Goods storing and taking control method and warehousing and carrying robot

Abstract

The invention belongs to the field of automatic transport vehicles, and particularly relates to a goods storing and taking control method and a warehousing and carrying robot. The goods storing and taking control method comprises the steps that a vehicle body system is controlled to move so that the warehousing and carrying robot can move to a goods storing and taking set position; after the warehousing and carrying robot moves to the goods storing and taking set position, the lifting system is controlled to lift the sliding frame to the goods storing and taking set height; the inclination angle, detected by a first inclination angle detection device, of the lateral extending fork is obtained, and when the inclination angle of the lateral extending fork is larger than a first set inclination angle, the telescopic rod is controlled to stretch out and draw back to reduce the inclination angle of the lateral extending fork; and when the inclination angle of the lateral extension fork is smaller than or equal to the first set inclination angle, the lifting system and the fork system are controlled to store and take goods. The inclination angle of the lateral extending fork is detected through the first inclination angle detection device, when the inclination angle is too large, the telescopic rod is controlled to stretch out and draw back to reduce the inclination angle, the situation that goods storage and taking are affected by too large deviation between the levelness of the lateral extending fork and the actual storage location can be avoided, and the goods storage and taking efficiency of the warehousing and carrying robot is improved.

Description

Technical Field

[0001] This application belongs to the field of automatic transport vehicles, and particularly relates to a method for controlling access to goods and a warehousing handling robot. Background Art

[0002] In the warehousing field, due to reasons such as environmental space limitations and increased warehousing density, the channels available for handling robots to operate are becoming increasingly narrow, and the use of high-level shelves is increasing.

[0003] When the height of the lifting system for lifting the fork system is relatively low, the deformation of the lifting system is small, and the accuracy of the forks of the fork system can be guaranteed, and the access to goods can be quickly completed; when the height of the lifting system for lifting the fork system is relatively high, the deformation of the lifting system is large, and combined with the unevenness of the ground, there may be a certain deviation between the position and level of the forks of the fork system and the actual storage location. It may take a long time to adjust to a state where normal loading and unloading can be carried out, or the goods cannot be accessed, reducing the efficiency of the handling robot in accessing goods. Summary of the Invention

[0004] The purpose of this application is to provide a method for controlling access to goods and a warehousing handling robot to improve the efficiency of the warehousing handling robot in accessing goods.

[0005] To achieve the above purpose, this application provides a method for controlling access to goods. The method for controlling access to goods is configured to control a warehousing handling robot to access goods. The warehousing handling robot includes a vehicle body system, a lifting system, and a fork system. The fork system includes a carriage, a fork extension bracket, a lateral fork extension, a telescopic rod, and a first inclination detection device. The fork extension bracket includes a column and a cross arm connected to each other. The lateral fork extension is arranged on the cross arm. The first inclination detection device is arranged on the cross arm or the lateral fork extension. The column is hingedly connected to the carriage. The telescopic rod connects the column and the carriage. The telescopic rod is configured to drive the column to rotate around the hinge axis. The lifting system connects the vehicle body system and the carriage;

[0006] The method for controlling access to goods includes:

[0007] Controlling the movement of the vehicle body system so that the warehousing handling robot moves to a set position for accessing goods;

[0008] After the warehousing handling robot moves to the set position for accessing goods, controlling the lifting system to lift the carriage to the set height for accessing goods;

[0009] Obtaining the inclination angle of the lateral fork extension detected by the first inclination detection device. When the inclination angle of the lateral fork extension is greater than a first set inclination angle, controlling the telescopic rod to extend and retract to reduce the inclination angle of the lateral fork extension;

[0010] When it is determined that the inclination angle of the lateral fork is less than or equal to the first set inclination angle, control the lifting system and the fork system to access goods.

[0011] Optionally, the fork system further includes a goods identification device configured to identify the positions of the shelves, goods, or pallets. The goods identification device is provided on the cross arm or the lateral fork. The goods access control method further includes:

[0012] After it is determined that the inclination angle of the lateral fork is less than or equal to the first set inclination angle, obtain the position information identified by the goods identification device, and determine the relationship between the position of the lateral fork and the goods access conditions according to the position information;

[0013] When it is determined that the position of the lateral fork does not meet the goods access conditions, control the vehicle body system to move to adjust the horizontal position of the lateral fork;

[0014] When it is determined that the position of the lateral fork meets the goods access conditions, control the lifting system and the fork system to access goods.

