Refrigerator, vehicle, refrigerator control method and computer readable storage medium

Abstract

The invention relates to a refrigerator, a vehicle, a control method of the refrigerator and a computer readable storage medium, the refrigerator comprises a box body and a picking and conveying part, the box body is provided with a storage cabin, the storage cabin is used for placing a target object, the picking and conveying part is movably installed on the box body, and the picking and conveying part is suitable for conveying the target object in the storage cabin to a taking position; through the design of the picking and conveying part, the target object can be directly conveyed to the position where the user can take the object conveniently from the storage cabin, the user does not need to rummage the object in the storage cabin, the user does not need to disperse energy to find the object, and the object picking convenience and the operation simplicity are greatly improved. And meanwhile, the pick-up and conveying part is introduced, so that the time and energy required by the user for searching the articles are reduced, and the article taking efficiency and the user experience are improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a refrigerator, a vehicle, a refrigerator control method, and a computer-readable storage medium. Background Art

[0002] In the related art, when taking and placing items in a refrigerator, the person usually needs to spend energy to find the location of the target item in the refrigerator and manually take out the target item. When the person is driving a vehicle, the person even needs to turn around or bend over, which will make the operation very inconvenient and easily cause the person to ignore the road conditions during driving, thereby increasing the risk of traffic accidents. Summary of the Invention

[0003] Embodiments of the present application provide a refrigerator, a vehicle, a refrigerator control method, and a computer-readable storage medium, aiming to improve the convenience of taking items out of the refrigerator.

[0004] In order to achieve the above object, according to a first aspect of the present application, a refrigerator is provided, comprising:

[0005] A box body, wherein the box body has a storage compartment for placing target items;

[0006] The picking and conveying part is movably installed on the box body, and the picking and conveying part is suitable for conveying the target article in the storage compartment to a picking position.

[0007] Optionally, the picking and conveying unit includes:

[0008] A picking unit, used to pick up the target object;

[0009] A plurality of arm segments are sequentially rotatably connected and connected between the picking portion and the box body, so as to enable the picking portion to transport the picked-up target item to the picking position.

[0010] Optionally, the picking and conveying portion further includes a plurality of rotation drive mechanisms, and two adjacent arm segments are driven and connected by the rotation drive mechanisms, so that the two adjacent arm segments can rotate relative to each other.

[0011] Optionally, the plurality of arm segments include a mounting arm segment, the mounting arm segment being rotatably connected to the housing, and the refrigerator further includes a first driving unit, the first driving unit being mounted on the housing or the mounting arm segment, for driving the mounting arm segment to rotate relative to the housing; and / or,

[0012] The multiple arm segments include a connecting arm segment, which is rotatably connected to the picking part. The refrigerator also includes a second driving part, which is installed on the connecting arm segment or the picking part to drive the picking part to rotate relative to the connecting arm segment.

[0013] Optionally, at least one of the arm segments includes:

[0014] Two connecting ends are arranged opposite to each other and spaced apart;

[0015] The connecting portion connects the two connecting ends, and the connecting portion is suitable for making the distance between the two connecting ends adjustable.

[0016] Optionally, the connecting portion is telescopically arranged along the spacing direction between the two connecting end portions.

[0017] Optionally, the box body further has a storage compartment, which is spaced apart from the storage compartment, and the picking and conveying part is suitable for being received in the storage compartment.

[0018] Optionally, the refrigerator further includes a controller, which is electrically connected to the plurality of the rotary drive mechanisms, and the controller is used to control the plurality of the rotary drive mechanisms to drive at least part of the plurality of the arm segments to rotate, so that the picking portion is suitable for transporting the target item in the storage compartment to the picking position.

[0019] Optionally, the refrigerator further includes a first sensor component, which is mounted on the box body and electrically connected to the controller, and the first sensor component is used to detect position information of people in the vehicle. The controller is suitable for controlling at least part of the operation of the multiple rotation drive mechanisms based on the position information, so that the picking part is suitable for transporting the target item in the storage compartment to the picking position.

[0020] Optionally, the refrigerator further comprises an input module, the input module being electrically connected to the controller, the input module being used to transmit an operation instruction to the controller, and the controller being adapted to control the plurality of rotation drive mechanisms to drive at least some of the plurality of arm segments to rotate according to the operation instruction; and / or,

[0021] The refrigerator further includes a prompt module, which is electrically connected to the controller and is configured to be controlled by the controller to display prompt information to people in the vehicle.

[0022] In a second aspect, the present application also provides a vehicle comprising the refrigerator as described above.

[0023] In a third aspect, the present application further provides a method for controlling the placement and retrieval of items based on the refrigerator as described above, comprising the following steps:

[0024] Get operation instructions;

[0025] The picking and conveying unit is controlled according to the operation instruction to convey the target item in the storage compartment to a picking position.

[0026] Optionally, the step of controlling the picking and conveying unit to convey the target item in the storage compartment to the picking position according to the operation instruction includes:

[0027] Acquire first position information corresponding to the picking position;

[0028] determining a first moving path of the picking and conveying unit according to the first position information;

[0029] The picking and conveying unit is controlled to convey the target item in the storage compartment to the picking position along the first movable path.

[0030] Optionally, the step of determining a first moving path of the picking and conveying unit according to the first position information includes:

[0031] acquiring, according to the first position information, a plurality of conveying paths for the picking and conveying unit to convey the target object;

[0032] According to the length of each of the conveying paths, one of the plurality of conveying paths is selected as the first movable path.

[0033] Optionally, before the step of controlling the picking and conveying unit to convey the target item in the storage compartment to the picking position according to the operation instruction, the step further includes:

[0034] Acquiring second position information corresponding to the target item in the storage compartment;

[0035] determining a second moving path of the picking and conveying unit according to the second position information;

[0036] The picking and conveying unit is controlled to pick up the target item from the storage compartment along the second moving path.

[0037] Optionally, the step of determining the second moving path of the picking and conveying unit according to the second position information includes:

[0038] acquiring a plurality of picking paths for the picking and conveying unit to pick up the target object according to the second position information;

[0039] According to the length of each of the picking paths, one picking path is selected from the plurality of picking paths as the second active path.

