Method for identifying goods shelf by mobile robot, robot and warehousing system

Abstract

The invention belongs to the technical field of intelligent warehousing, and particularly relates to a method for identifying a goods shelf through a mobile robot, the robot and a warehousing system. According to the method for identifying the goods shelf by the mobile robot, the mobile robot arrives at a task starting position after receiving a task instruction, and identifies the goods shelf supporting legs. And the mobile robot calculates the moving distance and the rotating angle required by the mobile robot to move to the central point position of the goods shelf based on the mobile robot, the goods shelf position data and the site map data, and adjusts the position of the mobile robot according to the distance and the angle. By means of the method, the mobile robot and the warehousing system are further provided. Based on the method, a two-dimensional code does not need to be pasted or other external auxiliary objects are not needed to be recognized, meanwhile, the requirements for the data collection capacity and the calculation capacity of the mobile robot are low, calculation is simple, and cost is very low.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent warehousing, and particularly relates to a method for a mobile robot to identify a shelf, a robot, and a warehousing system Background Art

[0002] In the field of intelligent warehousing, it is often necessary to use a robot to automatically identify and enter the center position at the bottom of a shelf, and move the shelf by means of lifting or traction, so as to save manpower and have higher safety

[0003] In the prior art, a robot usually uses a two-dimensional code for assistance to automatically enter the center position at the bottom of a shelf. However, once the site layout changes, the two-dimensional code needs to be re-posted. In addition, since the two-dimensional code is usually pasted on the ground, cleaning of the ground, scraping by the vehicle body, stains, etc. will all affect the two-dimensional code, a consumable. The robot may not be able to read the two-dimensional code normally, and thus cannot perform the task of moving the shelf

[0004] In addition, Chinese Patent with application number 201910386141.4 and patent name "A Method and Device for Automatically Identifying a Shelf, a Mobile Robot" proposes a method for automatically identifying a shelf, including: acquiring point cloud data reflecting the surrounding environment information; preprocessing the point cloud data to obtain a set of center points of suspected shelf legs; performing rough registration on the set of center points according to a pre-constructed set of shelf model points, and extracting a single shelf point set after rough registration; performing fine registration on the single shelf point set according to the shelf leg features; when the single shelf point set matches the shelf leg features, identifying a shelf, and calculating the center position at the bottom of the shelf; the preprocessing the point cloud data to obtain a set of center points of suspected shelf legs specifically includes: performing clustering processing on the point cloud data to obtain at least one cluster; filtering non-shelf-leg clusters according to the number of point clouds within the cluster; for the remaining clusters, calculating the center point of each cluster, and each center point represents a suspected shelf leg, and all the center points form a set of center points of suspected shelf legs

[0005] In the above method, since the extraction of point cloud features is often real-time, this will result in a very large amount of point cloud data, and the requirements for the data acquisition ability and computing ability of the robot will be very high, and the corresponding cost will also be very expensive Summary of the Invention

[0006] The object of the present invention is to overcome the deficiencies of the prior art and provide a method for a mobile robot to identify a shelf, a robot, and a warehousing system. According to the method for the mobile robot to identify the shelf, after receiving a task instruction, the mobile robot reaches the task starting position and identifies the shelf support legs. Based on the mobile robot, the shelf position data, and the site map data, the mobile robot calculates the distance and the rotation angle required for the mobile robot to move to the center point position of the shelf, and adjusts its own position according to the distance and the angle. Using the foregoing method, a mobile robot and a warehousing system are also provided. Based on this method, there is no need to paste two-dimensional codes or other external auxiliary objects for identification, and at the same time, the requirements for the data acquisition ability and the computing ability of the mobile robot are low, the calculation is simple, and the cost is also very low.

