Goods taking method based on information carrier and three-dimensional storage robot

Abstract

The embodiment of the invention discloses a goods taking method based on an information carrier and a three-dimensional storage robot, and the method comprises the steps: obtaining the storage position of a target goods and the first goods information of the target goods, and determining the position of a tray at the storage position through a positioning device after the target goods are moved to the storage position; and controlling the information reader-writer to read the second cargo information of the information carrier module on the tray, checking the first cargo information and the second cargo information, if the checking result is that the checking is passed, taking the cargo at the storage position by using the high-position fork and the low-position fork, otherwise, giving an alarm. It is ensured that the carried goods are the goods recorded in the warehousing system, and the goods are prevented from being disordered.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics storage robots, and particularly to a picking method based on an information carrier and a three-dimensional storage robot. Background Art

[0002] In a three-dimensional warehouse, the transfer of goods pallets between the warehouse floor and the shelves is carried out semi-manually and semi-automatically. Specifically, placing the goods pallet at the warehouse floor location is done by manually operating a forklift for picking and placing, transporting the goods pallet from the warehouse floor to the shelves is carried out by a three-dimensional storage robot, and the movement on the shelves is completed by a horizontal three-dimensional storage robot.

[0003] During the transportation process, due to the mistakes of the staff, there are discrepancies between the expected goods placement positions and the actual goods placement positions in the warehousing system. However, the existing three-dimensional storage robots complete the handling of goods at the designated locations according to the instructions of the warehousing system and are unable to confirm whether the goods being handled are the goods recorded in the warehousing system, resulting in goods confusion. Summary of the Invention

[0004] In view of this, the present invention provides a picking method based on an information carrier and a three-dimensional storage robot.

[0005] The specific technical solution of the first embodiment of the present invention is: a method for picking up goods based on an information carrier, applied to a three-dimensional warehouse robot, an information reader / writer is arranged on the three-dimensional warehouse robot, an information carrier module is arranged on the pallet for storing goods, the information carrier module contains cargo information of preset goods, the three-dimensional warehouse robot comprises: a vehicle body, a lifting frame, a high-position fork, a low-position fork and a positioning device; the lifting frame is arranged at the rear end of the vehicle body; the high-position fork is slidably connected with the lifting frame along the height direction, and the high-position fork has a high-position fork arm; the low-position fork is movably installed on the vehicle body along a first direction so that the low-position fork can extend out of the front end of the vehicle body or be retracted along the first direction, the first direction is perpendicular to the height direction, the low-position fork has a low-position fork arm that can be lifted and lowered in the height direction, the low-position fork and the high-position fork arm are staggered in the second direction, and the first direction, the The second direction and the height direction are perpendicular to each other; a positioning device is provided on one side of the lifting frame facing the front end of the vehicle body, and the positioning device is used to determine the position of the cargo pallet; the method comprises: when picking up the target cargo, obtaining the storage position of the target cargo and the first cargo information of the target cargo; moving according to the storage position; after moving to the storage position, using the positioning device to determine the position of the pallet at the storage position, and using the high-position fork and / or the low-position fork to make the information carrier module on the pallet close to the information reader / writer, controlling the information reader / writer to read the second cargo information in the information carrier module on the pallet, and checking the first cargo information with the second cargo information; if the checking result is that the checking is passed, using the high-position fork and the low-position fork to complete the picking operation of the cargo at the storage position; if the checking result is that the checking is not passed, an alarm is issued.

[0006] Preferably, the cargo information includes cargo identification number, cargo name, cargo size, cargo quantity and cargo weight.

[0007] Preferably, the cargo information also includes cargo operator, cargo operation time and cargo storage time.

[0008] Preferably, the moving according to the storage location includes: obtaining the current location; performing optimal path planning according to the current location and the storage location to obtain an optimal moving route; and moving based on the optimal moving route.

[0009] Preferably, the information carrier module includes any one of an RFID tag, a barcode, a QR code, and an NFC tag.

[0010] Preferably, when the information carrier module is arranged at the bottom of the tray, the information reader / writer is arranged at a middle position of the frame.

