Carrying method and carrying system for stored goods

Abstract

The invention provides a warehouse cargo carrying method and system, and the method comprises the steps: responding to a carrying instruction of a target material box, and determining the position information of the target material box indicated by the carrying instruction; the target material box is one or more of a plurality of material boxes stacked in the vertical direction; based on the positioning identifier of the outer surface of the target material box, constructing a coordinate system relation with the target material box; wherein the coordinate system relation comprises a first offset, a second offset, a third offset and a first deflection angle; a chassis of the transfer robot is driven to move according to the first offset, and a pallet fork assembly of the transfer robot is driven to move according to the second offset and rotate according to the first deflection angle; and a pallet fork assembly in the carrying robot is driven to carry the target material box according to the third offset.

Description

Technical Field

[0001] The present invention belongs to the technical field of warehousing, and more specifically, relates to a method and a system for handling warehoused goods. Background Art

[0002] With the rapid development of artificial intelligence technology, automation technology, and information technology, the degree of intelligence of end logistics has been continuously improving. Intelligent logistics terminals are the trend of end logistics development. Handling robots are one of the main devices that can realize intelligent logistics terminals and perform automated handling operations. Through handling robots, heavy manual labor of humans can be reduced, and the handling operation efficiency can be improved. However, the operations of related handling robots during the positioning process are complex, and the positioning efficiency is not good, thus affecting the handling efficiency of goods. Summary of the Invention

[0003] In view of this, the present invention provides a method and a system for handling warehoused goods to solve the technical problem of how to improve the positioning efficiency of a handling robot and a target bin.

[0004] The technical solution of the present invention is realized as follows:

[0005] An embodiment of the present invention provides a method for handling warehoused goods, and the method includes:

[0006] In response to a handling instruction for a target bin, determining position information of the target bin indicated by the handling instruction; the target bin is one or more of a plurality of vertically stacked bins;

[0007] Based on a positioning identifier on the outer surface of the target bin, constructing a coordinate system relationship with the target bin; wherein, the coordinate system relationship includes a first offset, a second offset, a third offset, and a first deflection angle;

[0008] Driving a chassis of a handling robot to move according to the first offset, driving a fork assembly of the handling robot to move according to the second offset and rotate according to the first deflection angle;

[0009] Driving the fork assembly in the handling robot to handle the target bin according to the third offset.

[0010] In some embodiments, the step of driving a chassis of a handling robot to move according to the first offset includes:

[0011] Determining an expected path of the chassis according to the first offset;

[0012] Driving the chassis to move along the expected path, and when the chassis is moving, adjusting the movement of the chassis in real time according to an actual path of the chassis and the expected path.

[0013] In some embodiments, after the chassis of the handling robot is moved according to the first offset, and the forklift assembly of the handling robot is translated according to the second offset and rotated according to the first deflection angle, before the step of driving the forklift assembly in the handling robot to carry the target bin according to the third offset, it further includes:

[0014] Based on the positioning marks on the outer surface of the target bin, reconstruct the coordinate system relationship with the corresponding bin;

[0015] Judge whether the reconstructed coordinate system relationship meets the set accuracy requirements;

[0016] If the reconstructed coordinate system relationship does not meet the set accuracy requirements, drive the handling robot to move again according to the reconstructed coordinate system relationship.

[0017] In some embodiments, the step of constructing the coordinate system relationship with the target bin based on the positioning marks on the outer surface of the target bin includes:

[0018] Construct the coordinate system relationship with the target bin based on the two-dimensional code on the outer surface of the target bin;

[0019] And / or

[0020] Construct the coordinate system relationship with the target bin based on the bin contour on the outer surface of the target bin.

[0021] In some embodiments, it further includes a method:

[0022] According to the image of the bin group where the target bin is located, judge whether the nesting of the bin group where the target bin is located is safe;

[0023] If the nesting of the bin group where the target bin is located is not safe, request manual processing and control the handling robot to perform other tasks.

[0024] In some embodiments, the step of judging whether the nesting of the bin group where the target bin is located is safe according to the image of the bin group where the target bin is located includes:

[0025] Judge whether the nesting of the bin group is safe according to the two-dimensional codes on the outer surfaces of all bins in the bin group;

[0026] And / or

[0027] Judge whether the nesting of the bin group is safe according to the bin contours on the outer surfaces of all bins in the bin group.

[0028] An embodiment of the present invention further provides a handling system, including a first handling robot, and the first handling robot includes:

[0029] A chassis, which is movably arranged and can be used to move according to a first offset.

[0030] A column, which extends in the vertical direction and one end of which is fixed to the chassis.

[0031] A support frame, which is detachably connected to the column and can be used to move relative to the column according to a second offset.

[0032] A fork assembly, which is used to lift and carry a target bin according to a third offset, and the fork assembly is further used to rotate relative to the support frame according to a first deflection angle.

[0033] A lifting mechanism, which is used to drive the support frame to move relative to the column.

[0034] In some embodiments, it further includes:

[0035] A second handling robot, which is used to carry the target bin on the first handling robot out of the warehouse.

[0036] In some embodiments, it further includes:

[0037] A shelf, the top surface of the shelf is used to store a bin group, the bin group includes at least one bin, and the height of the shelf is greater than or equal to the height of the chassis.

[0038] In some embodiments, the shelf is arranged in one layer or more than one layer. In the case where the shelf is arranged in more than one layer, each layer of the shelf can store the bin group.

[0039] The embodiments of the present invention provide a method and a system for handling storage goods. The method includes responding to a handling instruction of a target bin, determining the position information of the target bin indicated by the handling instruction, constructing a coordinate system relationship with the target bin based on the positioning representation on the outer surface of the target bin, driving the chassis of the handling robot to move according to a first offset, driving the fork assembly of the handling robot to move according to a second offset and rotate according to a first deflection angle, and driving the fork assembly in the handling robot to carry the target bin according to a third offset. By separating the secondary precise positioning of the handling robot and the target bin into the movement of the chassis of the handling robot, the movement and rotation of the fork assembly, and the telescopic movement of the fork assembly itself, compared with concentrating the control of the secondary positioning in the overall adjustment of the handling robot, it is beneficial to reduce the time for the handling robot to complete all positioning adjustments, improve the efficiency of the secondary positioning of the handling robot and the target bin, and adjust the positioning layout of the entire handling robot to the positioning of the fork assembly and the target bin, improving the accuracy of the target bin positioning and reducing the difficulty of positioning. Description of the Drawings

[0040] Figure 1 It is a flowchart of the steps of the method for handling storage goods according to an embodiment of the present invention;

[0041] Figure 2 It is a schematic structural diagram of a handling robot according to an embodiment of the present invention;

[0042] Figure 3 It is a schematic diagram of the handling robot handling goods in the first implementation manner according to an embodiment of the present invention;

[0043] Figure 4 It is a schematic diagram of the handling robot handling goods in the second implementation manner according to an embodiment of the present invention;

[0044] Figure 5 It is a schematic structural diagram of a handling system according to an embodiment of the present invention.