[0007] To achieve the above object, the present invention provides the following technical solutions: A method for a mobile robot to identify a shelf, the steps of which include: After receiving a task instruction, the mobile robot moves to the task starting position according to the task instruction and keeps facing the shelf directly. At this time, the center point of the mobile robot at the task starting position is point P1; calculate the coordinate position and the orientation angle of point P1 on the site map according to the initial position data of the mobile robot, denoted as (X, Y, θ), where X represents the X-axis coordinate of the map coordinate system, Y represents the Y-axis coordinate of the map coordinate system, and θ represents the included angle between the orientation of the robot and the X-axis on the map coordinate. The mobile robot identifies the positions of 2 support legs of the shelf in the direction close to the mobile robot, and determines the position of the center point P2 of the 2 support legs; calculate the distance D and the angle Δθ from point P1 to point P2. The mobile robot rotates by an angle Δθ in the direction of point P2, and then advances a distance D to reach the second position, and the center point of the second position is the aforementioned P2. After the mobile robot reaches the second position, it identifies the 4 support legs of the shelf, determines the position of the center point P3 of the 4 support legs, and calculates the distance D2 and the angle Δθ2 from point P2 to point P3. The mobile robot rotates by an angle Δθ2 in the direction of point P3, and then advances a distance D2 to reach the third position, that is, the center point position of the shelf.

[0008] Further, the site map is built into the mobile robot, or the mobile robot downloads the site map to the local from a relevant module before or after receiving the task instruction; The step for the mobile robot to move to the task starting position is: After the mobile robot turns to the direction of the shelf storage position or the shelf docking position where the shelf to be moved is located, it moves from the initial position to the task starting position corresponding to the shelf storage position or the shelf docking position.

[0009] Further, the shelf storage position and shelf docking position data are respectively the center point data of the shelf storage position and the center point data of the shelf docking position.

[0010] Further, the task start position is set as a fixed task start position point.

[0011] Further, calibration position data of the mobile robot is also set in the site map for calibrating the initial position data of the mobile robot.

[0012] The present invention also provides a mobile robot for the foregoing method.

[0013] The robot includes a vision module, a control processing module, a mobile module, and a lifting module.

[0014] The vision module can acquire the position data information of the target and send it to the control processing module.

[0015] The control processing module is configured to: preset or load the site map data; record or calculate the mobile robot position data; and calculate the distance and rotation angle that the mobile robot needs to move to the center point position of the shelf according to the mobile robot position data, the site map data, and the position data information of the target, and control the mobile module to execute actions according to the distance and angle to adjust the position of the mobile robot.

[0016] At least the shelf storage position, the shelf docking position, the driving path, and the task start position for the mobile robot to identify the shelf are marked in the site map.

[0017] Further, the vision module can acquire the position data information of the target as the distance and angle data information between the mobile robot and the target.

[0018] The present invention also provides a warehousing system.

[0019] The warehousing system includes a warehousing control device, shelves, and the foregoing mobile robot; The warehousing control device is used to configure the foregoing map data; configure the shelf number data information, the matching information between the shelf number and the shelf storage position, and the foregoing mobile robot data; and can issue task instructions to the mobile robot.

[0020] Further, the task instructions are instructions directly issued by the warehousing control device from the user or data information from an external system.

[0021] Further, the warehousing control device includes a path control module that can control the driving path of the mobile robot.

[0022] Further, the path control module sets the driving path of the mobile robot so that only a single mobile robot can pass through at the same time.

[0023] By adopting the above technical solutions, compared with the prior art, the present invention has the following beneficial effects by way of example: The method for a mobile robot to identify a shelf provided by the present invention calculates the position of the center point of the shelf based on a specific algorithm by presetting map data and identifying the position of the support legs of the shelf. By this method, there is no need to post two-dimensional codes or other external auxiliary identification objects, the requirements for the mobile robot's ability to collect and process data are very low, the calculation method is simple, and the cost of the mobile robot to identify the shelf can be effectively saved. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the operation process of the mobile robot provided by the present invention moving from the starting position to the center point position of the shelf. Figure 1 .

[0025] Figure 2 It is a schematic diagram of the operation process of the mobile robot provided by the present invention moving from the starting position to the center point position of the shelf. Figure 2 .

[0026] Figure 3 It is a schematic diagram of the operation process of the mobile robot provided by the present invention moving from the starting position to the center point position of the shelf. Figure 3 .

[0027] Figure 4 It is a schematic diagram of the operation process of the mobile robot provided by the present invention moving from the starting position to the center point position of the shelf. Figure 4 .

[0028] Figure 5 It is a schematic diagram of the working process of the storage system provided by the present invention.