[0011] Preferably, the information carrier module is disposed on the side surface of the tray, and the information reader / writer is disposed on the high-position fork.

[0012] The specific technical solution of the second embodiment of the present invention is as follows: For the three-dimensional warehousing robot described in the first embodiment, when the high-position fork arm is at the lowest position, the high-position fork arm is located above the upper surface of the vehicle body.

[0013] Preferably, the vehicle body includes a left frame, a middle frame, and a right frame arranged along a second direction. A fork receiving area is formed between the left frame and the middle frame, and a fork receiving area is formed between the right frame and the middle frame. Each of the fork receiving areas houses a low-position fork; a plurality of high-position fork arms are arranged at intervals along the second direction, and the plurality of high-position fork arms are distributed on both sides of the fork receiving area.

[0014] Preferably, a wire rope encoder is disposed inside the vehicle body, and the forward extension distance of the low-position fork is controlled by the wire rope encoder.

[0015] Implementing the embodiments of the present invention will have the following beneficial effects:

[0016] The present invention obtains the storage location of the target goods and the first goods information of the target goods, and after moving to the storage location, uses a positioning device to determine the position of the tray at the storage location, and controls the information reader / writer to read the second goods information of the information carrier module on the tray, and compares the first goods information with the second goods information. If the comparison result is passed, the high-position fork and the low-position fork are used to perform the picking operation of the goods at the storage location, otherwise an alarm is given to ensure that the goods being transported are the goods recorded in the warehousing system and avoid goods confusion. Description of the Drawings

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0018] Figure 1 It is a flowchart of the steps of the picking method based on the information carrier;

[0019] Figure 2 It is a schematic structural diagram of the three-dimensional warehousing robot;

[0020] Figure 3 It is a schematic diagram of the position of the information reader / writer;

[0021] Among them, 201 is the vehicle body; 202 is the lifting frame; 203 is the high-position fork; 204 is the low-position fork; 205 is the positioning device; 206 is the wire-pulling encoder; 207 is the travel switch; 208 is the information reader / writer; 209 is the left frame; 210 is the middle frame; 211 is the right frame; 212 is the tail frame. Detailed implementation manners

[0022] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0023] The terms "first", "second", etc. in the specification, claims and drawings of the present application are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or modules is not limited to the listed steps or modules, but optionally further includes steps or modules not listed, or optionally further includes other steps or modules inherent to these processes, methods, products or devices.

[0024] Referring to, it is a step flowchart of a goods picking method based on an information carrier in the first embodiment of the present application, which is applied to a three-dimensional storage robot. An information reader / writer is provided on the three-dimensional storage robot, and an information carrier module is provided on the pallet for storing goods. The information carrier module contains the goods information of the preset goods to ensure that the goods to be carried are the goods recorded in the storage system. The method includes:

[0025] Please refer to Figure 1 , which is a step flowchart of a goods picking method based on an information carrier in the first embodiment of the present application, applied to a three-dimensional storage robot. An information reader / writer is provided on the three-dimensional storage robot, and an information carrier module is provided on the pallet for storing goods. The information carrier module contains the goods information of the preset goods to ensure that the goods to be carried are the goods recorded in the storage system. The method includes:

[0026] Step 101: When picking up the target goods, obtain the storage location of the target goods and the first goods information of the target goods;

[0027] Step 102: Move according to the storage location;

[0028] Step 103: After moving to the storage location, use the positioning device to determine the position of the pallet at the storage location, and make the information carrier module on the pallet lean against the information reader-writer through the high-level forklift and / or the low-level forklift. Control the information reader-writer to read the second cargo information in the information carrier module on the pallet, and compare the first cargo information with the second cargo information.

[0029] Step 104: If the verification result is passed, use the high-level forklift and the low-level forklift to complete the operation of picking up the cargo at the storage location; if the verification result is not passed, give an alarm.