[0045] Explanation of reference numerals:

[0046] 1. Fork assembly; 11. Bin body; 111. Storage cavity; 112. End opening; 113. Side opening; 114. First side; 12. First handling mechanism; 13. Second handling mechanism; 14. Second lifting mechanism; 2. Chassis; 21. Wheels; 22. Buffer position; 23. Ribs; 3. Column; 34. Slot; 4. Support frame; 41. First support member; 42. Second support member; 5. First lifting mechanism; 56. First synchronous belt; 6. Rotary power device; 7. Image acquisition device; 8. Shelf; 81. Shelf top surface; 82. Support column; 83. First shelf; 84. Second shelf. Detailed implementation manners

[0047] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0048] In the specific embodiments, the various specific technical features described can be combined in any suitable manner without contradiction. For example, different embodiments and technical solutions can be formed by combining different specific technical features. To avoid unnecessary repetition, the various possible combination manners of the specific technical features in the present invention will not be described separately.

[0049] In the following description, the terms "first", "second", etc. only distinguish different objects and do not indicate any identical or related relationships between the objects. It should be understood that the orientation descriptions such as "above", "below", "outside", and "inside" are all in the normal usage state. The "left" and "right" directions represent the left and right directions shown in the specific corresponding schematic diagram, which may or may not be the left and right directions in the normal usage state.

[0050] It should be noted that the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the phrase "comprising a..." does not exclude the presence of additional identical elements in the process, method, article or device comprising that element. "Plural" means greater than or equal to two.

[0051] The embodiment of the present invention provides a method for handling storage goods. It should be noted that the storage goods in the embodiment of the present invention can be contained in bins. For simplicity, the bins are used to represent the goods. The bins do not limit parameters such as shape and size. All bins in the storage can be one or more standard parts. Of course, in other embodiments, the stored goods can also be not contained in bins, and are directly represented by the goods themselves or in other forms. A plurality of bins are stacked vertically to form a column of bins, and multiple columns of bins can also be stored in the warehouse. The stacked placement of the plurality of bins described in the embodiment of the present invention means that the stacking of the bins does not require a shelf to support. At least part of the surfaces of adjacent bins in the same column of bins are in contact with each other vertically. It can be understood that the ground of the warehouse is generally a horizontal plane, that is, the extending direction of each column of bins is perpendicular to the ground. Of course, there may be bumps in some areas of the ground of the warehouse, that is, the horizontal plane does not require absolute horizontality. Then, the corresponding vertical direction does not require absolute verticality, allowing for the existence of ground level errors and bin processing errors.

[0052] The embodiment of the present invention provides a method for handling storage goods, as Figure 1 shown. The handling method includes:

[0053] Step S100: In response to the handling instruction of the target bin, determine the position information of the target bin indicated by the handling instruction; the target bin is one or more of a plurality of bins stacked vertically. Among them, the target bin is one or more of a plurality of bins stacked vertically, and the number of target bins can be determined by the number of bins that the handling robot can handle at one time. The handling instruction includes an outbound instruction and an inbound instruction for the target bin. Among them, the outbound instruction represents an instruction to move one or more bins from the position in the instruction out of the plurality of stacked bins in the warehouse by the handling robot; the inbound instruction represents an instruction to move one or more bins into the plurality of stacked bins at the position in the instruction by the handling robot.

[0054] Of course, the handling instruction may also include the set position information of the position where the target bin is to be moved or the set position information of the target bin to be handled. In the embodiment of the present invention, each bin in the warehouse has a unique identification code, and the database of the warehouse storage system stores the position information corresponding to each identification code, the types of items stored in the bin, etc. In the embodiment of the present invention, the handling instruction for the target bin can be formed by querying the identification code corresponding to the target bin and calling the position information corresponding to the identification code in the database. Among them, the identification code of the bin in the database is fixed, that is: the identification code corresponding to each bin will not change with the change of the bin position. For example, a certain bin corresponds to the identification code with the serial number 0010; the position information of each bin can change with the inbound and outbound of the bin, that is to say, the position information corresponding to each identification code changes. In the embodiment of the present invention, the handling robot can move to the vicinity of the target bin according to the current position information of the target bin in the handling instruction.

[0055] Step S200: Based on the positioning marks on the outer surface of the target bin, construct the coordinate system relationship with the target bin; among them, the coordinate system relationship includes a first offset, a second offset, a third offset, and a first deflection angle. It should be noted that the positioning marks on the outer surface of the target bin described in the embodiment of the present invention can be the positioning marks of the target bin to be handled, or the positioning marks of the bins around the target bin. For example, the positioning marks of the bins adjacent to the target bin, or the positioning marks of the bins stacked above or below the target bin, and the embodiment of the present application does not limit the type and form of the positioning marks, as long as the relative position calibration between the handling robot and the target bin can be realized. In the calibration process, the positioning marks on the outer surface of the target bin are used as the reference to establish the coordinate system relationship between the handling robot and the target bin. As shown in Figure 2 shown, the coordinate system relationship includes a first offset, a second offset, a third offset, and a first deflection angle. The first offset represents the distance between the handling robot and the target bin in the first direction (refer to Figure 2The offset of the relative position in the N1 direction shown, and the second offset represents the offset of the relative position between the handling robot and the target bin in the third direction (refer to Figure 2 the N3 direction shown), and the third offset represents the offset of the relative position between the handling robot and the target bin in the second direction (refer to Figure 2 the N2 direction). Among them, the first direction represents the front-back direction of the handling robot, and the front-back direction represents the moving direction of the handling robot; the second direction represents the left-right direction of the handling robot, and the left-right direction represents the direction perpendicular to the first direction in the horizontal direction. Of course, the embodiment of the present application does not limit the movement form of the handling robot. The handling robot can be provided with universal wheels, and the universal wheels can drive the handling robot to move in various directions along the ground, not limited to the front-back direction; the third direction represents the height direction of the handling robot, which can also be understood as the up-down direction in the absolute coordinate system of space; the first deflection angle represents the deflection angle of the handling robot relative to the target bin in the plane formed by the first direction and the second direction.