[0040] Optionally, the refrigerator further comprises a second sensing component;

[0041] The step of controlling the picking and conveying unit to pick up the target object from the storage compartment along the second moving path includes:

[0042] Controlling the picking and conveying unit to move to a target object position along the second movable path;

[0043] Controlling the picking and conveying unit to pick up the target object at the target object position;

[0044] Acquiring a first detection parameter of the second sensing component;

[0045] determining whether the picking and conveying unit successfully picks up the target object according to the first detection parameter;

[0046] When the target object is successfully picked up, the picking and conveying unit is controlled to convey the picked up target object to the picking position along the first movable path.

[0047] Optionally, the refrigerator further includes a third sensor component;

[0048] When the target object is successfully picked up, the step of controlling the picking and conveying unit to convey the picked up target object to the picking position along the first movable path includes:

[0049] When the target object is successfully picked up, obtaining a second detection parameter of the third sensor component;

[0050] determining whether there is an obstacle on the first moving path according to the second detection parameter;

[0051] When there is an obstacle on the first active path, reacquiring the first active path;

[0052] When there is no obstacle on the first moving path, the picking and conveying unit is controlled to convey the picked-up target object to the picking position along the first moving path.

[0053] Optionally, the refrigerator further includes a fourth sensing component;

[0054] After the step of controlling the picking and conveying unit to convey the target object in the storage compartment to the picking position according to the operation instruction, the method further includes:

[0055] obtaining a third detection parameter of the fourth sensing component;

[0056] determining, based on the third detection parameter, whether the pickup and conveying unit has conveyed the target object to the picking position;

[0057] When the picking and conveying unit conveys the target object to the picking position, confirming that the target object is delivered to the position;

[0058] When the picking and conveying portion fails to convey the target object to the picking position, the second movable path is readjusted to convey the target object to the picking position.

[0059] Optionally, after the step of controlling the picking and conveying unit to convey the target item in the storage compartment to the picking position along the first movable path, the step further includes:

[0060] Controlling the picking and conveying portion to move to an initial position; and / or,

[0061] Updating the storage information of the target item in the storage compartment; and / or,

[0062] Record the access information of the target item in the storage compartment.

[0063] According to a fourth aspect of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the method for controlling the placement and retrieval of items in a refrigerator as described above is implemented.

[0064] The design of the pickup and conveyor unit in the refrigerator of the present application enables the target item to be directly transported from the storage compartment to a convenient location for the user, eliminating the need for the user to search within the storage compartment. This greatly improves the convenience and simplicity of item picking. Furthermore, the introduction of the pickup and conveyor unit reduces the time and effort required to find the item, improving the efficiency of item retrieval and the user experience.

[0065] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] To more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present application. Those skilled in the art can also derive other drawings based on these drawings without inventive effort.

[0067] In order to more completely understand the present application and its beneficial effects, the following description will be given in conjunction with the accompanying drawings, wherein the same drawing numbers represent the same parts in the following description.

[0068] Figure 1 is a schematic structural diagram of a refrigerator provided in an exemplary embodiment of the present disclosure;

[0069] Figure 2 yes Figure 1 The picking and conveying part is shown as a schematic diagram of the structure accommodated in the storage cabin;

[0070] Figure 3 yes Figure 1 The schematic diagram of the structure of the picking and conveying unit picking up the target object from the storage compartment is shown;

[0071] Figure 4 yes Figure 1 The picking and conveying part shown is a schematic diagram of the structure of conveying the target object to the picking position;

[0072] Figure 5 yes Figure 4 A local enlarged schematic diagram shown;

[0073] Figure 6 This is one of the flow charts of a method for controlling the taking and placing of items in a refrigerator provided in an exemplary embodiment of the present disclosure;

[0074] Figure 7 yes Figure 6 Flow chart of the specific steps of step S500;

[0075] Figure 8 This is the second flow chart of the method for controlling the taking and placing of items in a refrigerator provided in an exemplary embodiment of the present disclosure.

[0076] Description of reference numerals:

[0077] 100. Refrigerator; 10. Box body; 11. Storage compartment; 12. Accommodation compartment; 20. Picking and conveying unit; 21. Picking unit; 22. Arm section; 22a. Installation arm section; 22b. Connecting arm section; 221. Connecting end; 222. Connecting unit; 200. Target item. DETAILED DESCRIPTION

[0078] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0079] This application provides a refrigerator, please refer to Figures 1 to 4 , Figure 1 is a schematic structural diagram of a refrigerator provided in an exemplary embodiment of the present disclosure, Figure 2 yes Figure 1 The picking and conveying part is stored in the storage cabin. Figure 3 yes Figure 1 The picking and conveying unit shown in FIG. 1 picks up the target object from the storage compartment. Figure 4 yes Figure 1The refrigerator 100 includes a housing 10 and a picking and conveying unit 20 .

[0080] The box body 10 has a storage compartment 11 for storing the target object 200 .

[0081] It should be noted that the size and shape of the storage compartment can be set as needed, and this application does not limit this.

[0082] The picking and conveying unit 20 is movably mounted on the box body 10 , and is suitable for conveying the target object 200 in the storage compartment 11 to a picking position.

[0083] It should be noted that there are many ways for the pickup and conveying unit 20 to pick up the target object 200. For example, the target object 200 can be picked up by vacuum adsorption. In some other embodiments, the object can also be picked up by a clamp. Specifically, this application does not limit this.

[0084] In the refrigerator 100 of the present embodiment, the design of the pickup and conveyor unit 20 enables the target item 200 to be directly transported from the storage compartment 11 to a convenient location for the user to retrieve, eliminating the need for the user to search within the storage compartment. This significantly improves the convenience and ease of operation of picking up items. Furthermore, the introduction of the pickup and conveyor unit 20 reduces the time and effort required by the user to search for items, thereby improving the efficiency of retrieval and the user experience.

[0085] Reference Figures 2 to 4 In some embodiments, the picking and conveying unit 20 includes a picking unit 21 and a plurality of arm segments 22. The picking unit 21 is used to pick up the target item 200. The plurality of arm segments 22 are sequentially rotatably connected and connected between the picking unit 21 and the box body 10. In this way, through the sequential rotation connection of the plurality of arm segments 22, the picking and conveying unit 20 can flexibly move in three dimensions within the box body 10, so that the picking unit 21 can easily convey the picked up target item 200 to a suitable picking position, thereby enhancing the picking function of the refrigerator 100. The design of the multiple arm segments 22 can compensate for errors in the manufacturing and installation process to a certain extent through rotational connection, thereby improving the accuracy and stability of transportation. Through the rotation of the arm segments 22 and the cooperation of the picking unit 21, the picking and conveying process of the item can be completed quickly, thereby improving the efficiency and convenience of picking up the item.