[0030] Specifically, the pallet is located in the warehouse and is used to place goods. An information carrier module is arranged on the pallet; an information reader-writer is installed in the three-dimensional storage robot, and the three-dimensional storage robot can walk along a predetermined route in the three-dimensional warehouse; the internal information reader-writer can read the information carrier module on the pallet upward; the storage system is arranged on the server and is used to control the operation and detection of the three-dimensional storage robot; the information carrier module arranged on the pallet is readable and writable, and the position of the information reader-writer inside the three-dimensional storage robot corresponds to the position of the information carrier module relative to the pallet. The information reader-writer and the communication and control module of the three-dimensional storage robot are both powered by batteries, the information reader-writer is electrically connected to the communication and control module, and the communication and control module accesses the storage system through wireless communication; the movement of the three-dimensional storage robot and the transfer of the cargo pallet are scheduled and executed by the storage system. When the three-dimensional storage robot receives a command to carry a cargo pallet, the three-dimensional storage robot will move towards the target storage location in the shelf. During the process of moving close to the target storage location, the information reader-writer will always be in an active state. If the corresponding cargo pallet is read at the target storage location, the task of positioning the current cargo pallet is completed, and then the execution process of the subsequent task will be entered; if the cargo pallet is not read at the target storage location, or the information of the read cargo pallet is inconsistent with the task information, an alarm will be triggered, and the warehouse management personnel need to intervene to find the reason and update the corresponding storage information. The information carrier module can be arranged not only on the lower surface of the pallet but also at any position where the label information can be read. At this time, the information reader-writer on the three-dimensional storage robot needs to be arranged accordingly.

[0031] The method in this embodiment ensures that the transported cargo is the cargo recorded in the storage system and avoids cargo confusion by obtaining the storage location of the target cargo and the first cargo information of the target cargo, determining the position of the pallet at the storage location using the positioning device after moving to the storage location, controlling the information reader-writer to read the second cargo information in the information carrier module on the pallet, comparing the first cargo information with the second cargo information, and if the verification result is passed, using the high-level forklift and the low-level forklift to perform the operation of picking up the cargo at the storage location, otherwise giving an alarm.

[0032] In a specific embodiment, the goods information includes a goods identification number, goods name, goods size, goods quantity, and goods weight. Specifically, the goods identification number (such as a barcode) is the unique identity identifier of the goods, which can be quickly scanned and recognized by an automated system, reducing the manual search time. The goods name and size information help warehouse personnel quickly locate the storage position of the goods (such as shelves classified by size). The goods size (length, width, and height) data can be used to calculate the volume of the goods, helping the warehouse to plan the shelf layout and avoid space waste.

[0033] In a specific embodiment, the goods information further includes the goods operator, goods operation time, and goods storage time. By recording the specific operator information (such as name and work number), the responsible person can be quickly located. For example: If the goods are damaged during handling, it can be traced back to the specific operator, facilitating the assessment of responsibility and the adoption of improvement measures. In the event of a safety accident, the responsible entity is clearly defined, facilitating subsequent handling and insurance claims. After recording the goods warehousing time, the storage duration can be calculated to help identify slow-moving or expired risks.

[0034] In a specific embodiment, the moving according to the storage position includes: obtaining the current location; performing optimal path planning based on the current location and the storage position to obtain an optimal moving route; and moving based on the optimal moving route.

[0035] Specifically, in an intelligent warehousing scenario, a three-dimensional warehousing robot needs to achieve efficient operation through high-precision positioning, dynamic path planning, and stable execution, specifically including the following steps: current location acquisition, optimal path planning strategy, movement execution control, data analysis, and system optimization.

[0036] I. Current Location Acquisition Technical Solution

[0037] 1. Multi-sensor fusion positioning: Combine UWB ultra-wideband positioning (accuracy ±10 cm) with RFID tag identification to achieve global positioning and local calibration. The robot obtains the absolute coordinates by reading the pre-set RFID tags in the warehouse (interval 5 m), and at the same time uses UWB to correct the movement offset in real time.

[0038] 2. Lidar SLAM assistance: Deploy a 2D lidar (such as Hokuyo UST-20LX) to build a dynamic map, and eliminate the cumulative error through a point cloud matching algorithm, especially improving the positioning reliability in the dense shelf area.

