehicle 2 mentioned above also has a sorting bin 2-2 that can hold the picked items. The items picked up by the robot gripper 2-1 from the cargo bin 3 can be placed in the sorting bin 2-2 first, and then the items can be transported through the sorting bin 2-2, thereby reducing the probability of items being damaged due to falling.

[0038] The aforementioned picking and transport vehicle 2 also includes temporary storage compartments 2-3 and a mobile loading platform 2-4. The mobile loading platform 2-4 enables the picking bins 2-2 to be pulled out or temporarily stored in the temporary storage compartments 2-3. Multiple temporary storage compartments 2-3 are arranged longitudinally to reduce the space occupied by the picking and transport vehicle 2 in the lateral direction, making the overall storage rack 2 more compact and thus improving storage efficiency. In this embodiment, by setting up temporary storage compartments 2-3 and sorting bins 2-2, a single sorting bin 2-2 on the picking and transport vehicle 2 can retrieve different parts of a set of equipment, or multiple sets of the same parts can be stored in one sorting bin 2-2 at once. That is, multiple sorting bins 2-2 on one picking and transport vehicle 2 can retrieve all or most of the parts, greatly reducing the number of retrieval operations and improving equipment assembly efficiency, thus significantly enhancing the user experience.

[0039] The robot gripper 2-1 described above can be configured as any one of folding, multi-joint, or telescopic arm types. Specifically, it can be selected according to the needs, as long as it can store and retrieve the cargo bin 3 described above.

[0040] The aforementioned picking and transport vehicle 2 includes, but is not limited to, stacker AGVs or stacker trucks. A stacker AGV is an automated logistics device that combines Automated Guided Vehicle (AGV) technology with forklift functionality. It possesses the following characteristics and functions: Automatic navigation technology: Stacker AGVs utilize advanced automatic navigation technology, enabling them to autonomously plan routes, avoid obstacles, and transport goods, greatly improving the automation level of operations; Loading and unloading, stacking, stacking, and short-distance transportation: Stacker AGVs can perform loading, unloading, stacking, and short-distance transportation of palletized goods, and are suitable for various wheeled handling vehicles; Simple and safe structure: Stacker AGVs typically have a simple structure, good micro-movement capabilities, and high explosion-proof safety performance, making them suitable for various industrial environments, including petroleum, chemical, and pharmaceutical fields, as well as ports, railways, freight yards, warehouses, and other locations containing explosive mixtures; Strong adaptability: Stacker AGVs can enter ship holds, carriages, and containers to perform loading, unloading, stacking, handling, and transportation operations of palletized goods, and can be used in conjunction with pallets. It can greatly improve warehousing efficiency; high precision and high reliability: Based on a high-precision and high-reliability automated material handling solution, stacking AGVs can automatically assign tasks, automatically load and unload pallets, automatically transport materials to target sites, and perform multi-layer deep stacking; economic benefits: Stacking AGVs can reduce labor costs, improve operational efficiency, and achieve rapid recovery of labor costs through "machine replacement of human labor"; high-end laser-guided automated and intelligent vehicles; flexibility and scalability: The stacking AGV system is flexibly designed, allowing for the addition of AGVs to meet business growth, and updating and reconfiguring paths is simple without stopping the entire system; multiple navigation methods: Stacking AGVs can use various automatic guidance systems such as laser, magnetic, wire, and timer guidance to adapt to different application scenarios and needs. A stacker truck is a mechanical device specifically used for handling, loading, unloading, and stacking materials. It is mainly used for loading, unloading, stacking, and short-distance transportation of palletized goods. Stacker trucks are also known as pallet trucks or pallet stackers, and the International Organization for Standardization (ISO / TC110) refers to them as industrial vehicles. The main function of a stacker truck is to move and stack goods. It can be used for loading, unloading and stacking of goods in warehouses, construction sites and other places.

[0041] An embodied intelligent storage and retrieval method for a bin-intensive storage environment includes the following steps:

[0042] S1: Manually enter the order information on the remote control platform. The warehouse management system feeds back the storage location coordinate information to the control module. The control module sends instructions to the picking and transport vehicle 2.

[0043] S2: The picking and transport vehicle 2 navigates to the plane coordinate point of the corresponding aisle according to the coordinate information of the storage location, and lifts the robot gripper 2-1 to the height value of the spatial coordinate.

[0044] S3: The robot gripper 2-1 extends toward the storage location. At the same time, the picking and transport vehicle 2 performs a self-rotation fine adjustment to ensure that the robot gripper 2-1 enters and exits along the shelf clearance aisle. After the robot gripper 2-1 is in place, it captures the posture of the item with a camera. After the control module analyzes the image, it issues a gripping posture command. The robot gripper 2-1 extends its gripper 2-1-1 to grip the item.

[0045] S4: In S3, when the gripper 2-1-1 grasps the item, the feedback system gives a feedback signal to determine the firmness of the gripper 2-1-1 in grasping the item, and then takes out the item and transports it to the sorting bin 2-2 that contains the picked item.

[0046] S5: If the object's position is not optimal for grasping in S3 or S4, or if there is jamming or obstruction, manual intervention can be performed on the remote control platform to move the object before the grasping process is executed.

[0047] The picking and transport vehicle 2 is equipped with multiple temporary storage bins 2-3. This system can enable a single sorting bin 2-2 on the picking and transport vehicle 2 to store different parts and items of a set of equipment, or to store the same parts and items of multiple sets of equipment at one time in a sorting bin 2-2. Multiple sorting bins 2-2 can retrieve all parts and items, reducing the number of handling operations and improving work efficiency.