[0086] In some embodiments, the pick-up conveyor 20 further includes multiple rotary drive mechanisms, with adjacent arm segments 22 each connected by a rotary drive mechanism to enable relative rotation of the two adjacent arm segments 22. This allows the pick-up conveyor 20 to more accurately transport the picked-up target item 200 to the pickup location, while also avoiding operational difficulties caused by space limitations. The rotary drive mechanism enables relative rotation of adjacent arm segments 22, allowing for more rapid adjustment of the pick-up conveyor 20's posture, reducing waiting time due to obstacles along the conveying path and improving work efficiency.

[0087] Reference Figures 2 to 4 In some embodiments, the plurality of arm segments 22 include a mounting arm segment 22a, which is rotatably connected to the housing 10. The refrigerator 100 further includes a first driving unit, which is mounted on the housing 10 or the mounting arm segment 22a. The first driving unit drives the mounting arm segment 22a to rotate relative to the housing 10. In this way, the mounting arm segment 22a can rotate relative to the housing 10, thereby increasing the degree of freedom of the picking and conveying unit 20, so that the user can control the movement of the mounting arm segment 22a through simple operations, thereby enabling the picking and conveying unit 20 to easily access every corner inside the storage compartment 11, thereby improving the user's convenience.

[0088] Reference Figures 2 to 4 In some embodiments, the plurality of arm segments 22 include a connecting arm segment 22b, which is rotatably connected to the pickup portion 21. The refrigerator 100 further includes a second drive unit mounted on the connecting arm segment 22b or the pickup portion 21. The second drive unit drives the pickup portion 21 to rotate relative to the connecting arm segment 22b. This increases the freedom of the pickup portion 21, enabling the pickup conveyor 20 to perform more complex and precise operations. This design allows the refrigerator 100 to easily handle various retrieval needs, especially in confined or hard-to-reach spaces. The rotatable connection design of the pickup portion 21 expands its operating range, allowing the refrigerator 100 to more efficiently utilize storage space while improving the accuracy and efficiency of retrieval.

[0089] Reference Figure 4 and Figure 5In some embodiments, at least one arm segment 22 includes two connecting ends 221 and a connecting portion 222. The two connecting ends 221 are arranged opposite each other and spaced apart. The connecting portion 222 connects the two connecting ends 221, and the connecting portion 222 is adapted to allow the distance between the two connecting ends 221 to be adjustable. In this way, this design allows the distance between the two connecting ends 221 to be changed by adjusting the connecting portion 222. This adjustability provides great operational flexibility for the pick-up conveyor 20, whether operating in a confined space or needing to accommodate items of different sizes. Because the connecting portion 222 can adjust the distance between the two connecting ends 221, the pick-up conveyor 20 can adapt to a variety of pick-up positions and target items 200. This design improves the versatility and practicality of the pick-up conveyor 20. By adjusting the connecting portion 222 to change the distance between the two connecting ends 221, the pick-up conveyor 20 can be more accurately positioned at the target pick-up position, improving the accuracy of the conveying.

[0090] The manner in which the connecting portion 222 makes the distance between the two connecting ends 221 adjustable can be selected as needed. For example, in some embodiments, the connecting portion 222 is telescopically arranged along the spacing direction of the two connecting ends 221. In this way, the structure is simple, and the distance between the two connecting ends 221 can be adjusted through simple operations.

[0091] In other embodiments, the connection portion 222 may also enable the distance between the two connection ends 221 to be adjustable by having both connection ends 221 slidably mounted on the connection portion 222, and the connection portion 222 further provided with a linear drive mechanism that drives the two connection ends 221 toward or away from each other. Specifically, this application does not limit the manner in which the connection portion 222 enables the distance between the two connection ends 221 to be adjustable.

[0092] Reference Figure 2 In some embodiments, the box body 10 further has a storage compartment 12, which is spaced apart from the storage compartment 11, and the picking and conveying unit 20 is suitable for being received in the storage compartment 12. In this way, the spacing between the storage compartment 12 and the storage compartment 11 makes the functional division of the box body 10 clearer. The storage compartment 11 is used to store items, while the storage compartment 12 is specifically used to receive the picking and conveying unit 20. This partition design helps to improve the overall performance and ease of operation of the box body 10. The storage compartment 12 provides a relatively closed and stable storage environment for the picking and conveying unit 20, which helps to protect the equipment from interference and damage from the external environment. For example, it can prevent pollutants such as dust and moisture from entering the interior of the equipment, thereby extending the service life of the equipment. Storing the picking and conveying unit 20 in the storage compartment 12 makes the appearance of the box body 10 more neat and beautiful.

[0093] In some embodiments, the refrigerator 100 further includes a controller electrically connected to the plurality of rotary drive mechanisms. The controller is configured to control the plurality of rotary drive mechanisms to drive at least some of the plurality of arm segments 22 to rotate, so that the pickup portion 21 is adapted to transport the target item 200 within the storage compartment 11 to the retrieval position. Thus, by introducing the controller and electrically connecting it to the rotary drive mechanisms, precise control of the rotation of the arm segments 22 is achieved. This design enables the refrigerator 100 to automatically complete the item transport process, significantly improving the level of automation in operation. The user does not need to manually adjust the position and angle of the arm segments 22; instead, they simply send instructions through the controller to automatically transport the target item 200. This design significantly reduces operational complexity and time costs.

[0094] In some embodiments, the refrigerator 100 further includes a first sensor assembly mounted on the housing 10 and electrically connected to the controller. The first sensor assembly is configured to detect the position of a person within the vehicle. The controller is configured to control the operation of at least some of the multiple rotary drive mechanisms based on this position information, so that the pickup unit 21 is adapted to transport the target item 200 within the storage compartment 11 to a retrieval position. This enables the pickup and transport unit 20 to precisely transport the item to a convenient location within the vehicle for the person to retrieve, significantly improving user convenience and comfort. The first sensor assembly monitors the position of the person within the vehicle in real time, ensuring that the pickup unit 21 does not collide with or interfere with the person while transporting the item. This design helps reduce safety hazards and enhances user safety. Users can easily access their desired items without distracting their attention, significantly improving convenience. This design can reduce driver distraction and enhance driving safety, particularly while driving. The controller flexibly adjusts the operating state of the rotary drive mechanisms based on the position information detected by the first sensor assembly, enabling the refrigerator 100 to automatically adjust the position and movement of the pickup unit 21 to meet the user's actual needs, regardless of the user's seating position.