[0039] 3. Visual fiducial point recognition: Install QR code markers on the shelf columns, and the robot performs feature point matching through a binocular camera (such as Intel RealSense D455) to achieve sub-meter positioning, which is suitable for redundancy verification in complex lighting environments.

[0040] II. Optimal Path Planning Strategy

[0041] 1. Environmental Modeling and Constraints

[0042] Grid Map: Divide the warehouse into 20cm×20cm grids, and label fixed obstacles (shelves, charging piles) and dynamic obstacles (other robots, personnel).

[0043] Weight Allocation: Path cost = distance weight (70%) + energy consumption weight (20%) + safety buffer weight (10%).

[0044] 2. Selection of Dynamic Programming Algorithm: Based on the time window protocol, the priority of robot movement is allocated by the warehousing system to avoid deadlocks caused by path intersections.

[0045] 3. Path Optimization Mechanism

[0046] Energy Consumption Optimization: When the remaining battery power is below 30%, preferentially select flat routes to reduce climbing energy consumption.

[0047] Load Compensation: When the load exceeds 50kg, automatically reduce the maximum speed to prevent inertial deviation from affecting path tracking accuracy.

[0048] III. Mobile Execution Control

[0049] 1. Motion Control Module

[0050] Drive Mode: Adopt a Mecanum wheel omnidirectional chassis, which supports lateral translation and in-situ rotation, with a minimum turning radius of 0cm.

[0051] Speed Grading: The maximum speed is 2m / s when unloaded, and it drops to 1.2m / s when fully loaded. The emergency stop acceleration threshold is set to -3m / s 2 .

[0052] 2. Navigation Deviation Correction Mechanism

[0053] PID Closed-loop Control: Real-time adjust the motor speed through encoder feedback, and trigger position compensation when the lateral deviation exceeds 5cm.

[0054] SLAM Real-time Correction: Update the pose data every 200ms, and generate deviation correction instructions after comparing with the preset path.

[0055] 3. Abnormal Handling and Safety Mechanism

[0056] Three-level Obstacle Avoidance Strategy:

[0057] Lidar Warning (detection distance 3m): Decelerate to 0.5m / s;

[0058] Ultrasonic near-field detection (distance 0.5m): Emergency braking;

[0059] Physical anti-collision strip triggered: Cut off the motor power supply and send an alarm signal.

[0060] Communication redundancy: Simultaneously use 5G network and LoRa wireless module to ensure that basic instructions can still be received in case of network interruption.

[0061] IV. Data Analysis and System Optimization

[0062] 1. Operating data collection: Record the path length, time consumption, deviation correction times and energy consumption of each task, and build a historical database.

[0063] 2. Machine learning optimization: Based on the deep reinforcement learning (DRL) model, conduct pattern mining on high-frequency task routes (such as replenishment area → sorting area) to generate an experience-driven priority path library.

[0064] 3. Predictive maintenance: Predict wheel hub wear through analysis of motor current fluctuations and trigger a replacement reminder before the performance drops by 10%.

[0065] In a specific embodiment, the information carrier module includes any one of RFID tags, barcodes, QR codes, and NFC tags. Correspondingly, when the information carrier module is an RFID tag, the corresponding information reader / writer is an RFID reader / writer.

[0066] In a specific embodiment, please refer to Figure 3 , when the information carrier module is arranged at the bottom of the tray, the information reader / writer is arranged at the middle position of the vehicle frame.