[0015] Optionally, the fork system further includes a bracket support and a lifting device. The bracket support is provided on the carriage, and the lifting device connects the carriage and the bracket support. The lifting device is configured to adjust the position of the bracket support on the carriage in the height direction of the vehicle body system. The fork bracket is provided on the bracket support. One end of the column away from the cross arm is hinged to the bracket support, and the telescopic rod connects one end of the column close to the cross arm and the bracket support. The goods access control method further includes:

[0016] When it is determined that the position of the lateral fork does not meet the goods access conditions, control the lifting device to adjust the height position of the lateral fork.

[0017] Optionally, the vehicle body system includes a vehicle frame, a steering wheel, a driving device, and a second inclination angle detection device. The steering wheel is provided on the vehicle frame, and the driving device is connected to the steering wheel. The driving unit is configured to drive the steering wheel to move forward and turn. The lifting system and the second inclination angle detection device are provided on the vehicle frame. The goods access control method includes:

[0018] After controlling the vehicle body system to move to the goods access set position, obtain the inclination angle of the vehicle frame detected by the second inclination angle detection device;

[0019] When the inclination angle of the vehicle frame is less than the second set inclination angle, control the lifting system to lift the carriage to the goods access set height.

[0020] Optionally, the warehousing and handling robot includes an alarm and prompt system, and the access control method further includes:

[0021] When the inclination angle of the vehicle frame is greater than a third set inclination angle, control the alarm and prompt system to give an alarm to prompt the staff to handle the abnormal inclination. The third set inclination angle is greater than the second set inclination angle.

[0022] Optionally, the access control method further includes:

[0023] When the inclination angle of the vehicle frame is greater than a third set inclination angle, obtain the set height for access.

[0024] According to the preset corresponding relationship between the inclination angle of the vehicle frame and the upper limit of the access height, obtain the upper limit of the access height corresponding to the inclination angle of the vehicle frame measured by the second inclination angle detection device.

[0025] When the set height for access is less than the upper limit of the access height, control the lifting system to lift the carriage to the set height for access.

[0026] Optionally, the access control method further includes:

[0027] When the set height for access is greater than or equal to the upper limit of the access height, control the alarm and prompt system to give an alarm to prompt the staff to handle the abnormal inclination.

[0028] Optionally, the access control method further includes:

[0029] When the inclination angle of the vehicle frame is greater than or equal to the second set inclination angle and less than or equal to the third set inclination angle, control the telescopic rod to extend or retract to reduce the inclination angle of the lateral extension fork. The third set inclination angle is greater than the second set inclination angle.

[0030] After determining that the inclination angle of the vehicle frame is less than the second set inclination angle, control the lifting system to lift the carriage to the set height for access.

[0031] Optionally, the access control method further includes:

[0032] When the inclination angle of the vehicle frame is greater than or equal to the second set inclination angle and less than or equal to the third set inclination angle, control the lifting system to lift the carriage to the set height for access. During the process of lifting the carriage, control the telescopic rod to extend or retract to reduce the inclination angle of the lateral extension fork. The third set inclination angle is greater than the second set inclination angle.

[0033] This application also provides a warehousing and handling robot, including:

[0034] A vehicle body system;

[0035] Lifting system, provided on the vehicle body system, which is configured to move the lifting system;

[0036] Fork system, including a carriage, a fork extension bracket, a lateral fork extension, a telescopic rod and a first inclination detection device. The fork extension bracket includes a vertical column and a cross arm connected vertically. The lateral fork extension is provided on the cross arm. The first inclination detection device is provided on the cross arm or the lateral fork extension. One end of the vertical column away from the cross arm is hinged to the carriage. The telescopic rod connects one end of the vertical column close to the cross arm and the carriage. The lifting system connects the vehicle body system and the carriage;

[0037] Controller, configured for the method of storing and retrieving goods, to control the lifting system and the fork system to store and retrieve goods.

[0038] The method for storing and retrieving goods and the warehousing handling robot disclosed in this application have the following beneficial effects:

[0039] In this application, the method for storing and retrieving goods includes: controlling the vehicle body system to move so that the warehousing handling robot moves to the set position for storing and retrieving goods; after the warehousing handling robot moves to the set position for storing and retrieving goods, controlling the lifting system to lift the carriage to the set height for storing and retrieving goods; obtaining the inclination angle of the lateral fork extension detected by the first inclination detection device, and when the inclination angle of the lateral fork extension is greater than the first set inclination angle, controlling the telescopic rod to extend or retract to reduce the inclination angle of the lateral fork extension; when it is determined that the inclination angle of the lateral fork extension is less than or equal to the first set inclination angle, controlling the lifting system and the fork system to store and retrieve goods. In this application, the inclination angle of the lateral fork extension is detected by the first inclination detection device, and when the inclination angle is too large, the telescopic rod is controlled to extend or retract to reduce the inclination angle, which can avoid the excessive deviation between the levelness of the lateral fork extension and the actual storage location from affecting the storage and retrieval of goods, and improve the efficiency of the warehousing handling robot for storing and retrieving goods.

