Handling robots and storage systems

Abstract

The present disclosure provides a handling robot and a warehousing system. The handling robot includes a structural member, a handling device, and an identification device installed on the structural member, and the structural member can move relative to the shelf along a first direction. The handling device is installed on the structural member and can move relative to the structural member along a second direction, and the second direction is perpendicular to the first direction. When the structural member moves along the first direction, the identification device identifies an identification code on the shelf to determine the real-time position of the structural member relative to the shelf according to the identification code. When the real-time position of the structural member is consistent with the target position, the structural member moves along the second direction to the target height to reach the target storage location of the shelf, and performs the picking and placing of goods between itself and the target storage location. The handling robot disclosed in the present disclosure can accurately position the walking of the handling device in the first direction, reduce the probability of misalignment between the handling device and the goods during the picking and placing process, and reduce the requirements for the installation accuracy of the shelf.

Description

Technical Field

[0001] The present disclosure relates to the field of intelligent warehousing technology, and in particular to a transport robot and a warehousing system. Background Art

[0002] The trend of modern logistics is networking and intelligence, which has led to the emergence of warehousing systems. As an important component of warehousing systems, handling robot technology undertakes a large amount of work such as picking up, releasing and handling goods.

[0003] Currently, when a transport robot performs a picking and placing operation on items on a shelf, the transport robot moves according to a fixed distance value according to the starting position of the transport robot and the position of the goods.

[0004] However, the existing technology has high requirements on the installation accuracy of the shelves. The current installation accuracy of the shelves cannot fully guarantee that the transport robot can accurately move to the designated location to dock with the goods, which may cause the transport robot to be misaligned with the goods. Utility Model Content

[0005] The present disclosure provides a transport robot and a warehousing system to solve the problem that the prior art has high requirements for the installation accuracy of shelves. Currently, the installation accuracy of shelves cannot fully guarantee that the transport robot can accurately move to a designated location to dock with goods, resulting in the transport robot being misaligned with the goods.

[0006] In a first aspect, an embodiment of the present disclosure provides a transport robot, the transport robot comprising:

[0007] A structural member, the structural member is configured to be installed on the side of the shelf and to be movable relative to the shelf along a first direction;

[0008] A handling device is mounted on the structural member and is capable of moving relative to the structural member along a second direction, wherein the second direction is perpendicular to the first direction and parallel to the height direction of the shelf;

[0009] an identification device, mounted on the structural member and configured to identify an identification code on the shelf when the structural member moves along a first direction, so as to determine a real-time position of the structural member relative to the shelf according to the identification code;

[0010] Among them, the handling device is constructed to move to the target height along the second direction to reach the target storage location of the shelf when the real-time position of the structural part is consistent with the target position, and perform the picking and placing operations of goods between itself and the target storage location. The target position is the position of the structural part corresponding to the target storage location.

[0011] In a possible design, when the structural member moves in the first direction to one of the storage locations of a shelf, the identification device is configured to correspond to an identification code.

[0012] In a possible design, the identification device is a camera device, and the identification code is a QR code, which records the location information of the corresponding storage location column on the shelf;

[0013] The camera device is configured to acquire image information of the two-dimensional code to determine position information corresponding to the two-dimensional code according to the image information.

[0014] In a possible design, the handling device and the identification device are located on opposite sides of the structural member.

[0015] In a possible design, the number of the structural members is two, and the handling device is mounted on the two structural members and is located between the two structural members;

[0016] The identification device is mounted on either of the two structural members.

[0017] In a possible design, the handling robot further includes a first sensor group, the first sensor group includes a fine-tuning sensor, and the fine-tuning sensor is arranged at one end of the handling device in the direction of picking up and placing goods;

[0018] The detection surface of the fine-tuning sensor faces the shelf and is configured to detect the deviation of the goods at the target storage location;

[0019] The transport robot is configured to control the structural member to move in a first direction according to the detection data of the offset detection, so as to adjust the position of the transport device relative to the goods, so that the transport device is aligned with the goods.

[0020] In a possible design, there are two fine-tuning sensors, which are spaced apart along a first direction at the same end of the handling device, and the first direction is perpendicular to the direction of picking and placing goods and the height direction of the structural member.

[0021] In one possible design, the handling robot is constructed to determine the triggering state of the two fine-tuning sensors based on the identification signals of the two fine-tuning sensors, and control the movement of the structural member along the first direction within a preset distance based on the triggering state of the two fine-tuning sensors, so that both fine-tuning sensors are in an untriggered state, so that the handling device is aligned with the cargo; wherein the triggering state includes a triggered state or an untriggered state.