[0095] In some embodiments, the refrigerator 100 further includes an input module electrically connected to the controller. The input module is used to transmit operating instructions to the controller. The controller is adapted to control the plurality of rotary drive mechanisms to drive at least some of the plurality of arm segments 22 to rotate according to the operating instructions. Thus, the input module allows the user to send instructions to the controller through intuitive and diverse methods (such as buttons, touch screens, voice control, etc.). These instructions can precisely control the rotation of the arm segments 22 within the refrigerator 100, enabling the pickup conveyor 20 to transport the target item 200 in the storage compartment 11 to the retrieval position as needed. This design greatly improves user convenience. The controller precisely controls the operation of the rotary drive mechanism according to the operating instructions, achieving rapid and accurate rotation of the arm segments 22. This design improves the efficiency of storing and retrieving items within the refrigerator 100 and reduces user waiting time.

[0096] In some embodiments, the refrigerator 100 further includes a prompt module electrically connected to the controller. The prompt module is controlled by the controller to display prompt information to occupants of the vehicle. This prompt module displays prompt information in real time, allowing users to intuitively understand the pickup status, enhancing the user's interactive experience with the refrigerator 100 and making it easier for users to manage and use the refrigerator 100. Through the prompt module, users can obtain timely information about the refrigerator 100, avoiding frustration caused by improper operation or misunderstandings. This design improves user satisfaction and trust in the refrigerator 100. As part of the refrigerator 100's intelligent system, the prompt module works in conjunction with the controller to monitor and display information in real time. This design enables the refrigerator 100 to automatically adjust its operating status and display corresponding prompt information based on user needs and changing scenarios, enhancing the refrigerator's intelligence. The prompt module can also display fault warnings for the refrigerator 100, helping users quickly locate the problem. This design simplifies the fault detection process and reduces maintenance costs and time. The fault information displayed on the prompt module allows technicians to quickly identify the problem with the refrigerator 100 and perform appropriate repairs and maintenance. This design improves diagnostic efficiency and ensures stable operation of the refrigerator 100.

[0097] In some embodiments, the refrigerator also has an automatic cleaning function. By adding a cleaning component, the storage compartment or beverage container can be cleaned regularly to ensure the hygiene of the beverages provided.

[0098] In some embodiments, the refrigerator also has a beverage mixing function. By adding a beverage mixing system, drinks (such as coffee, tea, etc.) can be mixed according to the driver's preferences, thereby improving the user experience.

[0099] In some embodiments, the refrigerator can also be equipped with an intelligent control system, which includes a personalized customization module, a voice assistant integration module, a physiological monitoring module, and an environmental perception module. The personalized customization module automatically recommends drinks by analyzing user data and machine learning the driver's drinking habits and preferences. The voice assistant integration module is integrated with existing voice assistants (such as Siri and Google Assistant), allowing more natural interaction and control. The physiological monitoring module integrates heart rate monitoring or fatigue detection functions. When the driver shows signs of fatigue, the system automatically provides drinking water or rest suggestions. The environmental perception module monitors the environment around the vehicle through sensors. If unsafe driving conditions (such as braking or accidents) are detected, the robotic arm will automatically suspend work. In this way, the intelligence level of the refrigerator and the user experience can be further improved, and competitiveness in the market can be enhanced.

[0100] In a second aspect, the present application further provides a vehicle, comprising the refrigerator 100 as described above. The vehicle has all the beneficial effects of the refrigerator 100 described above, which will not be described in detail in this disclosure.

[0101] It should be noted that during driving, the controller can automatically adjust the movement of the picking and conveying part to cope with the bumps and movement of the vehicle.

[0102] The vehicle may be a fuel vehicle, a plug-in hybrid vehicle, a new energy vehicle, etc., and this disclosure does not make any specific limitations on this.

[0103] Reference Figure 6 In a third aspect, the present application further provides a control method based on the refrigerator 100 as described above, comprising the following steps:

[0104] Step S100: Obtain an operation instruction.

[0105] It should be noted that the operation instruction is issued when the target item 200 is needed. Of course, in other embodiments, the specific type of the operation instruction can be set as needed, and this application does not limit this.

[0106] Step S500 : Control the picking and conveying unit 20 to convey the target object 200 in the storage compartment 11 to the picking position according to the operation instruction.

[0107] The control method for the refrigerator 100 of the embodiment of the present application obtains an operation instruction and controls the picking and conveying unit 20 according to the operation instruction to convey the target item 200 in the storage compartment 11 to the retrieval position. In this way, the target item 200 can be directly conveyed from the storage compartment 11 to a position convenient for the user to retrieve, eliminating the need for the user to search within the storage compartment 11. This greatly improves the convenience of picking up items and the simplicity of operation. At the same time, the introduction of the picking and conveying unit 20 also reduces the time and effort required by the user to find the item, improving the efficiency of retrieval and the user experience.

[0108] Reference Figure 7 In some embodiments, step S500 of controlling the picking and conveying unit 20 to convey the target object 200 in the storage compartment 11 to the picking position according to the operation instruction includes:

[0109] Step S510: Acquire first position information corresponding to the picking position.

[0110] It should be noted that obtaining the first position information of the picking position is a key step to ensure that the picking and conveying unit 20 can accurately reach the designated position. The first position information can be set as needed. For example, the first position information can be coordinates or relative position information.

[0111] Step S520 : determining a first moving path of the picking and conveying unit 20 according to the first position information.

[0112] It should be noted that the controller calculates the motion trajectory required to transport the item to the picking position based on the kinematic model of the picking and conveying part. Through the algorithm, it calculates a safe path to avoid collision with other items inside the refrigerator or the surrounding environment. Taking into account the grasping efficiency and time, the path planning is optimized to ensure that the robotic arm can reach the item by the shortest path.