[0067] In a specific embodiment, the information carrier module is disposed on the side surface of the tray, and the information reader / writer is disposed on the high-level fork. Specifically, the information reader / writer is disposed on the fork mounting plate of the high-level fork. A common practice for placing the information carrier module is to position it at the center of the bottom of the tray, and the reader / writer is correspondingly disposed at the center of the upper surface of the vehicle body. However, this will cause a problem. When the robot forks the cargo tray located on the shelf through the high-level fork, it will go through several steps such as lifting the fork, inserting the fork, lifting the fork, moving backward, and lowering the fork in sequence to transport the cargo tray to the vehicle body. Only then can the information reader / writer read the label information. When the robot forks the cargo tray located on the ground through the low-level fork, it will also go through several steps such as extending the fork, lifting the fork, retracting the fork, and lowering the fork in sequence to transport the cargo tray to the vehicle body, and the information reader / writer can also read the label information. Just to obtain the cargo tray information, it goes through many steps. If it is found that the tray information is deviated, the above process will be reversed and the cargo tray will be placed back in place, which will cause a great waste of time. Considering the structural characteristics of the robot, a better way is to place the information carrier module on the end face of the tray in the fork insertion direction, and the reader / writer is correspondingly disposed on the upper slide frame assembly where the high-level fork is located, such as the fork mounting plate. Based on the above settings, when forking the cargo tray on the shelf, the label information can be read by the reader / writer only after going through the steps of lifting the fork and inserting the fork. When forking the cargo tray located on the ground, the label information can be read only after going through the steps of extending the fork, lifting the fork, and retracting the fork. This greatly reduces the time for obtaining the cargo tray information.

[0068] In a specific embodiment, please refer to Figure 2 , the three-dimensional warehousing robot includes a vehicle body 201, a lifting frame 202, a high-level fork 203, a low-level fork 204, and a positioning device 205; the lifting frame 202 is disposed at the rear end of the vehicle body 201; the high-level fork 203 is slidably connected to the lifting frame 202 in the height direction, and the high-level fork 203 has a high-level fork arm; the low-level fork 204 is movably mounted on the vehicle body 201 along a first direction so that the low-level fork 204 can extend out of the front end of the vehicle body 201 or retract along the first direction. The first direction is perpendicular to the height direction. The low-level fork 204 has a low-level fork arm that can be lifted and lowered in the height direction. The low-level fork 204 and the high-level fork arm are staggered in a second direction. The first direction, the second direction, and the height direction are perpendicular to each other; a positioning device 205 is disposed on the side of the lifting frame 202 facing the front end of the vehicle body 201, and the positioning device 205 is used to determine the position of the cargo tray.

[0069] Specifically, the vehicle body is the installation foundation for the lifting frame, the high-level fork, and the low-level fork. The vehicle body is used to be placed on the ground. Exemplarily, the vehicle body can be a device capable of automatically walking. Exemplarily, the vehicle body can also be moved under the drive of an operator. When the vehicle body moves, it drives the lifting frame, the high-level fork, and the low-level fork to move together.

[0070] The vehicle body has opposite front and rear ends. In this application, the first direction X is the direction from the rear end of the vehicle body to the front end of the vehicle body. The height direction is the height direction of the vehicle body. Generally, the vehicle body of the three-dimensional warehousing robot is placed on the ground for use. In this way, both the first direction X and the second direction Y are horizontal directions; the height direction Z is along the vertical direction.

[0071] A positioning device is provided on one side of the lifting frame facing the front end of the vehicle body. The positioning device can be used to determine the goods tray, so as to guide the three-dimensional warehousing robot to move and dock with the goods tray. The positioning device can be an image collector. The image collector can monitor the environmental information in real time and then determine the position of the goods tray. The positioning device can also be a distance sensor, which detects obstacles ahead in real time. When the goods tray is within its detection range, the position of the goods tray can be determined.

[0072] Specifically, the locations for storing the goods tray in the three-dimensional warehouse are the warehouse floor and the shelves; the goods tray is mainly carried on the warehouse floor by manually operating a forklift for picking and placing; the goods tray is mainly moved among the shelves by a horizontal three-dimensional warehousing robot; the transportation between the warehouse floor and the shelves is usually completed by the cooperation of multiple machines such as forklifts and pallet jacks; in order to simplify the cumbersome handling process, a three-dimensional warehousing robot is designed to combine multiple functions on one machine; when it is necessary to transport the goods on the warehouse floor position to the shelves, the three-dimensional warehousing robot can move forward by using the low-position fork arm to pick up the goods tray on the ground, and then place the goods tray on the upper surface of the vehicle body during the process of retracting it to the vehicle body, and then the high-position fork arm can lift the goods tray to place it on the shelves; when it is necessary to transport the goods on the shelves to the warehouse floor position, the three-dimensional warehousing robot first lifts the high-position fork arm to a predetermined height, moves forward to insert the high-position fork arm under the bottom of the tray, moves backward to lower the high-position fork arm to place the goods tray on the upper surface of the vehicle body, and then transports the goods tray to the target warehouse floor position through the three-dimensional warehousing robot in this application, and extends and places it by supporting with the low-position fork arm; when completing the above two processes, the three-dimensional warehousing robot completes the information confirmation of the goods through an information reader, a barcode scanner or manual inspection.