[0029] Figure 6 It is a schematic diagram of the structure of a storage system provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0030] The following further details the method, robot, and storage system for a mobile robot to identify a shelf disclosed by the present invention in conjunction with the accompanying drawings and specific embodiments. It should be noted that the technical features described in the following embodiments or the combination of technical features should not be considered isolated, and they can be combined with each other to achieve better technical effects. In the accompanying drawings of the following embodiments, the same reference numerals in each drawing represent the same features or components, which can be applied to different embodiments. Therefore, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0031] It should be noted that the structures, proportions, sizes, etc. shown in the drawings of this specification are only used to cooperate with the content disclosed in the specification for those familiar with this technology to understand and read, and are not used to limit the limiting conditions under which the invention can be implemented. Any modification of the structure, change in the proportional relationship, or adjustment of the size, without affecting the effects that the invention can produce and the purposes that can be achieved, should fall within the scope covered by the technical content disclosed by the invention. The scope of the preferred implementation of the present invention includes additional implementations, where functions can be executed in a substantially simultaneous manner or in the reverse order according to the functions involved, rather than in the order described or discussed. This should be understood by those skilled in the art to which the embodiments of the present invention belong.

[0032] Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the said technologies, methods, and devices should be regarded as part of the specification. In all examples shown and discussed here, any specific values should be construed as merely exemplary, rather than as a limitation. Therefore, other examples of the exemplary embodiments may have different values. Embodiment

[0033] The present invention provides a method for a mobile robot to identify shelves, a robot, and a warehousing system. The mobile robot can travel along a route planned by the system in a work site associated with the warehousing system, and move goods from a storage location to a destination. The work site can include any place where items need to be stored, picked, and moved, especially places with a wide variety of categories and high in-warehouse and / or inbound / outbound operation frequencies, such as e-commerce warehouses, logistics warehouses, airport baggage systems, hospital pharmacies, and modern factories, etc.

[0034] In this embodiment, a method for a mobile robot to identify shelves is provided.

[0035] The steps of the method for the mobile robot to identify shelves are as follows: Step 1, as Figure 1 shown, after the mobile robot receives a task instruction, it moves to the task start position according to the task instruction and keeps facing the shelf directly. At this time, the center point of the mobile robot at the task start position is point P1; calculate the coordinate position and orientation angle of point P1 on the site map according to the initial position data of the mobile robot, denoted as (X, Y, θ), where X represents the X-axis coordinate of the map coordinate system, Y represents the Y-axis coordinate of the map coordinate system, and θ represents the angle between the robot's orientation and the X-axis on the map coordinate.

[0036] At least the shelf storage position, shelf docking position, travel path, and task start position data information for the mobile robot to identify the shelf are marked in the site map.

[0037] When there are multiple shelves, a shelf storage location is set for each shelf.

[0038] The task starting position is correspondingly set with the shelf storage position and the shelf docking position. It means that before the mobile robot identifies the shelf, it needs to move from the initial position to a specific position range in front of the shelf storage position or the shelf docking position where the shelf is currently located, so as to ensure that the mobile robot can more accurately identify the shelf.

[0039] In specific implementation, the site map is built into the mobile robot, or the mobile robot downloads the site map to the local from relevant modules before or after receiving the task instruction; In specific implementation, the steps for the mobile robot to move to the task starting position are as follows: After the mobile robot turns to the direction of the shelf storage position or the shelf docking position where the shelf to be moved is located, it moves from the initial position to the task starting position corresponding to the shelf storage position or the shelf docking position.

[0040] Preferably, the task starting position for the mobile robot to identify the shelf can be set as a fixed task starting position point.

[0041] Preferably, the data information of the shelf storage position and the shelf docking position are respectively the center point data information of the shelf storage position and the center point data information of the shelf docking position.

[0042] Step 2, as Figure 2 shown, after the mobile robot reaches the task starting position, the mobile robot identifies the positions of the 2 support legs of the shelf in the direction close to the mobile robot, and determines the position of the center point P2 of the 2 support legs.

[0043] Calculate the coordinate position of point P2 on the map as (X2, Y2).

[0044] Calculate the distance D and the angle Δθ from point P1 to point P2. Among them, D = sqrt[(Y2 - Y1) 2 +(X2 - X1) 2 Δθ = arctan[(Y2 - Y1) / (X2 - X1)] - θ The sqrt function is the square root function.