[0056] Step S300, in combination with Figure 2 shown, drive the chassis 2 of the handling robot to move according to the first offset ( Figure 2 the offset in the N1 direction shown). For example, the offset of the handling robot and the target bin in the first direction is the first offset. Drive the chassis 2 of the handling robot to move the entire handling robot along the first direction ( Figure 2 the N1 direction) by the first offset, so that the offset of the handling robot and the target bin in the first direction is less than the set value. Drive the fork assembly 1 of the handling robot to move according to the second offset and rotate according to the first deflection angle. For example, the offset of the entire fork assembly relative to the target bin in the third direction is the second offset. By driving the fork assembly 1 to move relative to the column 3 in the handling robot along the third direction, the offset of the fork assembly 1 relative to the target bin in the third direction is less than the set value. It should be noted that the connection relationship between the fork assembly 1 and the column 3 in the embodiment of the present invention can be directly connected or indirectly connected. Drive the fork assembly 1 of the handling robot to rotate according to the first deflection angle. For example, in some embodiments, the column 3 and the fork assembly 1 are connected by a support frame 4. The support frame 4 is movably connected to the column 3 in the third direction, and the fork assembly 1 is rotatably connected to the support frame 4. By driving the fork assembly 1 to rotate relative to the support frame 4 around the third direction, the deflection angle of the fork assembly 1 relative to the target bin is less than the set angle. In the embodiment of the present invention, by respectively adjusting the first offset, the second offset and the first deflection angle of the handling robot relative to the target bin, the alignment degree of the fork assembly and the target bin is further improved, thereby improving the accuracy and safety of the fork assembly for grasping the target bin.

[0057] Step S400, drive the fork assembly 1 in the handling robot to carry the target bin. It should be noted that the third offset represents the offset of the fork assembly relative to the target bin in the second direction (refer to the N2 direction described in 2). Drive the fork assembly 1 to extend and retract in the second direction to accurately position the claw of the fork assembly 1 relative to the target bin in the second direction, so as to achieve accurate handling of the target bin by the fork assembly, which is beneficial to improving the efficiency and safety of handling the target bin.

[0058] An embodiment of the present invention provides a method for handling warehouse goods. The method includes responding to a handling instruction for a target bin, determining the position information of the target bin indicated by the handling instruction, constructing a coordinate system relationship with the target bin based on the positioning representation on the outer surface of the target bin, driving the chassis of the handling robot to move according to a first offset, driving the fork assembly of the handling robot to move according to a second offset and rotate by a first deflection angle, and driving the fork assembly in the handling robot to carry the target bin according to a third offset. In the embodiment of the present invention, the secondary precise positioning of the handling robot and the target bin is separated into the movement of the chassis of the handling robot, the movement and rotation of the fork assembly, and the telescopic movement of the fork assembly itself. Compared with concentrating the control of the secondary positioning on the overall adjustment of the handling robot, it is beneficial to reduce the time for the handling robot to complete all positioning adjustments, improve the efficiency of the secondary positioning of the handling robot and the target bin, and adjust the positioning layout of the entire handling robot to the positioning of the fork assembly and the target bin, improving the accuracy of the target bin positioning and reducing the difficulty of positioning.

[0059] In some embodiments, the step of driving the chassis of the handling robot to move according to a first offset includes:

[0060] Determine the expected path of the chassis according to the first offset;

[0061] Drive the chassis to move along the expected path, and when the chassis is moving, adjust the movement of the chassis in real time according to the actual path and the expected path of the chassis.

[0062] It should be noted that during the movement of the chassis, there may be a deviation between the actual path and the expected path of the chassis. Therefore, in the embodiment of the present invention, by tracking the actual path of the chassis and calibrating the actual offset between the actual path of the chassis and the target bin in real time, the movement of the chassis is controlled. That is, by controlling the movement trajectory of the chassis of the handling robot, the chassis can move and track the target according to the predetermined path. For example, the position of the target bin is detected by a sensor or an image acquisition device, and then the movement of the chassis of the handling robot is adjusted through a control algorithm, so that the chassis of the handling robot can accurately follow the expected path.

[0063] In some embodiments, after the chassis of the driving handling robot moves according to the first offset, and the forklift component of the driving handling robot translates according to the second offset and rotates according to the first deflection angle, but before the step of the forklift component in the driving handling robot handling the target bin according to the third offset, the method further includes:

[0064] Based on the positioning marks on the outer surface of the target bin, reconstruct the coordinate system relationship with the corresponding bin; it should be noted that the positioning marks on the outer surface of the target bin can be two-dimensional codes labeled on the bin surface, or the outer contour of the bin. The embodiments of the present invention do not limit the type of the positioning marks, nor the specific positioning technology implementation method between the handling robot and the target bin, as long as the positioning of the handling robot relative to the target bin can be achieved through the positioning marks on the target bin. In the process of secondary positioning in the embodiments of the present invention, the position of the chassis relative to the target bin is adjusted by the first offset, the position of the forklift component relative to the target bin is adjusted by the second offset and the first deflection angle, and the telescopic degree of the forklift component is adjusted by the third offset. During the adjustment of the chassis and the forklift component, real-time positioning can be performed based on the above-mentioned positioning marks on the outer surface of the target bin, and the actual relative position relationship between the chassis, the forklift component and the target bin is reconstructed.

[0065] Judge whether the reconstructed coordinate system relationship meets the set accuracy requirements;

[0066] If the reconstructed coordinate system relationship does not meet the set accuracy requirements, drive the handling robot to move again according to the reconstructed coordinate system relationship. It should be noted that the embodiments of the present invention do not limit the specific value of the above-mentioned set accuracy requirements, and the verticality of this accuracy can be further set according to the size of the handling robot and the size of the bin. For example, in some embodiments, it can be judged whether the offset in the first direction of the base relative to the target bin in the constructed coordinate system is less than 5 mm. If so, it is determined that the offset adjustment of the chassis relative to the target bin in the first direction meets the set accuracy. If it is greater than or equal to 5 mm, it is determined that the offset adjustment of the chassis relative to the target bin in the first direction meets the set accuracy. It should be noted that the above embodiments are only examples of one implementation method, but do not represent specific limitations on the accuracy setting. And the accuracy determination of the forklift component is similar to the accuracy determination of the above-mentioned chassis.

[0067] In some embodiments, the step of constructing the coordinate system relationship with the target bin based on the positioning marks on the outer surface of the target bin includes:

[0068] Construct the coordinate system relationship with the target bin based on the QR code on the outer surface of the target bin. Among them, in the embodiments of the present invention, a 2D camera can be used to capture the QR code on the outer surface of the target bin. Each bin in the warehouse has a positioning identifier, which can be an identifier with precise position information such as a QR code or a barcode, or a pattern in the shape of a triangle, a right-angled side, etc. The embodiments of the present invention do not limit the shape and pattern of the above-mentioned positioning identifier. As long as the positioning identifier is set at a fixed position on the bin, the 2D camera can quickly align with the target bin at the position to be carried through the positioning identifier, facilitating the forklift component to accurately carry the target bin.