[0073] The main body of the three-dimensional storage robot includes a low-position fork for forking forward to pick up the cargo pallet, a high-position fork that slides vertically, and a body that can move on the floor plane of the warehouse; in order to monitor the three-dimensional storage robot's own position and the relative position of the cargo pallet, multiple sets of sensors are installed on the body of the three-dimensional storage robot in the present application; in order to detect the position of the high-position fork on the column and limit the highest position of the high-position fork to slide upward, a position sensor and a travel switch 207 are arranged on the body; after receiving the cargo handling instruction, the three-dimensional storage robot will, under the action of the terminal positioning device on it, position and dock with the pallet carrying the cargo. After the docking is completed, the low-position cargo will move forward to the cargo pallet against the ground. The wire encoder controls the forward extension distance during this process; the low-position fork that is forked forward is equipped with a proximity switch and a position sensor; during the lifting process of the top plate, the bearing roller rolls in the limit slot, and the proximity switch can detect the position of the bearing roller to determine whether the distance between the bottom plate and the top plate reaches the limited lifting distance. When the limited distance is reached, the proximity switch will give a prompt; the position sensor is installed on the bottom plate of the low-position fork to detect the position of the detection piece fixed on the top plate, and to determine whether the distance between the bottom plate and the top plate reaches the limited lifting distance; there is also an encoder on the lifting motor inside the low-position fork to assist in detecting the lifting distance of the low-position fork.

[0074] After the low-level fork finishes moving, the low-level fork lifts up the cargo pallet again and moves backward to retract the low-level fork; when the low-level fork is retracted to its original position, the cargo pallet is now above the vehicle body; then, the low-level fork places the cargo pallet on the vehicle body; the low-level fork will continue to be retracted until the upper plate of the low-level fork is mounted on the upper plate stop column of the low-level fork, so that the lower plate of the low-level fork drives the walking wheels thereon to leave the ground to a certain height.

[0075] The movement of the three-dimensional storage robot and the circulation of cargo pallets are scheduled and executed by the storage system. When the three-dimensional storage robot receives the instruction to transport the cargo pallet to the shelf, the three-dimensional storage robot moves to the side of the pallet and extends the low-level cargo fork to lift and recover it. When the pull-wire encoder recovers to the lowest point, the information reader / writer head located on the upper surface of the vehicle body can read the information carrier at the bottom of the pallet, obtain the information of the cargo on this pallet and submit it to the storage system at the same time. The storage system will compare the received information with the target information of this instruction; if it is confirmed to be consistent, the three-dimensional storage robot will lower the low-level fork arm, place the cargo on the vehicle body, move to the side of the shelf, and the high-level fork arm can lift the cargo pallet to place it on the shelf to complete the task; if it is confirmed to be inconsistent, the three-dimensional storage robot will immediately terminate the instruction and sound an alarm to remind the staff to come and check and confirm.

[0076] In a specific embodiment, when the high-position fork arm is at the lowest position, the high-position fork arm is located above the upper surface of the vehicle body. Specifically, when the high-position fork arm is at the lowest position, the high-position fork arm is located above the upper surface of the vehicle body. In the present application, when the high-position fork arm is at the lowest position, the high-position fork arm is also located above the upper surface of the vehicle body. Therefore, the high-position fork arm is arranged to always be located above the upper surface of the vehicle body, which can simplify the design of its positional relationship with the vehicle body and still be able to cooperate with the cargo tray.