[0113] Specifically, the controller first parses the first position information to determine the precise coordinates of the target position or the positional relationship relative to a reference point. The controller may need to use sensors and other devices to perceive the environmental information inside the refrigerator 100 in real time, such as the location of obstacles, the layout of items in the storage compartment, etc., to ensure that the planned path is feasible. Then, the controller uses a path planning algorithm (such as A* algorithm, Dijkstra algorithm, genetic algorithm, etc.) to calculate the optimal path from the current position to the target position based on the position information and environmental perception data. These algorithms usually take into account multiple factors such as the length, time, safety and picking efficiency of the path.

[0114] In addition, after calculating multiple feasible paths, the system may further optimize these paths to select the best one. The optimization process may involve considerations such as shortening path length, reducing detours around obstacles, and reducing energy consumption.

[0115] Through precise path planning, the pickup conveyor unit 20 can quickly and accurately reach the pickup location along the first movable path, significantly improving operational efficiency. The first movable path means shorter travel distances and less time consumption, which helps reduce energy consumption of the pickup conveyor unit 20 and extend the service life of the refrigerator 100. The first movable path can avoid collisions with obstacles and reduce unnecessary movement. Path planning helps improve system reliability and stability and reduce failure rates.

[0116] Step S530 : Control the picking and conveying unit 20 to convey the target object 200 in the storage compartment 11 to the picking position along the first movable path.

[0117] This step requires the picking and conveying unit 20 to perform precise mechanical movement according to the first movable path, so that the picking and conveying unit 20 can accurately convey the target object 200 to the picking position, which greatly improves the accuracy and reliability of the operation.

[0118] In some embodiments, the step S520 of determining the first moving path of the pickup conveying unit 20 according to the first position information includes:

[0119] Step S521 : Acquire multiple conveying paths for the picking and conveying unit 20 to convey the target object 200 according to the first position information.

[0120] It should be noted that the lengths of the multiple conveying paths, the time taken by the pickup conveying unit 20 to convey the target object 200 to the pickup position along the multiple conveying paths, or the conveying efficiency may vary.

[0121] Step S522 : Select one conveying path from the plurality of conveying paths as a first active path according to the length of each conveying path.

[0122] It should be noted that in this step, the shortest conveying path among the multiple conveying paths can be used as the first movable path. This can significantly reduce the movement distance and time of the pickup conveyor 20, thereby improving operational efficiency. Of course, in other embodiments, the longest conveying path among the multiple conveying paths can be used as the first movable path. Specifically, this application does not limit this.

[0123] Reference Figure 8 In some embodiments, before the step S500 of controlling the picking and conveying unit 20 to convey the target object 200 in the storage compartment 11 to the picking position according to the operation instruction, the step further includes:

[0124] Step S200 : Acquire second position information corresponding to the target object 200 in the storage compartment 11 .

[0125] It should be noted that obtaining the second position information corresponding to the target object 200 in the storage compartment 11 is a key step to ensure that the picking and conveying unit 20 can accurately pick up the target object 200. The second position information can be set as needed. For example, the second position information can be coordinates or relative position information.

[0126] Step S300, determining a second moving path of the picking and conveying unit 20 according to the second position information;

[0127] It should be noted that the controller first parses the second position information to determine the precise coordinates of the target position or the positional relationship relative to a reference point. The controller may need to use sensors and other devices to perceive the environmental information inside the refrigerator 100 in real time, such as the location of obstacles, the layout of storage units, etc., to ensure that the planned path is feasible. Then, the controller uses a path planning algorithm (such as A* algorithm, Dijkstra algorithm, genetic algorithm, etc.) to calculate the optimal path from the current position to the second position based on the position information and environmental perception data. These algorithms usually take into account multiple factors such as the length, time, and safety of the path.

[0128] In addition, after calculating multiple feasible paths, the controller may further optimize these paths to select the best one. The optimization process may involve considerations such as shortening path length, reducing detours around obstacles, and reducing energy consumption.

[0129] Through precise path planning, the pick-up conveyor unit 20 can quickly and accurately reach the pickup location along the second movable path, significantly improving operational efficiency. The second movable path means shorter travel distances and less time consumption, which helps reduce energy consumption of the pick-up conveyor unit 20 and extend the service life of the refrigerator 100. The first movable path can avoid collisions with obstacles and reduce unnecessary movement. Path planning helps improve system reliability and stability and reduce failure rates.

[0130] Step S400 : Control the picking and conveying unit 20 to pick up the target object 200 from the storage compartment 11 along the second moving path.

[0131] In this step, by controlling the picking and conveying unit 20 to move according to the pre-planned second active path, the target item 200 can be quickly located and picked up, reducing unnecessary search and waiting time, thereby improving overall operational efficiency. The second active path is usually accurately calculated based on factors such as the position, size, weight of the target item 200 and the layout of the storage compartment 11. Therefore, performing the picking operation according to the second active path can ensure that the picking and conveying unit 20 accurately reaches the target position, avoiding risks such as misoperation or collision. What users expect is a fast, accurate and reliable operating experience. By controlling the picking and conveying unit 20 to perform the picking operation according to the second active path, it can quickly respond to the user's instructions and accurately deliver the target item 200 to the designated location, thereby improving user satisfaction and trust.

[0132] In some embodiments, the step S300 of determining the second moving path of the picking and conveying unit 20 according to the second position information includes:

[0133] Step S310 : Acquire multiple picking paths for the picking and conveying unit 20 to pick up the target object 200 according to the second position information.

[0134] It should be noted that the lengths of the multiple picking paths, the time taken by the picking and conveying unit 20 to pick up the target object 200 from the storage compartment 11 along the multiple picking paths, or the picking efficiency may vary.

[0135] Step S320: Select a picking path from the plurality of picking paths as a second active path according to the length of each picking path.

[0136] It should be noted that in this step, the shortest picking path among the multiple picking paths can be used as the second movable path. This can significantly reduce the movement distance and time of the picking conveyor 20, thereby improving operational efficiency. Of course, in other embodiments, the longest conveyor path among the multiple picking paths can be used as the first movable path. Specifically, this application is not limited to this.

[0137] In some embodiments, the refrigerator 100 further includes a second sensor assembly. Step S400 of controlling the picking and conveying unit 20 to pick up the target object 200 from the storage compartment 11 along the second moving path includes:

[0138] Step S410 : Control the picking and conveying unit 20 to move to the target object 200 along the second moving path.