[0069] In some embodiments, construct the coordinate system relationship with the target bin based on the outer contour of the target bin. Among them, in the embodiments of the present invention, a 3D camera can be used to capture the outer contour of the target bin. By photographing the target bin and driving the forklift component to align with the corresponding bin based on the area where the target bin is located in the captured picture. That is to say, during the process of the first handling mechanism accurately aligning with the bin, in addition to the alignment method using the positioning identifier described in the previous embodiment, an image recognition and positioning method directly for the outer contour of the bin can also be used for alignment. Through the image recognition module of the 3D camera to recognize and position the outer contour of the bin, helping the forklift component to accurately carry the target bin and improving the stability of bin handling and the safety of transportation operations.

[0070] In some embodiments, it further includes a method:

[0071] Based on the image of the bin group where the target bin is located, determine whether the nesting of the bin group where the target bin is located is safe; it should be noted that the bins stored in the warehouse in the embodiments of the present invention are stacked without shelves. That is to say, multiple bins are stacked and nested vertically in a stack, and multiple stacks of bins can be stacked in the warehouse in a set manner. Nesting means that among the stacked bins, the upper part of the adjacent bins in the upper layer is nested with the lower bins, realizing the circumferential limit of adjacent bins, thereby improving the stability of bin stacking and also helping to increase the stacking height of bins to increase the capacity of the warehouse for storing goods. In the embodiments of the present invention, the image of the target bin obtained by any one of the positioning methods in the foregoing embodiments is used to determine whether the nesting of the bin group where the target bin is located is safe. Among them, the method for determining whether the nesting is safe can be to judge whether the side of the entire stack of bins in the bin group where the target bin is located extends in a straight line through the image. For example, if the side of the entire stack of bins in the bin group where the target bin is located is not a straight line, it means that the nesting position of the bins in the bin group is inaccurate, and then it is determined that the nesting is unsafe. Or judge whether the angle between the straight line of the side of the entire stack of bins and the vertical direction is less than or equal to a set angle. If the angle between the side of the bin group and the vertical direction is greater than the set angle, it means that the inclination of the entire stack of bins is relatively high, then the center of gravity of the entire stack of bins is offset, and it is easy to occur the phenomenon of tipping, so there is an unsafe nesting situation. The method for judging whether the nesting in the embodiments of the present invention is safe includes but is not limited to the above several implementation methods, as long as it can judge whether the bin nesting is safe through 2D or 3D images.

[0072] If the nesting of the bin group where the target bin is located is unsafe, request manual handling and control the handling robot to perform other tasks. That is to say, when the camera identifies that there is a problem with the bin nesting, the lower-level fault code of the handling robot is reported to the upper controller. After receiving the fault code, the controller controls the handling robot to stop the current handling task and report an error. The handling robot stops working and emits an alarm signal, and the alarm signal includes but is not limited to turning on a red light, sounding an alarm bell, etc. The stacking of the bin group can be restored to a safe state through manual intervention. Of course, in other embodiments, the stacking of the bin group can also be restored to a safe state by the handling robot.

[0073] It should be noted that the method of the above embodiments can be applied to each handling link in the outbound and inbound of the handling robot. Taking the example that the handling robot needs to carry the target bin at the target position out of the warehouse, the handling robot first initially arrives at the target position for secondary positioning. Before the forklift component carries the target bin, the camera first acquires an image of the bin group where the target bin is located before handling to determine whether the nesting state of the current bin group is safe. If not, the task is stopped and an alarm is given; if it is safe, the forklift component takes out the bin at the target position. After taking out, the camera acquires an image of the bin group after carrying the target bin again to determine whether the nesting of the bin group after handling is safe. In some embodiments, it is also possible to compare the image of the bin group after handling with the image of the bin group before handling to determine whether the positions of the bins at the set positions are the same. If the deviation between the positions of the bins before and after is greater than the set value, it can also indicate that the bin nesting is not safe.

[0074] By identifying the nesting problem of the bins, the embodiment of the present invention can judge the stacking state of the bins in real time during handling, so as to further reduce the risk of the bins tipping over during handling and improve the safety and efficiency of the handling robot in handling bins in the warehouse.

[0075] In some embodiments, the step of judging whether the nesting of the bin group where the target bin is located is safe according to the image of the bin group where the target bin is located includes:

[0076] Judge whether the nesting of the bin group is safe according to the two-dimensional codes on the outer surfaces of all bins in the bin group; identify the two-dimensional codes on the bins by taking pictures with a 2D camera, and then obtain the pose of the bins by comparing the poses of the two-dimensional codes. The recognition algorithm can obtain the first deviation value, the second deviation value, the first deflection angle and the third deviation value of the handling robot relative to the target bin by comparing the ideal position and the current position. The chassis of the handling robot adjusts its pose through the above deviations to ensure that the forklift component of the handling robot can pick up and place the bins. During each secondary positioning process of the handling robot, the positioning deviation error value always exists and shows a convergent trend over time. Therefore, the handling robot is constantly approaching the ideal position during movement, and its convergence effect is directly related to the reaction of the underlying hardware and the selection of algorithm parameters.

[0077] By using a 2D camera and attaching two-dimensional codes to the bins, the embodiment of the present invention identifies the two-dimensional codes on the bins by the 2D camera to judge the pose of the handling robot relative to the bins; to further solve the problem of difficult adjustment of the chassis of the handling robot, which is beneficial to improving the adjustment accuracy of the handling robot.

[0078] In some embodiments, it is determined whether the nesting of the bin group is safe according to the bin profiles on the outer surfaces of all bins in the bin group. The bin profiles are recognized by a 3D camera to obtain the position of the handling robot relative to the bin; the pose of the QR code on the bin is recognized by taking a photo with the 3D camera. According to the ideal position and the current position, the error value of the positioning coordinates of the handling robot can be obtained. A control law is designed for the error to make the error value converge. Finally, the amounts that the handling robot needs to adjust in the N1 / N2 / N3 / θ directions are obtained. After the handling robot approaches the ideal trajectory, the fork assembly rotates to a certain pose. In one response cycle of the chassis control layer of the handling robot, after the chassis is controlled to complete the adjustment in the N1 direction, the fork then performs the rotational adjustment in the N3 / θ directions to complete the convergence of the positioning deviation. During each secondary positioning process of the handling robot, the positioning deviation error value of the handling robot always exists and shows a convergent trend over time until the handling robot reaches the ideal position.