[0040] Other features and advantages of this application will become apparent through the following detailed description, or will be learned in part through the practice of this application.

[0041] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit this disclosure. Description of the Drawings

[0042] The drawings here are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with this application, and are used together with the specification to explain the principles of this application. Obviously, the drawings in the following description are only some embodiments of this application, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts.

[0043] Figure 1It is a three-dimensional schematic diagram of the warehousing handling robot in the embodiment of the present application.

[0044] Figure 2 It is a three-dimensional schematic diagram of the fork system in the embodiment of the present application.

[0045] Figure 3 It is a flow framework diagram of the access control method in the embodiment of the present application.

[0046] Figure 4 It is a flow schematic diagram of the access control method in the embodiment of the present application.

[0047] Figure 5 It is a structural schematic diagram of the vehicle body system in the embodiment of the present application.

[0048] Explanation of reference numerals:

[0049] 100, vehicle body system; 110, vehicle frame; 120, vehicle head; 130, steering wheel; 200, lifting system;

[0050] 300, fork system; 310, carriage; 320, bracket support; 330, telescopic fork bracket; 331, column; 332, cross arm; 340, lifting device; 350, lateral telescopic fork; 360, cargo identification device; 370, telescopic rod. Detailed implementation manners

[0051] Now, the exemplary embodiments will be described more fully with reference to the accompanying drawings. However, the exemplary embodiments can be implemented in various forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this application will be more complete and comprehensive, and will fully convey the concept of the exemplary embodiments to those skilled in the art.

[0052] In addition, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of the embodiments of the present application. However, those skilled in the art will realize that the technical solutions of the present application can be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, well-known methods, devices, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the present application.

[0053] The present application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted here that the technical features involved in the various embodiments of the present application described below can be combined with each other as long as they do not conflict with each other. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the present application, and should not be construed as limiting the present application.

[0054] The present application provides a method for controlling the access of goods, which is configured to control a warehousing handling robot to access goods.

[0055] See Figure 1 and Figure 2 As shown, the warehousing handling robot includes a vehicle body system 100, a lifting system 200, and a fork system 300. The lifting system 200 is arranged on the vehicle body system 100, the fork system 300 is connected to the lifting system 200, the vehicle body system 100 is configured to move the lifting system 200 and the fork system 300, the lifting system 200 is configured to vertically lift and lower the fork system 300, and the fork system 300 is configured to access goods.

[0056] Among them, the fork system 300 includes a carriage 310, a fork extension bracket 330, a lateral fork 350, a telescopic rod 370, and a first inclination detection device. The carriage 310 is connected to the lifting system 200, and the lifting system 200 is configured to lift and lower the carriage 310 along the height direction (i.e., the vertical direction) of the vehicle body system 100. The fork extension bracket 330 includes a column 331 and a cross arm 332, and the column 331 and the cross arm 332 are perpendicularly connected. The column 331 may include a plurality of prisms arranged at intervals in the width direction, and the cross arm 332 may include a plurality of prisms arranged at intervals in the width direction. The prisms in the lateral direction and the prisms in the vertical direction are connected to form a vertically connected column.

[0057] The column 331 extends along the height direction of the vehicle body system 100, and the cross arm 332 extends along the length direction of the vehicle body system 100. The lateral fork 350 may be arranged on the cross arm 332, and the lateral fork 350 can at least extend and retract to one side in the width direction of the vehicle body system 100 to fork the goods or pallets stored on the shelf. The first inclination detection device is arranged on the cross arm 332 or the lateral fork 350. One end (i.e., the upper end) of the column 331 far from the cross arm 332 is hinged to the carriage 310, and the telescopic rod 370 is connected to one end (i.e., the lower end) of the column 331 close to the cross arm 332 and the carriage 310. The telescopic rod 370 includes a hydraulic telescopic rod or an electric telescopic rod. When the cross arm 332 or the lateral fork 350 is inclined relative to the horizontal plane, by adjusting the telescopic amount of the telescopic rod 370, the horizontal inclination angle of the cross arm 332 can be adjusted, that is, the horizontal inclination angle of the lateral fork 350 can be adjusted.