[0139] In this step, the movement of the pickup conveyor 20 is precisely controlled to ensure that it accurately reaches the target object 200 along the pre-set second path, laying the foundation for subsequent pickup operations. This step reduces unnecessary movement and waiting time, improving overall operational efficiency. Moving the pickup conveyor 20 along the second path to the target object 200 prevents collisions with obstacles or other components during movement, ensuring operational safety.

[0140] Step S420 : Control the picking and conveying unit 20 to pick up the target object 200 at the target object 200 position.

[0141] Step S430: Acquire a first detection parameter of the second sensor component.

[0142] It should be noted that the type of the first detection parameter can be selected as needed, for example, the first detection parameter can be a weight detection parameter, an image recognition parameter, or a force feedback parameter. Specifically, this application does not limit this.

[0143] Step S440 : Determine whether the picking-up conveying unit 20 has successfully picked up the target object 200 according to the first detection parameter.

[0144] In this step, the controller directly obtains the results of the picking operation through specific first detection parameters (such as weight, position, image recognition, etc.), thereby accurately determining whether the pick was successful. Compared to relying on indirect information or manual judgment, automated judgment based on the first detection parameters can significantly reduce the possibility of misjudgment and improve judgment accuracy. Once the first detection parameters meet the preset conditions, the controller can make a judgment immediately without waiting for manual confirmation or additional operation, thereby improving overall operational efficiency.

[0145] Step S450 : When the target object 200 is successfully picked up, the picking and conveying unit 20 is controlled to convey the picked up target object 200 to the picking position along the first moving path.

[0146] In this step, once the controller confirms that the pickup is successful, the pickup conveyor 20 immediately begins conveying along the preset first active path, reducing waiting time and improving the efficiency of task completion. This step ensures continuous operation from pickup to conveying, avoids process interruptions, and makes the entire operation process smoother.

[0147] In some embodiments, the refrigerator 100 further includes a third sensor assembly. In step S450, when the target object 200 is successfully picked up, the step of controlling the picking and conveying unit 20 to convey the picked up target object 200 to the picking position along the first moving path includes:

[0148] Step S451: When the target object 200 is successfully picked up, a second detection parameter of the third sensor component is obtained.

[0149] This step ensures that the surrounding environment or status is monitored immediately after successful picking, providing real-time data support for subsequent decision-making. The second detection parameter obtained by the third sensor component has high accuracy, providing a reliable basis for judgment in subsequent steps.

[0150] Step S452: Determine whether there is an obstacle on the first moving path according to the second detection parameter.

[0151] In this step, by analyzing the second detection parameter, the system can detect obstacles on the first moving path in advance, avoiding potential collisions or failures. This step provides necessary decision support for subsequent path planning or adjustments, ensuring the safety and smoothness of the transportation process.

[0152] Step S453: When there is an obstacle on the first active path, reacquire the first active path.

[0153] In this step, when an obstacle is detected, the controller can flexibly adjust the first active path, avoiding transportation interruptions caused by path obstructions. Replanning the first active path ensures that the transportation process is carried out along the shortest or optimal path, improving overall transportation efficiency.

[0154] Step S454: When there is no obstacle on the first moving path, control the picking and conveying unit 20 to convey the picked-up target object 200 to the picking position along the first moving path.

[0155] In this step, after confirming that the path is unobstructed, the controller can safely transport the target object 200 to the pick-up position. Transporting according to the preset unobstructed path reduces the transport error caused by improper path selection.

[0156] In some embodiments, the refrigerator 100 further includes a fourth sensor assembly, and after the step S500 of controlling the picking and conveying unit 20 to convey the target object 200 in the storage compartment 11 to the picking position according to the operation instruction, the following steps are further included:

[0157] Step S600: Acquire a third detection parameter of the fourth sensor component.

[0158] Step S700: Determine whether the picking and conveying unit 20 conveys the target object 200 to the picking position according to the third detection parameter.

[0159] In this step, after the pickup conveyor 20 completes its conveying action, the controller analyzes the third detection parameter to accurately determine whether the target object 200 has been successfully conveyed to the pickup position. This step provides a basis for subsequent decision-making, such as whether the path needs to be readjusted or other remedial measures need to be taken.

[0160] It should be noted that the third detection parameter can be a weight detection parameter, image recognition parameter, or force feedback parameter, etc. The controller can directly obtain the results after the conveying action, thereby accurately determining whether the delivery is in place. Compared with relying on indirect information or manual judgment, automated judgment based on the third detection parameter can significantly reduce the possibility of misjudgment and improve the accuracy of judgment. Once the third detection parameter reaches the preset condition, the controller can make a judgment immediately without waiting for manual confirmation or additional operation, thereby improving the efficiency of the overall operation.

[0161] Step S800 : When the picking and conveying unit 20 conveys the target object 200 to the picking position, confirm that the target object 200 is conveyed to the position.

[0162] In this step, when the pickup conveyor 20 delivers the target item 200 to the pickup location, confirming that the target item 200 has been delivered to the designated location indicates the completion of the delivery task and confirms that the target item 200 has successfully arrived at the designated location. After confirming that the target item 200 has been delivered to the designated location, the controller can control the refrigerator 100 to continue to perform subsequent operations, such as notifying the user and recording data, to maintain a smooth process.

[0163] Step S900 : When the picking and conveying unit 20 fails to convey the target object 200 to the picking position, the second movable path is readjusted to convey the target object 200 to the picking position.

[0164] In this step, if the delivery is not in place, the system can flexibly adjust the second active path to ensure that the target object 200 eventually reaches the designated location. Although readjusting the path will increase some operation time, it avoids further delays caused by delivery failure and optimizes delivery efficiency overall.

[0165] In some embodiments, after the step S500 of controlling the picking and conveying unit 20 to convey the target object 200 in the storage compartment 11 to the picking position along the first movable path, the following steps may be further performed:

[0166] Step S1000 , controlling the picking and conveying unit 20 to move to an initial position.

[0167] This step ensures that the pick-up conveyor 20 returns to its initial position after completing a task. This reduces random movement of the pick-up conveyor 20 within the system and improves overall operational efficiency. Returning to the initial position also places the pick-up conveyor 20 in a standby state, making it easier to quickly respond to the next delivery instruction and shortening the waiting time between tasks. Placing the pick-up conveyor 20 in a known, pre-set initial position helps reduce the risk of accidental collisions or system failures, thereby improving the overall safety of the system.