[0045] The arctan function is the arctangent function.

[0046] Step 3, as Figure 3 ​As shown in the figure, the mobile robot rotates by an angle Δθ in the direction of point P2, and then moves forward by a distance D to reach the second position. At this time, the center point of the mobile robot at the second position is P2', and P2' coincides with the aforementioned point P2. Therefore, the coordinate position of P2' on the map is (X2, Y2).

[0047] Step 4, as Figure 4 shown in the figure, after the mobile robot reaches the second position, it recognizes the four support legs of the shelf. At this time, the center point of the four support legs is point P3, and it is confirmed that the coordinate position of P3 on the map is (X3, Y3).

[0048] Calculate the distance and angle from point P2' (i.e., point P2) to point P3.

[0049] D2 = sqrt[(Y3 - Y2) 2 +(X3 - X2) 2 Δθ2 = arctan[(Y3 - Y2) / (X3 - X2)] - θ2 Step 5, as Figure 5 shown in the figure, the mobile robot rotates by an angle Δθ2 in the direction of point P3, and then moves forward by a distance D2 to reach the third position, that is, the center point position of the shelf.

[0050] Since the mobile robot may be dragged manually after it is powered off, when the mobile robot is in the powered-off state, the position data after it is dragged cannot be recorded by the control processing module. Since some types of mobile robots record position information through wheel encoder values, gyroscopes, etc., it may cause inaccurate subsequent position calculation of the mobile robot. In specific implementation, fixed calibration positions can be set in the working site, and mobile robot calibration position data is set in the site map for calibrating the initial position data of the mobile robot.

[0051] After the mobile robot is powered on, place the mobile robot at the calibration position and start calibration. After calibration, the initial position data of the mobile robot is displayed as the calibration position data.

[0052] In this embodiment, a mobile robot for the aforementioned method provided by the present invention is provided.

[0053] The mobile robot includes a vision module, a control processing module, a movement module, and a lifting module.

[0054] The vision module can acquire the position data information of the target object and send it to the control processing module. By way of example and not limitation, the vision module can be a 2D lidar, a multi-line lidar, a depth camera, or a binocular vision device.

[0055] ​In specific implementation, the vision module can obtain the position data information of the target object, which is the distance and angle data information between the mobile robot and the target object.

[0056] The control and processing module is configured to: preset or load the site map data; record or calculate the position data of the mobile robot; and calculate the distance and rotation angle that the mobile robot needs to move to the center point position of the shelf according to the position data of the mobile robot, the site map data, and the position data information of the target object, and control the mobile module to execute actions according to the distance and angle to adjust the position of the mobile robot.

[0057] In specific implementation, the control and processing module is set to automatically load the aforementioned site map data after the mobile robot is powered on.

[0058] In specific implementation, the control and processing module can also be provided with an initial calibration unit for calibrating the initial position of the mobile robot. After the mobile robot is powered on, place the mobile robot at the calibration position and start the initial calibration unit. After calibration, the initial position data of the mobile robot is displayed as the calibration position data.

[0059] The mobile module includes a driving unit and a moving unit, which are used to receive the instructions issued by the control and processing module and drive the mobile robot to rotate and move in the working site according to the instructions.

[0060] The lifting module is used to receive the instructions of the control and processing module, lift and lower, and control the coupling or disconnection between the mobile robot and the shelf.

[0061] In this embodiment, as Figure 6 shown, it is a warehousing system provided by the present invention.

[0062] The warehousing system includes a warehousing control device, a shelf, and the aforementioned mobile robot.

[0063] In the same warehousing system, there are usually multiple shelves. According to the number of shelves and the in-warehouse and / or in-out warehouse working frequencies of the items, one or more mobile robots can be equipped.

[0064] The warehousing control device is used to configure the aforementioned map data; used to configure the shelf numbers, the matching information between the shelf numbers and the shelf storage positions, and the aforementioned mobile robot data; used to receive instructions and be able to issue task instructions to the mobile robot.

[0065] By way of example and not limitation, the instructions received by the warehousing control device can be issued by the user; or the warehousing control device can receive instruction information from an external system. By way of example, such as the warehousing control device receiving the shipping information issued by the WMS (Warehouse Management System), and finding the corresponding shelf number according to the item code in the shipping information.