[0058] See Figure 3 and Figure 4 As shown, the method for controlling the access of goods in this embodiment includes:

[0059] S100: Control the vehicle body system 100 to move so that the warehousing handling robot moves to the set position for accessing goods;

[0060] S200: After the warehousing and handling robot moves to the set position for accessing goods, control the lifting system 200 to lift the carriage 310 to the set height for accessing goods;

[0061] S300: Obtain the inclination angle of the lateral fork 350 detected by the first inclination angle detection device. When the inclination angle of the lateral fork 350 is greater than the first set inclination angle, control the telescopic rod 370 to expand and contract to reduce the inclination angle of the lateral fork 350;

[0062] S400: When it is determined that the inclination angle of the lateral fork 350 is less than or equal to the first set inclination angle, control the lifting system 200 and the fork system 300 to access goods.

[0063] When the lifting system 200 lifts the fork system 300 to a relatively high height, the deformation of the lifting system 200 is relatively large, and combined with the unevenness of the ground, there may be a certain deviation between the position and levelness of the forks of the fork system 300 and the actual storage location. It may take a long time to adjust to reach the state where goods can be normally unloaded and loaded, or goods cannot be accessed, reducing the efficiency of the handling robot for accessing goods.

[0064] In this embodiment, the method for controlling access to goods includes: controlling the vehicle body system 100 to move so that the warehousing and handling robot moves to the set position for accessing goods; after the warehousing and handling robot moves to the set position for accessing goods, control the lifting system 200 to lift the carriage 310 to the set height for accessing goods; obtain the inclination angle of the lateral fork 350 detected by the first inclination angle detection device. When the inclination angle of the lateral fork 350 is greater than the first set inclination angle, control the telescopic rod 370 to expand and contract to reduce the inclination angle of the lateral fork 350; when it is determined that the inclination angle of the lateral fork 350 is less than or equal to the first set inclination angle, control the lifting system 200 and the fork system 300 to access goods. In this embodiment, the first inclination angle detection device is used to detect the inclination angle of the lateral fork 350. When the inclination angle is too large, control the telescopic rod 370 to expand and contract to reduce the inclination angle, which can avoid the deviation between the levelness of the lateral fork 350 and the actual storage location from being too large and affecting the access to goods, and improve the efficiency of the warehousing and handling robot for accessing goods.

[0065] See Figure 1 and Figure 2 As shown in, on both sides in the width direction of the fork bracket 330, there are goods identification devices 360. The goods identification devices 360 are configured to identify the shelves, goods or pallets. The goods identification devices 360 can be installed on the cross arm 332 or the lateral fork 350. The goods identification devices 360 can be identification devices such as laser scanning probes, cameras, etc. that can identify the shape and position of goods.

[0066] The method for controlling access to goods further includes:

[0067] After determining that the inclination angle of the lateral extension fork 350 is less than or equal to the first set inclination angle, obtain the position information identified by the goods identification device 360, and determine the relationship between the position of the lateral extension fork 350 and the storage and retrieval conditions according to the position information;

[0068] When it is determined that the position of the lateral extension fork 350 does not meet the storage and retrieval conditions, control the vehicle body system 100 to move to adjust the horizontal position of the lateral extension fork 350;

[0069] When it is determined that the position of the lateral extension fork 350 meets the storage and retrieval conditions, control the lifting system 200 and the fork system 300 to store and retrieve goods.

[0070] It should be understood that the position of the lateral extension fork 350 meets the storage and retrieval conditions, that is, when picking up goods, the lateral extension fork 350 is aligned directly below the goods or pallet, and when storing goods, the lateral extension fork 350 is aligned directly above the storage position of the shelf. By identifying the position information of the shelf, goods or pallet through the goods identification device 360 and controlling the accurate movement of the lateral extension fork 350 to the horizontal position for storage and retrieval according to the position information of the shelf, goods or pallet, it is beneficial to improve the efficiency of the warehousing handling robot for storing and retrieving goods.

[0071] See Figure 1 and Figure 2 As shown, the fork system 300 further includes a bracket support 320 and a lifting device 340. The bracket support 320 is arranged on the carriage 310, and the lifting device 340 is connected to the carriage 310 and the bracket support 320. The lifting device 340 is configured to adjust the position of the bracket support 320 on the carriage 310 in the height direction of the vehicle body system 100. The extension fork bracket 330 is arranged on the bracket support 320. One end of the column 331 away from the cross arm 332 is hinged to the bracket support 320, and the telescopic rod 370 is connected to one end of the column 331 close to the cross arm 332 and the bracket support 320.

[0072] The lifting device 340 may include a motor, a reducer, and a nut-screw mechanism connected in sequence. The nut-screw mechanism includes a nut and a screw. The nut is connected to the bracket support 320, and the screw is connected to the reducer. It should be noted that the lifting device 340 may include a nut-screw mechanism, but is not limited thereto. The lifting device 340 may also use a rack and pinion mechanism, a worm and worm gear mechanism, etc. to realize the lifting of the bracket support 320 on the carriage 310, which can be determined according to the specific situation.