[0079] It should be noted that for the determination of the bin stacking state in the embodiments of the present invention, a 2D camera or a 3D camera can be used to obtain the image of the bin. The device for obtaining the image can be set independently or shared with the positioning process of the handling robot.

[0080] In the embodiments of the present invention, it is determined whether the nesting of the bin group is safe by recognizing the QR code on the outer surface of the bin or the outer profile of the bin. The recognition accuracy is high, which is beneficial to reducing the difficulty of recognition and judgment and improving the safety of the handling robot operation.

[0081] The embodiments of the present invention also provide a handling system, including a first handling robot. The first handling robot includes a fork assembly 1, a chassis 2, a column 3, a support frame 4 and a first lifting mechanism 5. The fork assembly 1 is used to lift the target bin, and one or more movable handling mechanisms are provided in the fork assembly 1 to achieve the lifting of the target bin. It should be noted that the target bin can be one bin or multiple bins. Figure 3 Schematic diagram of the first handling robot in the first implementation manner for lifting the target bin in the embodiments of the present application, Figure 4 Schematic diagram of the first handling robot in the second implementation manner for lifting the target bin in the embodiments of the present application. Among them, in Figure 3 the shown schematic diagram, the first handling robot is in the process of grasping one target bin (a1) at a time; in Figure 4 the shown schematic diagram, the first handling robot is in the process of grasping multiple target bins (a1, a2, a3... an) at a time. The present application does not limit the number of target bins that the fork assembly 1 can lift, as long as the fork assembly 1 can achieve the lifting of the target bin. The fork assembly is also used to rotate relative to the column (or support frame) according to the first deflection angle to achieve the adjustment of the first deflection angle.

[0082] Figure 2 This is a perspective view of the first handling robot in the embodiments of the present application. Referring to Figure 2 , the column 3 extends in the vertical direction and one end thereof is connected to the chassis 2, and the fork assembly 1 is connected to the column 3 through the support frame 4. The chassis 2 is movable and can drive the fork assembly 1 to move in the horizontal direction so as to move the fork assembly 1 to a position close to the target bin or near the position where the target bin is to be stored in the warehouse. The fact that the chassis 2 is movable means that the chassis 2 can move relative to the ground or other surfaces. In some embodiments, rollers 21 are provided on one side of the chassis 2 close to the ground, and the chassis 2 can be driven to move in the horizontal direction by driving the rollers 21, so that the first handling robot drives the target bin to move in the horizontal direction. After responding to the inbound or outbound instruction of the target bin, the rollers 21 of the chassis 2 can be driven to move, so that the first handling robot moves to a position close to the target bin or near the position where the target bin is to be stored in the warehouse according to the position information in the instruction.

[0083] It should be noted that the foregoing "horizontal direction" includes the front-back direction where the first direction is located and the left-right direction where the second direction is located. The horizontal direction is the extension direction of the plane where the first direction and the second direction are located. That is to say, the first handling robot in the embodiments of the present invention can move in all horizontal directions of front, back, left and right. It should be noted that the foregoing "front, back, left and right" represents the directions in the paper shown in the schematic diagram of the present invention. Among them, the direction where the first direction is located is the direction in which the rollers 21 move straight forward and backward in the actual application scenario. The direction in which the column 3 extends represents the maximum dimension direction of the column 3. In the embodiments of the present invention, the maximum dimension direction of the column 3 represents the height direction of the column 3. That is to say, in the normal working state, the height direction of the column 3 is in the vertical direction, and the vertical plane of the column 3 has the maximum contour dimension of the column 3. It can be understood that in the normal working state, the ground or other surfaces on which the chassis 2 moves are horizontal planes, and the surface of the column 3 perpendicular to the horizontal plane is the vertical plane. However, this does not mean that both the horizontal plane and the vertical plane need to be absolutely horizontal and vertical. The horizontal plane allows the existence of ground unevenness errors and ground slopes, and the vertical plane allows the existence of processing errors between the chassis 2 and the column 3, as long as they are roughly horizontal and vertical in the normal working state. During the secondary positioning process, the chassis can be used to move in the first direction according to the first offset based on the coordinate system relationship with the target bin constructed by the positioning marks on the outer surface of the target bin.

[0084] The fork assembly 1 is connected to the column 3 through the support frame 4. In some embodiments, the column 3 is provided with a slot 34 for the support frame 4 to be inserted. Specifically, referring to Figure 2, the handling robot further includes a rotating power device 6, which is used to drive the fork assembly 1 to rotate relative to the support frame 4 around the vertical direction. The support frame 4 includes a first support member 41 and a second support member 42 that are perpendicularly connected to each other. That is, the support frame 4 is generally in an L-shaped structure. Of course, in some other embodiments, the support frame 4 can also be set to other shapes, such as a regular U-shaped. However, setting the support frame 4 to an L-shaped can increase the open area on the side of the support frame 4 close to the fork assembly 1, so as to facilitate the fork assembly 1 to be moved into the support frame 4. The fork assembly can adjust the telescopic distance of the fork assembly in the length direction according to the third offset amount to achieve secondary positioning of the fork assembly and the target bin in the grasping direction.

[0085] Among them, the second support member 42 is movably connected to the column 3 in the vertical direction. That is to say, the second support member 42 is connected to the first synchronous belt 56, and the first synchronous belt 56 drives the second support member 42 to move relative to the column 3 in the vertical direction. The column 3 can serve as the vertical guide of the second support member 42 to facilitate the stable sliding of the second support member 42 in the vertical direction. Refer to Figure 2 , the second support member 42 and the column 3 are limited in at least the first direction and the second direction. As can be seen from the foregoing, the horizontal direction includes the first direction and the second direction. Therefore, the vertical direction is perpendicular to the first direction and the second direction. That is to say, the second support member 42 and the column 3 are connected with limited position in the horizontal direction and are movably connected in the vertical direction. During the lifting and lowering process of the fork assembly 1 relative to the column 3, the fork assembly 1 maintains a stable connection with the column 3 in the horizontal direction.