[0066] By way of example and not limitation, the content of the task instruction can include the shelf number data to be moved and the shelf docking position data.

[0067] In specific implementation, the warehousing control device includes a configuration module, a management module, and a task module.

[0068] The configuration module is used to configure map data; and is used to configure shelf data and the aforementioned mobile robot data.

[0069] The shelf data at least includes the shelf number, and the matching data information between the shelf number and the shelf storage location.

[0070] By way of example and not limitation, the mobile robot data can include data such as the number and quantity of mobile robots.

[0071] The management module is used to record or collect shelf status data and robot status data. The shelf status data includes, but is not limited to, the position data of the shelf. The robot status data includes, but is not limited to, data information such as the on / off status, position data, power data, whether it is working, and whether it has been calibrated of the robot.

[0072] The task module is used to receive task instructions; collect the status data of mobile robots, and issue task instructions to idle mobile robots to execute tasks; and is used to record task execution data.

[0073] In specific implementation, the warehousing control device can further include a path control module, which can control the driving path of the mobile robot.

[0074] In specific implementation, the path control module can set the driving path of the mobile robot so that only a single mobile robot can pass through at the same time. After receiving the position data of the mobile robot, the path control module determines whether there is a mobile robot driving on the driving path. When it is determined that there is a mobile robot driving on the driving path, an instruction is issued to other mobile robots not to pass through this driving path.

[0075] The operation process of the warehousing system is as follows: The user pre-configures the site map data, shelf number information, the matching information between the shelf number and the shelf storage location, and mobile robot data, etc. in the warehousing control device.

[0076] When the warehousing control device receives an instruction sent by a user or an external system, it obtains the shelf number information of the shelf to be moved according to the instruction, that is, the shelf number information of the target shelf, and then determines the shelf storage location of the target shelf according to the matching information between the shelf number and the shelf storage location.

[0077] Based on the current state of the mobile robot and the state of the shelf docking position, the warehousing control device issues a task instruction to the idle mobile robot to move the target shelf to the idle shelf docking position. After receiving the task instruction, the mobile robot obtains the shelf storage location information and the shelf docking position information of the foregoing target shelf according to the task instruction. Then, it turns to the shelf storage location of the foregoing target shelf and moves from the initial position to the task starting position corresponding to the shelf storage location, and moves from the task starting position to the center point position of the shelf according to the method for the mobile robot to identify the shelf. After the mobile robot reaches the center point position of the shelf, it controls the lifting module to lift upward and couple with the shelf, and lifts or pulls the target shelf upward to move until the target shelf is moved to the shelf docking position in the foregoing task instruction. At the same time, the warehousing control device records the shelf number and the shelf docking position information of this movement.

[0078] When the mobile robot pulls the target shelf to the shelf docking position in the task instruction, if there is no other task assigned to it currently, it will return to the initial position to wait, and if there are still tasks, it will continue to execute the tasks.

[0079] When the goods to be picked up on the shelf in the shelf docking position have been picked up, the warehousing control device will issue a task instruction to the idle robot to pull the shelf back to the original shelf storage location. The mobile robot obtains the shelf number and the shelf docking position information according to the task instruction, and the shelf docking position information comes from the shelf state information recorded by the warehousing control device. Then, the mobile robot turns from the current position to the shelf docking position and moves to the task starting position corresponding to the shelf docking position, and moves from the task starting position to the center point position of the shelf according to the method for the mobile robot to identify the shelf, and then the control processing module controls the lifting module to lift upward and couple with the shelf, and lifts or pulls the shelf to move until the shelf storage location.

[0080] The description of the above working process takes the docking of the mobile robot with the shelf from below (i.e., docking along the vertical direction) as an example to describe the principle of the embodiment of the present invention. However, those skilled in the art can understand that there are various ways for the mobile robot to be coupled with the shelf, and the specific coupling method is related to the handling method of the mobile robot.

[0081] The embodiments of the present invention do not limit the handling method of the robot. That is to say, the unit or mechanism responsible for handling in the mobile robot can be existing ones, and the principle of the embodiments of the present invention can be adopted in the case where it is necessary to align the mobile robot with the shelf.