[0168] Step S1100 : updating the storage information of the target item 200 in the storage compartment 11 .

[0169] During this step, the storage information of items in storage compartment 11 is updated in real time, ensuring data accuracy and timeliness. This accurate information provides a reliable basis for decision-making by refrigerator 100 or its operators, helping to optimize storage strategies, reduce inventory backlogs, and improve item turnover. Users can access the latest storage information through refrigerator 100, making more informed decisions about picking up or storing items, improving user experience and satisfaction.

[0170] Step S1200 : Recording access information of the target object 200 in the storage compartment 11 .

[0171] Recording access information during this step facilitates subsequent auditing and tracing, ensuring operational traceability and transparency. Access information is also a valuable source of data analysis, enabling analysis of item flow trends, inventory demand forecasting, and optimized storage layouts. By analyzing access information, the system or operators can identify potential service bottlenecks and implement measures to improve service quality and efficiency.

[0172] Specifically, the driver can be informed of whether the item has been successfully delivered or not through sound and light prompts or by displaying status information on the user interface; abnormal situations that occur during the picking or delivery process (such as picking failure, path obstruction, etc.) are recorded and marked as warning status; detailed data of each picking and delivery operation is recorded in real time, including information such as target item, operation time, success or failure, etc., and the driver is regularly asked about the item delivery experience through pop-up windows on the interface, including delivery speed, effectiveness and user's expected feedback.

[0173] In a fourth aspect, the present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the control method of the refrigerator 100 as described above.

[0174] For example, when the program is executed by the processor, the following control method of the refrigerator 100 is implemented:

[0175] Step S100: obtaining an operation instruction;

[0176] Step S500 : Control the picking and conveying unit 20 to convey the target object 200 in the storage compartment 11 to the picking position according to the operation instruction.

[0177] For another example, when the program is executed by the processor, the following control method of the refrigerator 100 is implemented:

[0178] Step S510: Acquire first position information corresponding to the picking position;

[0179] Step S520: determining a first moving path of the picking and conveying unit 20 according to the first position information;

[0180] Step S530 : Control the picking and conveying unit 20 to convey the target object 200 in the storage compartment 11 to the picking position along the first movable path.

[0181] For another example, when the program is executed by the processor, the following control method of the refrigerator 100 is implemented:

[0182] Step S521: Acquire multiple conveying paths for the picking and conveying unit 20 to convey the target object 200 according to the first position information;

[0183] Step S522 : Select one conveying path from the plurality of conveying paths as a first active path according to the length of each conveying path.

[0184] For another example, when the program is executed by the processor, the following control method of the refrigerator 100 is implemented:

[0185] Step S200: obtaining second position information corresponding to the target object 200 in the storage compartment 11;

[0186] Step S300, determining a second moving path of the picking and conveying unit 20 according to the second position information;

[0187] Step S400 : Control the picking and conveying unit 20 to pick up the target object 200 from the storage compartment 11 along the second moving path.

[0188] For another example, when the program is executed by the processor, the following control method of the refrigerator 100 is implemented:

[0189] Step S310: Acquire multiple picking paths for the picking and conveying unit 20 to pick up the target object 200 according to the second position information;

[0190] Step S320: Select a picking path from the plurality of picking paths as a second active path according to the length of each picking path.

[0191] For another example, when the program is executed by the processor, the following control method of the refrigerator 100 is implemented:

[0192] Step S410: Control the picking and conveying unit 20 to move to the target object 200 along the second moving path;

[0193] Step S420 , controlling the picking and conveying unit 20 to pick up the target object 200 at the position of the target object 200 ;

[0194] Step S430: obtaining a first detection parameter of the second sensor component;

[0195] Step S440: determining whether the picking-up conveying unit 20 has successfully picked up the target object 200 according to the first detection parameter;

[0196] Step S450 : When the target object 200 is successfully picked up, the picking and conveying unit 20 is controlled to convey the picked up target object 200 to the picking position along the first moving path.

[0197] For another example, when the program is executed by the processor, the following control method of the refrigerator 100 is implemented:

[0198] Step S451: When the target object 200 is successfully picked up, a second detection parameter of the third sensor component is obtained;

[0199] Step S452: Determine whether there is an obstacle on the first moving path according to the second detection parameter;

[0200] Step S453: when there is an obstacle on the first active path, reacquire the first active path;

[0201] Step S454: When there is no obstacle on the first moving path, control the picking and conveying unit 20 to convey the picked-up target object 200 to the picking position along the first moving path.

[0202] For another example, when the program is executed by the processor, the following control method of the refrigerator 100 is implemented:

[0203] Step S600: obtaining a third detection parameter of the fourth sensor component;

[0204] Step S700: determining whether the picking and conveying unit 20 has conveyed the target object 200 to the picking position according to the third detection parameter;

[0205] Step S800: When the picking and conveying unit 20 conveys the target object 200 to the picking position, confirm that the target object 200 is conveyed to the position;

[0206] Step S900 : When the picking and conveying unit 20 fails to convey the target object 200 to the picking position, the second movable path is readjusted to convey the target object 200 to the picking position.

[0207] For another example, when the program is executed by the processor, the following control method of the refrigerator 100 is implemented:

[0208] Step S1000: Control the picking and conveying unit 20 to move to an initial position; and / or,

[0209] Step S1100: updating the storage information of the target item 200 in the storage compartment 11; and / or,

[0210] Step S1200 : Recording access information of the target object 200 in the storage compartment 11 .

[0211] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0212] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0213] The embodiments, implementation methods and related technical features of the present application can be combined and replaced with each other without conflict.

[0214] The above are merely preferred embodiments of the present application and do not constitute any form of limitation to the present application. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A refrigerator, characterized in that: include: A box body, wherein the box body has a storage compartment for placing target items; The picking and conveying part is movably installed on the box body, and the picking and conveying part is suitable for conveying the target article in the storage compartment to a picking position.

2. The refrigerator according to claim 1, wherein: The picking and conveying unit includes: A picking unit, used to pick up the target object; A plurality of arm segments are sequentially rotatably connected and connected between the picking portion and the box body, so as to enable the picking portion to transport the picked-up target item to the picking position.