[0073] The accuracy of the lifting device 340 for lifting the bracket support 320 is greater than the accuracy of the lifting system 200 for lifting the bracket support 320. The lifting system 200 is configured to quickly lift the bracket support 320 approximately in place, and the lifting device 340 is configured to accurately adjust the height position of the bracket support 320, so as to lift the bracket support 320 in place.

[0074] The access and storage control method further includes:

[0075] When it is determined that the position of the lateral extension fork 350 does not meet the access and storage conditions, the lifting device 340 is controlled to adjust the height position of the lateral extension fork 350.

[0076] The position information of the shelf, goods or pallet is identified by the goods identification device 360, and the lateral extension fork 350 is accurately moved to the access and storage height position according to the position information of the shelf, goods or pallet, which is beneficial to improving the efficiency of the storage handling robot for accessing goods.

[0077] See Figures 1 to 5 As shown, the vehicle body system 100 includes a vehicle frame 110, a vehicle head 120, a steering wheel 130, a driving device and a second inclination detection device. The first inclination detection device and the second inclination detection device include an inclination sensor or an electronic compass. The vehicle head 120 is arranged on the vehicle frame 110. The vehicle head 120 includes a first vehicle head and a second vehicle head, and the first vehicle head and the second vehicle head are respectively located at both ends of the vehicle frame 110 in the length direction. The steering wheel 130 is arranged on the vehicle frame 110, and the steering wheel 130 is arranged in one-to-one correspondence with the vehicle head 120. The steering wheel 130 is located on the side of the vehicle frame 110 away from the vehicle head 120, that is, the steering wheel 130 is located on the lower side of the vehicle frame 110, and the vehicle head 120 is located on the upper side of the vehicle frame 110.

[0078] The driving device is arranged in the vehicle head 120 and is connected to the steering wheel 130. The driving device is configured to drive the steering wheel 130 to move and turn. The lifting system 200 is arranged on the vehicle frame 110. The lifting system 200 and the fork system 300 are located between the two vehicle heads 120, and the lifting system 200 is also connected to one of the vehicle heads 120. The second inclination detection device is arranged on the vehicle frame 110, and the second inclination detection device is configured to detect the inclination of the vehicle frame 110.

[0079] The access and storage control method includes:

[0080] After controlling the vehicle body system 100 to move to the access and storage set position, the inclination of the vehicle frame 110 detected by the second inclination detection device is obtained. When the inclination of the vehicle frame 110 is less than the second set inclination, the lifting system 200 is controlled to lift the carriage 310 to the access and storage set height.

[0081] Detecting the inclination of the vehicle frame 110 by the second inclination detection device can avoid the excessive inclination of the vehicle frame 110 affecting the access and storage of goods by the lifting system 200 and the fork system 300. When the inclination of the vehicle frame 110 is small, the lifting system 200 directly lifts the carriage 310 to the access and storage set height, which is beneficial to improving the efficiency of the storage handling robot for accessing goods.

[0082] In some embodiments, the storage handling robot includes an alarm prompt system, and the access and storage control method further includes:

[0083] When the inclination angle of the frame 110 is greater than the third set inclination angle, the alarm prompt system is controlled to give an alarm to prompt the staff to handle the abnormal inclination, and the third set inclination angle is greater than the second set inclination angle.

[0084] When the ground is uneven or there are obstacles causing the frame 110 to tilt too much, the alarm prompt system gives an alarm to prompt the staff to handle the abnormal inclination, and then the vehicle body system 100 is controlled to move to the set position for loading and unloading, and the inclination angle of the frame 110 is detected again to see if it is less than or equal to the third set inclination angle, which can prevent the excessive inclination angle of the frame 110 from affecting the loading and unloading of the lifting system 200 and the fork system 300.

[0085] In some embodiments, the loading and unloading control method further includes:

[0086] When the inclination angle of the frame 110 is greater than the third set inclination angle, obtain the set height for loading and unloading;

[0087] According to the preset correspondence between the inclination angle of the frame 110 and the upper limit of the loading and unloading height, obtain the upper limit of the loading and unloading height corresponding to the inclination angle of the frame 110 measured by the second inclination angle detection device;

[0088] When the set height for loading and unloading is less than the upper limit of the loading and unloading height, control the lifting system 200 to lift the carriage 310 to the set height for loading and unloading.