[0077] In a specific embodiment, the vehicle body includes a left frame, a middle frame, and a right frame arranged along the second direction. A fork accommodating area is formed between the left frame and the middle frame, and a fork accommodating area is formed between the right frame and the middle frame. Each of the fork accommodating areas accommodates one of the low-position forks.

[0078] In a specific embodiment, a plurality of high-position fork arm intervals are provided along the second direction, and the plurality of high-position fork arms are distributed on both sides of the fork accommodating area. Specifically, a plurality of high-position fork arm intervals are provided, and the plurality of high-position fork arms are distributed on both sides of the fork accommodating area. Exemplarily, the number of high-position fork arms is 4, and one high-position fork arm is provided on each side of each fork accommodating area. The high-position fork arm and the low-position fork can be staggeredly arranged, and the high-position fork arm does not affect the low-position fork from entering and exiting the fork accommodating area.

[0079] In a specific embodiment, a wire rope encoder 206 is arranged inside the vehicle body to control the distance that the low-position fork extends forward through the wire rope encoder 206. Specifically, a wire rope encoder can be arranged inside the vehicle body to control the distance that the low-position fork extends forward through the wire rope encoder. Therefore, the degree to which the low-position fork extends out of the front end of the vehicle body can be controlled as needed.

[0080] In a specific embodiment, the low-position fork includes a base, traveling wheels arranged on the base, a traveling drive mechanism, a lifting mechanism, and a lifting drive mechanism. The low-position fork arm is arranged on the lifting mechanism. The lifting drive mechanism is connected to the lifting mechanism and drives the low-position fork arm to move up and down in the height direction through the lifting mechanism. Specifically, the traveling wheels include traveling drive wheels and traveling driven wheels. The traveling drive mechanism includes a traveling drive motor and a traveling gearbox arranged inside the base. Among them, the traveling drive wheel and the traveling driven wheel, and the traveling drive motor is connected to the traveling drive wheel via the traveling gearbox to drive the traveling drive wheel to rotate, and then drive the low-position fork to move back and forth relative to the vehicle body in the first direction.

[0081] In a specific embodiment, the method for placing goods of the three-dimensional storage robot in the present application is as follows: Control one of the lower fork and the upper fork to fork the goods tray placed at the first storage location and move it above the upper surface of the vehicle body. When the goods tray moves above the upper surface of the vehicle body, it can be supported on the upper surface of the vehicle body, or it can still be supported on the lower fork or the upper fork. Control the other of the lower fork and the upper fork to fork the goods tray placed on the upper surface of the vehicle body and place it at the second storage location. The first storage location is one of the ground or the shelf, and the second storage location is the other of the ground or the tray storage surface of the shelf. By using the above method, the lower fork can move forward to fork the goods tray on the ground, and then place the goods tray on the upper surface of the vehicle body during the process of retracting it to the vehicle body. Subsequently, the upper fork can lift the goods tray to place it on the tray storage surface of the shelf. In this way, the transfer of goods between the shelf and the warehouse floor is achieved. It can also be the opposite operation, that is, first use the upper fork to transfer the goods tray on the shelf to the upper surface of the vehicle body, and then use the lower fork to transfer the goods tray to the ground.

[0082] In addition, the upper fork and the lower fork in the present application can of course be used independently. For example, when using the upper fork alone, the lower fork can be controlled to retract into the vehicle body. For example, when using the lower fork alone, the upper fork can be controlled to be at the lowest position or raised to the highest position.

[0083] Whether the three-dimensional storage robot in the present application is used to carry the goods tray from the shelf (corresponding to a high place) or from the ground (corresponding to a low place), it can rely on the combined actions of its own mechanical components (such as the lower fork, the upper fork, the vehicle body, etc.) to identify the information of the goods tray. Based on the above concept, sensing elements with information recognition functions such as RFID readers, barcode / QR code scanners, cameras, NFC reading devices, etc. can also be integrated on the robot to cooperate with the labels on the tray to complete the reading of the goods tray information, making the transfer of the goods tray between the shelf and the ground highly automated and effectively monitored.