3. The refrigerator according to claim 2, characterized in that The picking and conveying portion further includes a plurality of rotation drive mechanisms, and two adjacent arm segments are driven and connected by the rotation drive mechanisms so that the two adjacent arm segments can rotate relative to each other.

4. The refrigerator according to claim 2, characterized in that The plurality of arm segments include a mounting arm segment, the mounting arm segment being rotatably connected to the housing, the refrigerator further comprising a first driving unit, the first driving unit being mounted on the housing or the mounting arm segment, for driving the mounting arm segment to rotate relative to the housing; and / or, The multiple arm segments include a connecting arm segment, which is rotatably connected to the picking part. The refrigerator also includes a second driving part, which is installed on the connecting arm segment or the picking part to drive the picking part to rotate relative to the connecting arm segment.

5. The refrigerator according to claim 2, characterized in that At least one of the arm segments comprises: Two connecting ends are arranged opposite to each other and spaced apart; The connecting portion connects the two connecting ends, and the connecting portion is suitable for making the distance between the two connecting ends adjustable.

6. The refrigerator according to claim 5, characterized in that The connecting portion is telescopically arranged along the spacing direction between the two connecting end portions.

7. The refrigerator according to any one of claims 1 to 6, characterized in that: The box body further comprises a storage compartment, which is spaced apart from the storage compartment, and the picking and conveying portion is suitable for being received in the storage compartment.

8. The refrigerator according to any one of claims 3 to 6, characterized in that: The refrigerator also includes a controller, which is electrically connected to the multiple rotation drive mechanisms. The controller is used to control the multiple rotation drive mechanisms to drive at least part of the multiple arm segments to rotate, so that the picking part is suitable for transporting the target item in the storage compartment to the picking position.

9. The refrigerator according to claim 8, characterized in that The refrigerator also includes a first sensor component, which is installed on the box body and electrically connected to the controller. The first sensor component is used to detect the position information of people in the vehicle. The controller is suitable for controlling at least part of the operation of the multiple rotation drive mechanisms based on the position information, so that the picking part is suitable for transporting the target item in the storage compartment to the picking position.

10. The refrigerator according to claim 8, characterized in that The refrigerator further includes an input module, the input module being electrically connected to the controller, the input module being configured to transmit an operation instruction to the controller, the controller being adapted to control the plurality of rotation drive mechanisms to drive at least some of the plurality of arm segments to rotate according to the operation instruction; and / or, The refrigerator further includes a prompt module, which is electrically connected to the controller and is configured to be controlled by the controller to display prompt information to people in the vehicle.

11. A vehicle, characterized in that: The invention comprises a refrigerator according to any one of claims 1 to 10.

12. A control method for a refrigerator according to any one of claims 1 to 10, characterized in that: The following steps are involved: Get operation instructions; The picking and conveying unit is controlled according to the operation instruction to convey the target item in the storage compartment to a picking position.

13. The control method according to claim 12, characterized in that: The step of controlling the picking and conveying unit to convey the target item in the storage compartment to the picking position according to the operation instruction includes: Acquire first position information corresponding to the picking position; determining a first moving path of the picking and conveying unit according to the first position information; The picking and conveying unit is controlled to convey the target item in the storage compartment to the picking position along the first movable path.

14. The control method according to claim 13, characterized in that: The step of determining the first moving path of the picking and conveying unit according to the first position information includes: acquiring, according to the first position information, a plurality of conveying paths for the picking and conveying unit to convey the target object; According to the length of each of the conveying paths, one of the plurality of conveying paths is selected as the first movable path.

15. The control method according to claim 12, characterized in that: Before the step of controlling the picking and conveying unit to convey the target object in the storage compartment to the picking position according to the operation instruction, the method further includes: Acquiring second position information corresponding to the target item in the storage compartment; determining a second moving path of the picking and conveying unit according to the second position information; The picking and conveying unit is controlled to pick up the target item from the storage compartment along the second moving path.

16. The control method according to claim 15, characterized in that: The step of determining the second moving path of the picking and conveying unit according to the second position information includes: acquiring a plurality of picking paths for the picking and conveying unit to pick up the target object according to the second position information; According to the length of each of the picking paths, one picking path is selected from the plurality of picking paths as the second active path.

17. The control method according to claim 15, characterized in that: The refrigerator further includes a second sensor assembly; The step of controlling the picking and conveying unit to pick up the target object from the storage compartment along the second moving path includes: Controlling the picking and conveying unit to move to a target object position along the second movable path; Controlling the picking and conveying unit to pick up the target object at the target object position; acquiring a first detection parameter of the second sensing component; determining whether the picking and conveying unit successfully picks up the target object according to the first detection parameter; When the target object is successfully picked up, the picking and conveying unit is controlled to convey the picked up target object to the picking position along the first movable path.

18. The control method according to claim 17, characterized in that: The refrigerator further includes a third sensor assembly; When the target object is successfully picked up, the step of controlling the picking and conveying unit to convey the picked up target object to the picking position along the first movable path includes: When the target object is successfully picked up, obtaining a second detection parameter of the third sensor component; determining whether there is an obstacle on the first moving path according to the second detection parameter; When there is an obstacle on the first active path, reacquiring the first active path; When there is no obstacle on the first moving path, the picking and conveying unit is controlled to convey the picked-up target object to the picking position along the first moving path.

19. The control method according to any one of claims 12 to 18, characterized in that: The refrigerator further includes a fourth sensor assembly; After the step of controlling the picking and conveying unit to convey the target object in the storage compartment to the picking position according to the operation instruction, the method further includes: obtaining a third detection parameter of the fourth sensing component; determining, based on the third detection parameter, whether the pickup and conveying unit has conveyed the target object to the picking position; When the picking and conveying unit conveys the target object to the picking position, confirming that the target object is delivered to the position; When the picking and conveying portion fails to convey the target object to the picking position, the second movable path is readjusted to convey the target object to the picking position.

20. The control method according to any one of claims 13 to 18, characterized in that: After the step of controlling the picking and conveying unit to convey the target object in the storage compartment to the picking position along the first movable path, the method further includes: Controlling the picking and conveying portion to move to an initial position; and / or, Updating the storage information of the target item in the storage compartment; and / or, Record the access information of the target item in the storage compartment.

21. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the control method of the refrigerator according to any one of claims 12 to 20 is implemented.

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