[0089] It is easy to understand that when the frame 110 is inclined relative to the horizontal plane, the lower the position where the goods are placed, the lower the lifting system 200 lifts the carriage 310, and the smaller the lateral fork 350 deviates from the goods placement position. There is a correspondence between the inclination angle of the frame 110 and the upper limit of the loading and unloading height. According to this correspondence, the upper limit of the loading and unloading height corresponding to the inclination angle of the frame 110 measured by the second inclination angle detection device can be calculated. When the position where the goods are placed is lower than the upper limit of the loading and unloading height, the loading and unloading can still be completed by adjusting the horizontal inclination angle of the lateral fork 350 without prompting the staff to handle the abnormal inclination, which is beneficial to improving the efficiency of the storage and handling robot for loading and unloading goods.

[0090] In some embodiments, the loading and unloading control method further includes:

[0091] When the set height for loading and unloading is greater than or equal to the upper limit of the loading and unloading height, control the alarm prompt system to give an alarm to prompt the staff to handle the abnormal inclination.

[0092] When the frame 110 is inclined relative to the horizontal plane, the higher the position where the goods are placed, the higher the lifting system 200 lifts the carriage 310, and the greater the lateral fork 350 deviates from the goods placement position. At this time, the staff is prompted to handle the abnormal inclination, which solves the problem of inability to load and unload goods and reduces the risk of the storage and handling robot tipping over.

[0093] In some embodiments, the access and storage control method further includes:

[0094] When the inclination angle of the vehicle frame 110 is greater than or equal to the second set inclination angle and less than or equal to the third set inclination angle, control the telescopic rod 370 to expand and contract to reduce the inclination angle of the lateral fork 350. The third set inclination angle is greater than the second set inclination angle. After determining that the inclination angle of the vehicle frame 110 is less than the second set inclination angle, control the lifting system 200 to lift the carriage 310 to the access and storage set height.

[0095] During inventory, control the telescopic rod 370 to expand and contract to reduce the inclination angle of the lateral fork 350. After determining that the inclination angle of the vehicle frame 110 is less than the second set inclination angle, then control the lifting system 200 to lift the carriage 310 to the access and storage set height, which can improve the smoothness of the goods lifting.

[0096] In some embodiments, the access and storage control method further includes:

[0097] When the inclination angle of the vehicle frame 110 is greater than or equal to the second set inclination angle and less than or equal to the third set inclination angle, control the lifting system 200 to lift the carriage 310 to the access and storage set height. During the process of lifting the carriage 310, control the telescopic rod 370 to expand and contract to reduce the inclination angle of the lateral fork 350. The third set inclination angle is greater than the second set inclination angle.

[0098] During inventory, control the telescopic rod 370 to expand and contract to reduce the inclination angle of the lateral fork 350 during the process of lifting the carriage 310, which is beneficial to improving the efficiency of the warehousing handling robot for accessing and storing goods.

[0099] In summary, the access and storage control method includes:

[0100] S1: Control the vehicle body system 100 to move so that the warehousing handling robot moves to the access and storage set position;

[0101] S2: Obtain the inclination angle of the vehicle frame 110 detected by the second inclination angle detection device and judge the size of the inclination angle, and execute S21, S22 or S23 according to the judgment result;

[0102] S21: When the inclination angle of the vehicle frame 110 is less than the second set inclination angle, control the lifting system 200 to lift the carriage 310 to the access and storage set height;

[0103] S22: When the inclination angle of the vehicle frame 110 is greater than the third set inclination angle, control the alarm prompt system to alarm, prompt the staff to handle the abnormal inclination, and then repeat step S1;

[0104] S23: When the inclination angle of the vehicle frame 110 is greater than or equal to the second set inclination angle and less than or equal to the third set inclination angle, control the telescopic rod 370 to expand and contract to reduce the inclination angle of the lateral fork 350, and then obtain the inclination angle of the lateral fork 350 detected by the first inclination angle detection device. When it is determined that the inclination angle of the lateral fork 350 is less than or equal to the first set inclination angle, execute step S21;

[0105] S3: Obtain the inclination angle of the lateral fork 350 detected by the first inclination angle detection device and judge the size of the inclination angle, and execute S31 or S32 according to the judgment result;

[0106] S31: When the inclination angle of the lateral fork 350 is greater than the first set inclination angle, control the telescopic rod 370 to expand and contract to reduce the inclination angle of the lateral fork 350, and then execute step S3 again;

[0107] S32: When it is determined that the inclination angle of the lateral fork 350 is less than or equal to the first set inclination angle, obtain the position information identified by the cargo identification device 360;

[0108] S4: Judge the relationship between the position of the lateral fork 350 and the access conditions according to the position information, and execute S41 or S42 according to the judgment result;

[0109] S41: When it is determined that the position of the lateral fork 350 does not meet the access conditions, control the vehicle body system 100 to move to adjust the horizontal position of the lateral fork 350, and control the lifting device 340 to adjust the height position of the lateral fork 350, and then execute S4 again;

[0110] S42: When it is determined that the position of the lateral fork 350 meets the access conditions, control the lifting system 200 and the fork system 300 to access the goods.