[0084] The above embodiments only illustrate several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several deformations and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

[0085] The above are only the preferred embodiments of the present invention, and are not intended to limit the present invention in other forms. Any person skilled in the art may use the disclosed technical content to make changes or modifications into equivalent embodiments with equivalent changes and apply them to other fields. However, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the technical solution content of the present invention still fall within the protection scope of the technical solution of the present invention.

Claims

1. A goods pickup method based on an information carrier, applied to a three-dimensional warehousing robot, characterized in that An information reader / writer is arranged on the three-dimensional storage robot, and an information carrier module is arranged on the pallet for storing goods, the information carrier module contains cargo information of preset goods, the three-dimensional storage robot comprises: a vehicle body, a lifting frame, a high-position fork, a low-position fork and a positioning device; the lifting frame is arranged at the rear end of the vehicle body; the high-position fork is slidably connected with the lifting frame in the height direction, and the high-position fork has a high-position fork arm; the low-position fork is movably mounted on the vehicle body in a first direction so that the low-position fork can extend out of the front end of the vehicle body or be retracted in the first direction, the first direction is perpendicular to the height direction, the low-position fork has a low-position fork arm that can be lifted and lowered in the height direction, the low-position fork and the high-position fork arm are staggered in the second direction, and the first direction, the second direction and the height direction are perpendicular to each other; a positioning device is arranged on the side of the lifting frame facing the front end of the vehicle body, and the positioning device is used to determine the position of the cargo pallet; The method comprises: When picking up the target goods, obtaining the storage location of the target goods and the first goods information of the target goods; Moving according to the storage position; After moving to the storage position, the position of the pallet at the storage position is determined by using the positioning device, and the information carrier module on the pallet is made to stick to the information reader / writer by using the high-position fork and / or the low-position fork, and the information reader / writer is controlled to read the second cargo information in the information carrier module on the pallet, and the first cargo information is checked with the second cargo information; If the checking result is that the checking is passed, the high-position fork and the low-position fork are used to complete the picking operation of the goods at the storage location; if the checking result is that the checking is not passed, an alarm is issued.

2. The method for picking up goods based on an information carrier according to claim 1, wherein The cargo information includes cargo identification number, cargo name, cargo size, cargo quantity and cargo weight.

3. The pick-up method based on an information carrier according to claim 2, wherein The cargo information also includes cargo operator, cargo operation time and cargo storage time.

4. The goods pickup method based on an information carrier according to claim 1, wherein The moving according to the storage position includes: Get the current location; Performing optimal path planning according to the current location and the storage location to obtain an optimal moving route; Movement is performed based on the optimal movement route.

5. The pick-up method based on an information carrier according to claim 1, characterized in that, The information carrier module includes any one of an RFID tag, a barcode, a QR code, and an NFC tag.

6. The pick-up method based on an information carrier according to claim 1, wherein When the information carrier module is arranged at the bottom of the tray, the information reader is arranged at the middle position of the frame.

7. The goods pickup method based on an information carrier according to claim 1, wherein, The information carrier module is arranged on the side of the pallet, and the information reader is arranged on the high-position fork.

8. The three-dimensional warehousing robot according to any one of claims 1-7, characterized in that When the high-position fork arm is in the lowest position, the high-position fork arm is located above the upper surface of the vehicle body.

9. The three-dimensional warehousing robot according to claim 8, characterized in that, The vehicle body includes a left frame, a middle frame, and a right frame arranged in the second direction. A fork receiving area is formed between the left frame and the middle frame, and a fork receiving area is formed between the right frame and the middle frame. Each of the fork receiving areas houses a low-position fork; a plurality of high-position fork arms are arranged at intervals along the second direction, and the plurality of high-position fork arms are distributed on both sides of the fork receiving area.

10. The three-dimensional storage robot according to claim 8, characterized in that, A wire rope encoder is arranged in the vehicle body, and the forward extension distance of the low-position fork is controlled by the wire rope encoder.

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