[0086] Align the surfaces of the support frame 4 with the horizontal and height benchmarks of the column 3, and the height benchmarks of the fork assembly 1 and the column 3 after assembly can be aligned. It should be noted that the foregoing "benchmark alignment" means that the vertical surfaces of the fork assembly 1 and the column 3 are approximately flush within the machining error range of fine machining. Comparing with the implementation modes in which one or more handling mechanisms are respectively arranged on the vertical surface of the column 3, in the embodiment of the present invention, the assembly of the fork assembly 1 and the column 3 is realized through the connection between the support frame 4 and the column 3. Only by calibrating the assembly error between the support frame 4 and the column 3, the assembly errors of the components in the fork assembly 1 relative to the column 3 can be calibrated, which simplifies the operation process of calibrating the column 3 by one or more handling mechanisms respectively, reduces the cumulative error generated by the assembly of one or more handling mechanisms and the column 3 respectively, and improves the assembly consistency of one or more handling mechanisms.

[0087] In the state where the support frame 4 is connected to the column 3, the first lifting mechanism 5 can drive the support frame 4 to move relative to the column 3 in the vertical direction. That is, the first lifting mechanism 5 can drive the support frame 4 to lift relative to the column 3 to achieve the lifting of the fork assembly 1. The moving stroke of the fork assembly 1 in the vertical direction is related to the height of the column 3. The support frame 4 can drive the fork assembly 1 to move to any position within the height range of the column 3. For example, the adjustment of the second offset can be achieved. The height of the column 3 is much greater than the height of the support frame 4. The column 3 has a large height and is prone to machining errors in the vertical direction, which is not conducive to the machining of the column 3. In the embodiment of the present invention, the support frame 4 is detachably connected to the column 3, and the fork assembly 1 is detachably connected to the support frame 4. In the case where there are small machining errors in the vertical plane of the column 3, only the assembly gap between the support frame 4 and the column 3 needs to be detachably adjusted to compensate for the small machining errors existing in the vertical plane of the column 3; in the case where there are large machining errors in the vertical plane of the column 3, there is no need to rework the column 3 twice. Only the flatness of each surface in the support frame 4 or the perpendicularity between adjacent surfaces needs to be disassembled and adjusted to compensate for the large machining errors existing in the vertical plane of the column 3, reducing the machining difficulty of the column 3.

[0088] After the driving roller 21 of the first handling robot moves to a position close to the target bin or near the position where the target bin is to be stored in the warehouse, the first lifting mechanism 5 is driven, and the entire fork assembly 1 rises or falls to the height of the layer where the target bin is located. One or more handling mechanisms maintain a high assembly consistency. Even if the first lifting mechanism 5 drives the fork assembly 1 to change the relative position with respect to the column 3, each handling mechanism still maintains a high reference in the vertical direction, facilitating the accurate lifting of the target bin by the fork assembly 1, improving the accuracy of the first handling robot in picking and placing the target bin, and facilitating the in-place picking and placing of the target bin.

[0089] It should be noted that the specific structure of the first lifting mechanism 5 is not limited in the embodiment of the present invention. For example, the first lifting mechanism 5 can adopt forms such as a synchronous pulley and synchronous belt, a gear rack, and a roller and thick steel wire rope to achieve the lifting of the fork assembly 1. No matter what structure the first lifting mechanism 5 adopts, as long as the first lifting mechanism 5 can achieve the lifting of the fork assembly 1.

[0090] An embodiment of the present invention provides a handling system. The handling system is provided with a first handling robot. By separating the secondary fine positioning of the handling robot and the target bin among the movement of the chassis of the handling robot, the movement and rotation of the fork assembly, and the telescopic movement of the fork assembly itself, compared with concentrating the control of the secondary positioning on the overall adjustment of the handling robot, it is beneficial to reduce the time for the handling robot to complete all positioning adjustments, improve the efficiency of the secondary positioning of the handling robot and the target bin, and adjust the positioning layout of the entire handling robot to the positioning of the fork assembly and the target bin, improving the accuracy of the target bin positioning and reducing the difficulty of positioning. Moreover, the support frame 4 is detachably connected to the column 3, and the fork assembly 1 is detachably connected to the support frame 4, that is, the fork assembly 1 is connected to the column 3 through the support frame 4. Only by detachably calibrating the assembly error between the support frame 4 and the column 3 can the assembly errors of the components in the fork assembly 1 relative to the column 3 be calibrated, simplifying the operation process of calibrating the one or more handling mechanisms in the fork assembly 1 with respect to the column 3 respectively, reducing the cumulative error generated by the assembly of the one or more handling mechanisms with the column 3 respectively, and improving the assembly consistency of the one or more handling mechanisms. In the state where the support frame 4 is connected to the column 3, the first lifting mechanism 5 (the first synchronous belt 56) can drive the support frame 4 to move relative to the column 3 in the vertical direction, so that the fork assembly 1 can rise or fall relative to the column to the height of the layer where the target bin is located. The one or more handling mechanisms in the fork assembly 1 maintain a high assembly consistency. After the fork assembly 1 moves to any height position within the height range of the column 3, each handling mechanism still maintains a high vertical reference, reducing the risk of deviation in the picking and placing of the target bin and improving the accuracy of the handling robot in picking and placing goods.

[0091] In some embodiments, as Figure 2 shown, the handling robot further includes an image acquisition device 7 and a controller (not shown in the figure). The image acquisition device 7 is fixed to the fork assembly 1. The image acquisition device 7 is used to acquire images of the target bin to be handled, and the controller can identify the image information and adjust the position of the fork assembly 1 according to the image information to achieve the alignment of the fork assembly 1 and the corresponding bin, that is, the first handling mechanism 12 is aligned with the bin group, and the second handling mechanism 13 is aligned with the target bin. When the handling robot moves to the vicinity of the target bin, using the image acquisition device 7 to align the fork assembly 1 can make the handling mechanism handle the corresponding bin more accurately. That is to say, the image acquisition device 7 in the embodiment of the present invention can be used to implement the image acquisition for the secondary positioning and the image acquisition for identifying the bin nesting problem described in any of the above method embodiments.

[0092] In some embodiments, referring to Figure 2 and Figure 3, the forklift component 1 includes a bin body 11, a first handling mechanism 12, and a second handling mechanism 13. Among them, a storage cavity 111 is provided inside the bin body 11, and the space inside the storage cavity 111 is used to install the first handling mechanism 12 and the second handling mechanism 13. At least one end of the storage cavity 111 is open, so that one or more target bins can enter the storage cavity 111 through this opening. It should be noted that referring to Figure 2 , the storage cavity 111 can be open at both ends as shown in the schematic diagram of the present application. Specifically, openings are provided at one end and one side of the storage cavity 111 respectively. Referring to Figure 2 And Figure 3 , the target bin mainly enters the storage cavity 111 through the side opening 113, and the end opening 112 is used to increase the opening area of the storage cavity 111, so as to facilitate the installation of the first handling mechanism 12 and the second handling mechanism 13 in the storage cavity 111; the end opening 112 is also used to avoid the height space of one or more target bins, so as to increase the number of target bins that can enter the storage cavity 111 through the opening. Of course, in some embodiments, the storage cavity 111 can also be provided with openings only on one or more sides, or on one or more ends, so as to increase the limiting area of the storage cavity 111 for the target bin and improve the stability of the target bin during the goods handling state. The present application does not limit the specific setting and the number of settings of the opening, but the storage cavity 111 should have at least one opening on one side.