[0082] For other technical features, reference is made to the prior art and will not be elaborated herein.

[0083] Within the scope of the object of the present disclosure, the components can be selectively and operatively combined in any number. In addition, terms such as "including" and "having" should be construed as inclusive or open by default, rather than exclusive or closed, unless it is explicitly defined to the contrary. All technical, scientific or other terms conform to the meaning understood by those skilled in the art, unless it is defined to the contrary. Common terms found in the dictionary should not be interpreted too idealistically or too unrealistically in the context of the relevant technical documents, unless the present disclosure clearly defines it as such.

[0084] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be embraced within the present invention. Any reference signs in the claims should not be construed as limiting the claims involved.

[0085] In addition, it should be understood that although this specification is described according to embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A method for a mobile robot to identify a shelf, characterized in that Including the steps: After receiving a task instruction, the mobile robot moves to the task starting position according to the task instruction and keeps facing the shelf directly. At this time, the center point of the mobile robot at the task starting position is point P1. Calculate the coordinate position and orientation angle of point P1 on the site map based on the initial position data of the mobile robot, denoted as (X, Y, θ), where X represents the X-axis coordinate of the map coordinate system, Y represents the Y-axis coordinate of the map coordinate system, and θ represents the angle between the robot's orientation and the X-axis on the map coordinate. The mobile robot identifies the positions of two support legs of the shelf in the direction close to the mobile robot and determines the position of the center point P2 of the two support legs. Calculate the distance D and angle Δθ from point P1 to point P2. The mobile robot rotates by an angle Δθ in the direction of point P2 and then advances a distance D to reach the second position, and the center point of the second position is the aforementioned P2. After the mobile robot reaches the second position, it identifies the four support legs of the shelf, determines the position of the center point P3 of the four support legs, and calculates the distance D2 and angle Δθ2 from point P2 to point P3. The mobile robot rotates by an angle Δθ2 in the direction of point P3 and then advances a distance D2 to reach the third position, that is, the center point position of the shelf.

2. The method for a mobile robot to identify a shelf according to claim 1, wherein: The site map is built into the mobile robot, or the mobile robot downloads the site map to the local from a relevant module before or after receiving the task instruction. The steps for the mobile robot to move to the task starting position are: After the mobile robot turns to the direction of the shelf storage position or shelf docking position where the shelf to be moved is located, it moves from the initial position to the task starting position corresponding to the shelf storage position or shelf docking position.

3. The mobile robot according to claim 2, wherein: The shelf storage position and shelf docking position data are respectively the center point data of the shelf storage position and the center point data of the shelf docking position.

4. The mobile robot according to claim 1, characterized in that: The task starting position is set as a fixed task starting position point.

5. The method for a mobile robot to identify a shelf according to claim 1, characterized in that: The site map is also provided with calibration position data of the mobile robot for calibrating the initial position data of the mobile robot.

6. A mobile robot for the method according to any one of claims 1-5, characterized in that: Including a vision module, a control processing module, a mobile module, and a lifting module; The vision module can obtain the position data information of the target object and send it to the control processing module; The control processing module is configured to: preset or load site map data; Record or calculate the position data of the mobile robot; and, based on the position data of the mobile robot, the site map data, and the position data information of the target object, calculate the distance and rotation angle that the mobile robot needs to move to reach the center point position of the shelf, and control the mobile module to perform actions according to the distance and angle to adjust the position of the mobile robot.

7. The mobile robot according to claim 6, characterized in that: The vision module can obtain the position data information of the target object as the distance and angle data information between the mobile robot and the target object.

8. A warehousing system, characterized in that: Including a warehousing control device, a shelf, and the mobile robot according to any one of claims 6-7; The warehousing control device is used to configure the aforementioned map data; used to configure the shelf number data information, the matching information between the shelf number and the shelf storage position, and the aforementioned mobile robot data; and can issue task instructions to the mobile robot.

9. The warehousing system according to claim 8, wherein: The task instruction is received by the warehousing control device from an instruction directly issued by the user or data information from an external system.

10. The warehousing system according to claim 9, wherein: The warehousing control device includes a path control module capable of controlling the travel path of the mobile robot; the path control module sets the travel path of the mobile robot so that only a single mobile robot can pass through at the same time.

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