[0111] The present application also provides a warehousing handling robot, which includes a vehicle body system 100, a lifting system 200, a fork system 300 and a controller. The lifting system 200 is arranged on the vehicle body system 100, and the vehicle body system 100 is configured to move the lifting system 200. The fork system 300 is connected to the lifting system 200.

[0112] The fork system 300 includes a carriage 310, a fork bracket 330, a lateral fork 350 and a first inclination angle detection device. The carriage 310 is connected to the lifting system 200, and the lifting system 200 is configured to lift and lower the carriage 310 along the height direction (i.e., the vertical direction) of the vehicle body system 100. The fork bracket 330 includes a column 331 and a cross arm 332, and the column 331 and the cross arm 332 are vertically connected.

[0113] The vertical column 331 extends along the height direction of the vehicle body system 100, and the cross arm 332 extends along the length direction of the vehicle body system 100. The first inclination detection device is arranged on the cross arm 332 or the lateral fork 350. One end (i.e., the upper end) of the vertical column 331 away from the cross arm 332 is hingedly connected to the carriage 310, and the telescopic rod 370 is connected to one end (i.e., the lower end) of the vertical column 331 close to the cross arm 332 and the carriage 310. The controller is configured to execute the above-disclosed goods access control method to control the lifting system 200 and the fork system 300 to access goods.

[0114] In this embodiment, the inclination of the lateral fork 350 is detected by the first inclination detection device. When the inclination is too large, the telescopic rod 370 is controlled to expand and contract to reduce the inclination, which can avoid the excessive deviation between the level of the lateral fork 350 and the actual storage location from affecting the access of goods, and improve the efficiency of the storage and handling robot for accessing goods.

[0115] The terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present application, the meaning of "a plurality" is two or more unless otherwise specifically defined.

[0116] In the present application, unless otherwise clearly specified and defined, the terms such as "assembly", "connection", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0117] In the description of this specification, the description with reference to terms such as "some embodiments", "exemplarily", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0118] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application. Therefore, any changes or modifications made in accordance with the claims and the specification of the present application shall fall within the scope covered by the patent of the present application.

Claims

1. A method for controlling storage and retrieval of goods, characterized in that: The storage and retrieval control method is configured to control a storage and handling robot to store and retrieve goods, the storage and handling robot comprising a vehicle body system, a lifting system and a fork system, the fork system comprising a slide, a fork bracket, a lateral fork, a telescopic rod and a first inclination detection device, the fork bracket comprising a column and a cross arm connected to each other, the lateral fork being arranged on the cross arm, the first inclination detection device being arranged on the cross arm or the lateral fork, the column being hingedly connected to the slide, the telescopic rod connecting the column and the slide, the telescopic rod being configured to drive the column to rotate around a hinge axis, and the lifting system connecting the vehicle body system and the slide; The storage and retrieval control method comprises: Controlling the movement of the vehicle body system to move the storage and handling robot to a set position for storing and retrieving goods; After the storage and handling robot moves to the set position for storing and retrieving goods, the lifting system is controlled to lift the slide to the set height for storing and retrieving goods; Acquiring the inclination angle of the lateral fork detected by the first inclination angle detection device, and when the inclination angle of the lateral fork is greater than a first set inclination angle, controlling the telescopic rod to be extended and retracted to reduce the inclination angle of the lateral fork; When it is determined that the inclination angle of the lateral fork is less than or equal to the first set inclination angle, the lifting system and the fork system are controlled to store and retrieve cargo.

2. The method for controlling the storage and retrieval of goods according to claim 1, characterized in that: The fork system further includes a cargo identification device, which is configured to identify the position of a shelf, cargo or pallet, and the cargo identification device is arranged on the cross arm or the lateral fork. The cargo storage and retrieval control method further includes: After determining that the inclination angle of the lateral fork is less than or equal to the first set inclination angle, obtaining the position information identified by the cargo identification device, and determining the relationship between the position of the lateral fork and the cargo storage and retrieval conditions according to the position information; When it is determined that the position of the lateral fork does not meet the cargo storage and retrieval conditions, controlling the vehicle body system to move to adjust the horizontal position of the lateral fork; When it is determined that the position of the lateral fork meets the cargo storage and retrieval conditions, the lifting system and the cargo fork system are controlled to store and retrieve cargo.