[0093] Referring to Figure 2 And Figure 3 , both the first handling mechanism 12 and the second handling mechanism 13 can be telescoped in the horizontal direction. It can be understood that the aforementioned "horizontal direction" refers to the direction in which the first handling mechanism 12 and the second handling mechanism 13 contract inside and outside the storage cavity 111 on the horizontal plane. In the Figure 3 schematic diagram shown, both the first direction (front-back direction) and the second direction (left-right direction) are in the horizontal direction, and both the first handling mechanism 12 and the second handling mechanism 13 can be telescoped along the first direction, the second direction, or any direction between the first direction and the second direction. The first handling mechanism 12 and the second handling mechanism 13 can be telescoped in all directions in the horizontal direction, and the picking and placing of the bin at various angles can be conveniently realized. It should be noted that from the perspective shown in the schematic diagram of the present invention, the telescoping directions of the first handling mechanism 12 and the second handling mechanism 13 are both in the second direction. In the Figure 3 schematic diagram shown, the telescoping directions of the first handling mechanism 12 and the second handling mechanism 13 are in the N2 direction. That is to say, both the first handling mechanism 12 and the second handling mechanism 13 can be telescoped in the N2 direction. Among them, the direction pointed by the N2 arrow indicates the direction in which the first handling mechanism 12 and the second handling mechanism 13 extend out of the storage cavity 111; the other direction in the N2 direction is the direction in which the first handling mechanism 12 and the second handling mechanism 13 retract into the storage cavity 111.

[0094] It should be noted that the two handling mechanisms can all extend outside the storage cavity 111 to lift the material box, the two handling mechanisms can all retract into the storage cavity 111 to standby, or one of the two handling mechanisms can extend outside the storage cavity 111 to lift the material box while the other retracts into the storage cavity 111 to standby. In the Figure 2 schematic diagram shown, the first handling mechanism 12 and the second handling mechanism 13 both retract into the storage cavity 111 to standby; of course, the forklift assembly 1 can also extend only the first handling mechanism 12 or only the second handling mechanism 13, as Figure 4 shown, the first handling mechanism 12 retracts into the storage cavity 111 to standby, the second handling mechanism 13 extends outside the storage cavity 111, and multiple target material boxes (a1, a2, a3... an) are lifted at one time.

[0095] Referring to Figure 3 , at least one of the first handling mechanism 12 and the second handling mechanism 13 can translate in the vertical direction. It can be that the first handling mechanism 12 reciprocates in the vertical direction, or the second handling mechanism 13 reciprocates in the vertical direction, or both the first handling mechanism 12 and the second handling mechanism 13 reciprocate in the vertical direction. When the first handling mechanism 12 and the second handling mechanism 13 jointly extend and grab the target material box, the first handling mechanism 12, and / or, the second handling mechanism 13 reciprocates in the vertical direction to release the stacked state of the target material box and the material box group and separate the target material box and the material box group. Combining Figure 3 shown, "separating the target material box and the material box group" means that the topmost material box in the target material box and the bottommost material box in the material box group are not blocked by each other in the horizontal direction, so that the target material box can move into the storage cavity 111 under the action of the second handling mechanism 13. Specifically, it means that a1 and b1 are distributed along the direction pointed by the arrow N3, and the upper end surface (c1) of a1 and the lower end surface (c2) of b1 are spaced apart without contact in the vertical direction. The first handling mechanism 12 grabs the bottommost material box (b1) in the material box group (b1, b2, b3... bn), the second handling mechanism 13 grabs the target material box (a1), and then one or both of the first handling mechanism 12 and the second handling mechanism 13 move in the vertical direction away from each other to achieve the separation of the target material box and the material box group. It can not only achieve the smooth handling of the target material box into the storage cavity 111, but also maintain the stability of the stacked placement of the material box group and the stability of the target material box during transportation, improving the handling efficiency and handling stability of the forklift assembly 1.

[0096] Taking the second handling mechanism 13 that can translate in the vertical direction as an example, referring to Figure 3The fork assembly 1 also includes a second lifting mechanism 14, which is used to drive the second transport mechanism 13 to move horizontally in the vertical direction relative to the first transport mechanism 12. That is, the first transport mechanism 12 can only extend and retract in the horizontal direction, while the second transport mechanism 13 can not only extend and retract in the horizontal direction but also move back and forth in the vertical direction. It should be noted that this application does not limit the specific structure of the second lifting mechanism 14. The second lifting mechanism 14 can be driven by components such as motors, electric motors, and cylinders, and can be driven by transmission methods such as synchronous wheels, synchronous belts, gear racks, and rollers with thick steel ropes. Regardless of the driving components and transmission methods used by the second lifting mechanism 14, as long as the second lifting mechanism 14 can drive the second transport mechanism 13 to move horizontally in the vertical direction, it will be sufficient.

[0097] In some embodiments, reference Figure 2 , the fork assembly 1 is arranged on one side of the column 3 in the first direction ( Figure 2 N1 arrow points to the direction), column 3 is on the other side of the first direction ( Figure 2 The fork assembly 1 and the chassis 2 form a buffer position 22 together, and the buffer position 22 is used to store the target material box carried by the fork assembly 1. That is to say, after the fork assembly 1 carries out a target material box from multiple stacked material boxes, the fork assembly 1 can place one or more target material boxes in the buffer position 22, so that the fork assembly 1 does not need to immediately carry the target material box to the specified position and can start carrying the next target material box, which can improve the efficiency of material box transportation.

[0098] It should be noted that the cache position 22 represents a virtual space. The cache position 22 is roughly on the negative side of the column in the N1 direction. The vertical space where the cache position 22 is located can be used to set up a cabinet, multiple layers of brackets with horizontal support surfaces, or multiple layers of hollow brackets as shown in the figure. Therefore, the vertical space where the cache position 22 is located can be used to place a whole stack of boxes, or multiple layers of boxes can be placed in layers. No matter what structure is set in the vertical space where the cache position 22 is located, as long as the target box can be placed. In the embodiment of the present invention, refer to Figure 2 In order to increase the number of target boxes that the handling robot can accommodate, the vertical space where the buffer position 22 is located is provided with multiple hollow brackets, and the target boxes are placed in a stack in the buffer position 22. In addition, the storage chamber 111 can also be stacked to store the entire stack of boxes. The internal space of the storage chamber 111 stores and limits the entire stack of boxes, thereby improving the handling efficiency of the handling robot. Figure 4 It can be understood that in some embodiments, a plurality of ribs 23 can be provided at the buffer position 22, and the plurality of ribs 23 abut against one or more side walls of the material box to improve the placement stability of the entire stack of material boxes in the vertical direction.