[0048] This system can also perform a reverse replenishment procedure to the loading bins 3 in the storage rack 1. When the storage system determines that the quantity of one or more items has reached below the storage threshold, it issues an instruction to replenish the storage.

[0049] This embodiment presents an embodied intelligent storage and retrieval system for a dense bin storage environment. This system comprises storage racks 1, picking and transport vehicles 2 equipped with robotic grippers 2-1, and an embodied intelligent control system. Aisles are provided between adjacent rows of storage racks 1 for the picking and transport vehicles to pass through. Space is provided between the loaded bins 3 and the upper loading platform 1-1 to allow the robotic grippers 2-1 to pass through. This allows the robotic grippers 2-1 to easily grasp different loaded bins 3 or the items within them. During use, it is not necessary to first move the loaded bins 3 located on the outside, thus meeting usage requirements, enhancing the user experience, and significantly reducing labor costs. This is beneficial for the market promotion and application of the aforementioned embodied intelligent storage and retrieval system for a dense bin storage environment.

[0050] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those 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 invention; therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0051] Although this document frequently uses the following reference numerals from the figures: 1. warehouse rack; 1-1. loading platform; 2. picking transport vehicle; 2-1. robotic gripper; 2-1-1. gripper; 2-2. sorting bin; 2-3. bin storage compartment; 2-4. mobile loading platform; 3. loading bin, etc., the possibility of using other terms is not excluded. These terms are used merely for the convenience of describing and explaining the essence of the invention; interpreting them as any additional limitation would contradict the spirit of the invention.

Claims

1. A personalized intelligent storage and retrieval system for a dense bin storage environment, characterized in that: The system includes a storage rack (1) for carrying cargo bins (3), a picking transport vehicle (2) with a robotic gripper (2-1), and an embodied intelligent control system. The storage rack (1) consists of multiple rows, with aisles reserved between adjacent rows for the picking transport vehicle (2) to pass through. The storage rack (1) has multiple loading platforms (1-1), with space between the top of the cargo bin (3) on the loading platform (1-1) and the loading platform (1-1) on the next higher level to allow the robotic gripper (2-1) to pass through. The robotic gripper (2-1) has at least one vision camera. The embodied intelligent control system includes an imaging module, a drive module, and a drive module. The system includes a drive module, a communication module, a power distribution module, a control module, and a remote control platform for operators. The imaging module receives signals transmitted from the vision camera, displays the image, and is connected to the control module via the communication module. After analysis, the control module compares the image with a pre-trained model and selects the best object to be picked up. The control module is connected to the drive module via the communication module, so that the picking and transport vehicle (2) can switch postures according to instructions. The robot gripper (2-1) includes a gripper (2-1-1), which has at least one vertical lifting degree of freedom and one vertical plane rotation degree of freedom around the center. The power distribution module provides power to each control module.

2. The embodied intelligent storage and retrieval system for a dense bin storage environment according to claim 1, characterized in that: The orientation of the picking and transport vehicle (2) includes the degrees of freedom for forward and backward movement, lifting and lowering, and rotation adjustment.

3. The embodied intelligent storage and retrieval system for a dense bin storage environment according to claim 2, characterized in that: The robotic gripper (2-1) has a degree of freedom to extend and retract laterally relative to the picking and transport vehicle (2).

4. The embodied intelligent storage and retrieval system for a dense bin storage environment according to claim 1, characterized in that: Each of the cargo platforms (1-1) can hold one or more rows of cargo bins (3).

5. The embodied intelligent storage and retrieval system for a dense bin storage environment according to claim 4, characterized in that: The cargo bins (3) are configured with different or the same size.

6. The embodied intelligent storage and retrieval system for a dense bin storage environment according to claim 1, characterized in that: The picking transport vehicle (2) also has a sorting bin (2-2) capable of holding the picked items.

7. The embodied intelligent storage and retrieval system for a dense bin storage environment according to claim 6, characterized in that: The picking and transport vehicle (2) also includes a temporary storage compartment (2-3) for the sorting bins and a mobile loading platform (2-4). The mobile loading platform (2-4) enables the sorting bins (2-2) to be pulled out or temporarily stored and pushed into the temporary storage compartment (2-3).

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

9. The embodied intelligent storage and retrieval system for a dense bin storage environment according to claim 1, characterized in that: The picking and transport vehicle (2) is either a stacker AGV or a stacker truck.

10. A personalized intelligent access method for a bin-intensive storage environment, applied to a personalized intelligent access system for a bin-intensive storage environment as described in any one of claims 1 to 9; characterized in that: Access methods Includes the following steps: S1: The manual inputs the 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 transport vehicle (2) navigates 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 towards the storage location. At the same time, the picking transport vehicle (2) performs a self-rotation fine adjustment to ensure that the robot gripper (2-1) enters and exits along the shelf clearance aisle. After the robot gripper (2-1) is in place, it takes a picture. The robot gripper (2-1) captures the object's posture, analyzes it, and issues a gripping posture command. The gripper (2-1) extends its gripper (2-1-1) to grip the object. S4: In S3, when the gripper (2-1-1) grips the object, the feedback system gives a feedback signal to determine the firmness of the gripper (2-1-1) gripping the object. Then, the object is taken out and transported to the sorting bin (2-2) that contains the picked items. S5: In S3 or S4, if the object's posture is not in the optimal gripping state or there is jamming or obstruction, the operator can intervene in the remote control platform to move the object before executing the gripping process again.

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