3. The method for controlling the storage and retrieval of goods according to claim 2, characterized in that: The fork system further includes a bracket support and a lifting device, wherein the bracket support is arranged on the slide, the lifting device connects the slide and the bracket support, and the lifting device is configured to adjust the position of the bracket support on the slide along the height direction of the vehicle body system, the fork bracket is arranged on the bracket support, one end of the column away from the cross arm is hingedly connected to the bracket support, and the telescopic rod connects one end of the column close to the cross arm and the bracket support, and the storage and retrieval control method further includes: When it is determined that the position of the lateral fork does not meet the cargo storage and retrieval conditions, the lifting device is controlled to adjust the height position of the lateral fork.

4. The method for controlling the storage and retrieval of goods according to claim 1, characterized in that: The vehicle body system includes a vehicle frame, a steering wheel, a driving device and a second inclination detection device, the steering wheel is arranged on the vehicle frame, the driving device is connected to the steering wheel, the driving unit is configured to drive the steering wheel to walk and turn, the lifting system and the second inclination detection device are arranged on the vehicle frame, and the cargo storage and retrieval control method includes: After controlling the vehicle body system to move to a set position for storing or retrieving goods, obtaining the inclination angle of the vehicle frame detected by the second inclination angle detection device; When the inclination angle of the frame is less than a second set inclination angle, the lifting system is controlled to lift the slide to a set height for storing and retrieving goods.

5. The method for controlling the storage and retrieval of goods according to claim 4, characterized in that: The storage and handling robot includes an alarm prompt system, and the storage and retrieval control method also includes: When the inclination angle of the frame is greater than a third set inclination angle, the alarm prompt system is controlled to sound an alarm to prompt the staff to deal with the abnormal inclination, and the third set inclination angle is greater than the second set inclination angle.

6. The method for controlling the storage and retrieval of goods according to claim 5, characterized in that: The storage and retrieval control method further comprises: When the inclination angle of the frame is greater than a third set inclination angle, obtaining the set height for storing and retrieving goods; According to a preset correspondence between the frame inclination angle and the upper limit of the height for storing and retrieving cargo, obtaining the upper limit of the height for storing and retrieving cargo corresponding to the inclination angle of the frame measured by the second inclination angle detection device; When the set height for storing and retrieving goods is less than the upper limit of the height for storing and retrieving goods, the lifting system is controlled to lift the slide to the set height for storing and retrieving goods.

7. The method for controlling the storage and retrieval of goods according to claim 6, characterized in that: The storage and retrieval control method further comprises: When the set height for storing and retrieving goods is greater than or equal to the upper limit of the height for storing and retrieving goods, the alarm prompt system is controlled to sound an alarm to prompt the staff to deal with the abnormal tilt.

8. The method for controlling the storage and retrieval of goods according to claim 4, characterized in that: The storage and retrieval control method further comprises: When the inclination angle of the frame is greater than or equal to the second set inclination angle, and the inclination angle of the frame is less than or equal to a third set inclination angle, controlling the telescopic rod to be telescopic to reduce the inclination angle of the lateral fork, and the third set inclination angle is greater than the second set inclination angle; After determining that the inclination angle of the frame is less than the second set inclination angle, the lifting system is controlled to lift the slide to the set height for storing and retrieving goods.

9. The method for controlling the storage and retrieval of goods according to claim 4, characterized in that: The storage and retrieval control method further comprises: When the inclination angle of the frame is greater than or equal to the second set inclination angle and less than or equal to the third set inclination angle, the lifting system is controlled to lift the slide to the set height for storing and retrieving goods, and in the process of lifting the slide, the telescopic rod is controlled to be extended and retracted to reduce the inclination angle of the lateral fork, and the third set inclination angle is greater than the second set inclination angle.

10. A storage and handling robot, characterized in that: include: Vehicle body system; a lifting system disposed on the vehicle body system, the vehicle body system being configured to move the lifting system; A fork system, comprising a slide, a fork bracket, a lateral fork, a telescopic rod and a first inclination detection device, wherein the fork bracket comprises a vertically connected column and a cross arm, the lateral fork is arranged on the cross arm, the first inclination detection device is arranged on the cross arm or the lateral fork, the column is hingedly connected to the slide at one end away from the cross arm, the telescopic rod connects the column at one end close to the cross arm and the slide, and the lifting system connects the vehicle body system and the slide; The controller is configured to execute the cargo storage and retrieval control method according to any one of claims 1 to 9, and control the lifting system and the fork system to store and retrieve cargo.

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