[0099] In some embodiments, the handling system further includes a second handling robot, which is used to carry the target bin on the first handling robot out of the warehouse. Herein, the second handling robot refers to a robot with a simpler structure and a faster handling speed compared to the first handling robot. The second handling robot does not need to grasp the target bin in the bin group. The second handling robot only needs to timely carry out of or into the warehouse the bin carried out by the first handling robot from the bin group. The cooperation of the first robot and the second robot is conducive to improving the efficiency of bin entry and exit in the warehouse.

[0100] In some embodiments, as Figure 5 shown, the handling system further includes a shelf 8, and the height of the shelf 8 is greater than or equal to the height of the chassis 2. The top surface 81 of the shelf is used to store stacked bins. The stacked bins include at least one bin. That is to say, the bottom bin in the stacked bins is placed against the top surface 81 of the shelf. The height of the shelf 8 is greater than or equal to the height of the chassis 2. The fork assembly 1 can at least grasp the bottom end of the bottom bin in the whole column of stacked bins. That is to say, even if the gripper position (such as Figure 3 the card slot e) in the bin is set at any height, the fork assembly 1 can grasp any bin in the whole column of stacked bins. In the case where the ground has a certain slope and unevenness, the plurality of support columns 82 of the shelf 8 can be set at different heights, or the bottom surface of the shelf can be set to have a certain slope to maintain the flatness of the top surface 81 of the shelf, so that the stacked bins are stably stacked in the vertical direction and are not easily toppled, improving the problem of insufficient flatness of the warehouse floor.

[0101] In some embodiments, referring to Figure 5 , as the height of the stacked bins is higher (such as more than ten layers), the stability of the bins in the middle and top layers of the whole column of stacked bins is worse and they are more likely to be toppled. The shelf 8 can be set to one layer or more than one layer. In the case where the shelf 8 is set to more than one layer, each layer of the shelf 8 can store stacked bins. For example, if the number of bins to be stored in the warehouse is twenty layers, the shelf 8 can be set to two layers, which are the first shelf 83 and the second shelf 84 from bottom to top in sequence. The twenty - layer bins are divided into two stacks. One stack of stacked bins with one to ten layers can be stored between the first shelf 83 and the second shelf 84, and the top surface of the second shelf 84 can store the other stack of stacked bins with eleven to twenty layers. The shelf 8 can be set to multiple layers, which can improve the problem that the stacked bins with more than ten layers are easily toppled, and the multi - layer shelf 8 makes full use of the height space in the vertical direction of the warehouse, increasing the storage capacity of the warehouse. The above is only a preferred embodiment of the present invention and is not used to limit the protection scope of the present invention.

Claims

1. A method for transporting stored goods, characterized in that: The method comprises: In response to a transport instruction for a target container, determining position information of the target container indicated by the transport instruction; the target container is one or more of a plurality of vertically stacked containers; Based on the positioning mark on the outer surface of the target material box, a coordinate system relationship with the target material box is established; wherein the coordinate system relationship includes a first offset, a second offset, a third offset and a first deflection angle; driving a chassis of the transport robot to move according to the first offset, and driving a fork assembly of the transport robot to move according to the second offset and to rotate according to the first deflection angle; A fork assembly in the transport robot is driven to transport the target box according to the third offset.

2. The transport method according to claim 1, wherein: The step of driving the chassis of the transport robot to move according to the first offset includes: determining an expected path of the chassis according to the first offset; The chassis is driven to move along the expected path, and when the chassis moves, the movement of the chassis is adjusted in real time according to the actual path of the chassis and the expected path.

3. The transport method according to claim 1, wherein: After the steps of driving the chassis of the transport robot to move according to the first offset, driving the fork assembly of the transport robot to translate according to the second offset and to rotate according to the first deflection angle, and before the step of driving the fork assembly in the transport robot to transport the target box according to the third offset, the method further includes: Reconstructing the coordinate system relationship with the corresponding material box based on the positioning mark on the outer surface of the target material box; Determine whether the reconstructed coordinate system relationship meets the set accuracy requirements; If the reconstructed coordinate system relationship does not meet the set accuracy requirement, the transport robot is driven to move again according to the reconstructed coordinate system relationship.

4. The transport method according to claim 1, wherein: The step of establishing a coordinate system relationship with the target material box based on the positioning mark on the outer surface of the target material box includes: Constructing a coordinate system relationship with the target material box based on the QR code on the outer surface of the target material box; and / or, A coordinate system relationship with the target material box is established based on a box body contour of an outer surface of the target material box.

5. The transport method according to claim 1, wherein: Also includes methods: Determining whether the nesting of the target box group is safe based on the image of the target box group; If the nesting of the material box group where the target material box is located is unsafe, manual processing is requested and the transport robot is controlled to perform other tasks.

6. The transport method according to claim 5, wherein: The step of judging whether the nesting of the material box group where the target material box is located is safe according to the image of the material box group where the target material box is located comprises: Determining whether the nesting of the material box group is safe based on the QR codes on the outer surfaces of all material boxes in the material box group; and / or, Whether the nesting of the material box group is safe is determined based on the box body contours of the outer surfaces of all the material boxes in the material box group.

7. A transport system, characterized in that: The method comprises a first transport robot, wherein the first transport robot comprises: a chassis movably disposed, the chassis being adapted to move according to a first offset; A column extending in a vertical direction, with one end fixed to the chassis; a support frame detachably connected to the column, the support frame being adapted to move relative to the column according to a second offset; a fork assembly, the fork assembly being configured to lift the target container according to the third offset, the fork assembly being further configured to rotate relative to the support frame according to the first deflection angle; The lifting mechanism is used to drive the support frame to move relative to the column.

8. The transport system according to claim 7, wherein: Also includes: The second transport robot is used to transport the target material box on the first transport robot out of the warehouse.

9. The transport system according to claim 7, wherein: Also includes: A shelf, the top surface of which is used to store a material box group, the material box group including at least one material box, and the height of the shelf is greater than or equal to the height of the chassis.

10. The transport system according to claim 9, wherein: The shelves are arranged to have one or more layers. When the shelves are arranged to have more than one layer, each layer of the shelves can store the material box group.

Images