[0022] In a possible design, the transport device includes a device body, the device body includes a supporting platform, a first guide member and a second guide member, the supporting platform is used to support the goods, and the first guide member and the second guide member are distributed on both sides of the supporting platform;

[0023] The two fine-tuning sensors include a first fine-tuning sensor and a second fine-tuning sensor. The first fine-tuning sensor is arranged at one end of the first guide member, and the second fine-tuning sensor is arranged at one end of the second guide member and is opposite to the first fine-tuning sensor.

[0024] In a possible design, the bottom of the transport device has a mounting platform, the supporting platform, the first guide member and the second guide member are mounted on the top surface of the mounting platform, and the top surface of the mounting platform forms the inner bottom surface of the transport device.

[0025] In a possible design, the first sensor group further includes a position sensor, which is disposed on a mounting platform at the bottom of the handling device and is located at an edge of the mounting platform in a direction of picking up and placing goods;

[0026] The detection surface of the position sensor is away from the plane where the mounting table is located, and is configured to determine whether the cargo exceeds the edge of the handling device, wherein the cargo is within the handling device.

[0027] In a possible design, the transport robot is constructed to determine whether the position sensor is triggered based on an identification signal of the position sensor, and determine that the goods exceed the edge of the transport device when the position sensor is triggered.

[0028] In a possible design, the first sensor group further includes a storage location identification sensor, which is tiltedly arranged on the mounting platform of the handling device so that the detection surface of the storage location identification sensor faces the shelf at a preset angle;

[0029] The storage location identification sensor is configured to detect whether there are goods in the target storage location.

[0030] In one possible design, the handling robot is constructed to determine whether the storage location identification sensor is triggered based on the identification signal of the storage location identification sensor, and when the storage location identification sensor is triggered within a preset time, it is determined that there are goods in the target storage location.

[0031] In a possible design, the first sensor group further includes a cargo identification sensor, the bottom of the handling device has a mounting platform, the mounting platform is a mounting frame, a middle area of ​​the mounting frame has a fixed beam, and the cargo identification sensor is arranged at one end of the fixed beam;

[0032] The detection surface of the cargo identification sensor faces the cargo in the transport device, and the cargo identification sensor is configured to detect whether there is cargo in the transport device.

[0033] In a possible design, the handling device is configured to be able to perform pick-up and placement operations at both ends in the direction of pick-up and placement;

[0034] The handling device also includes a second sensor group, which has the same structure as the first sensor group;

[0035] The second sensor group and the first sensor group are symmetrically arranged at two ends of the handling device in the direction of picking up and placing goods.

[0036] In a possible design, the transport device includes a device body and a transport assembly, the transport assembly includes a mechanical arm and a hooking member, the mechanical arm is arranged on two opposite sides of the device body, the mechanical arm is arranged to move along the picking and placing direction of the transport device, and can rotate relative to the device body;

[0037] The hooking member is arranged at the middle part of the mechanical arm and is configured to be able to hook the goods to perform the picking and placing operation;

[0038] The handling device also includes an in-place detection member, which is arranged in the middle of the mechanical arm. When the hooking member hooks the goods, the detection surface of the in-place detection member faces the end surface of the goods;

[0039] The in-position detection member is configured to detect whether the hooking member is in position to determine whether the hooking member can perform a hooking operation.

[0040] In one possible design, the handling robot is constructed to determine whether the in-place detection member is triggered based on the recognition signal of the in-place detection member, and when the in-place detection member is triggered, determine that the hooking member is in place and aligned with the part of the goods to be hooked.

[0041] In a second aspect, the embodiments of the present disclosure further provide a storage system, including a shelf and a handling robot, the handling robot including a structural member, a handling device, and an identification device, the structural member is installed on the side of the shelf and can move relative to the shelf along a first direction; the handling device is installed on the structural member and can move relative to the structural member along a second direction, the second direction is perpendicular to the first direction and parallel to the height direction of the shelf; the identification device is installed on the structural member, the handling robot is configured to be installed on the side of the shelf and can move relative to the shelf along a first direction, the first direction is perpendicular to the height direction of the structural member of the handling robot;

[0042] The shelf is provided with a plurality of identification codes at intervals in the first direction, a plurality of storage locations are provided on the shelf, a storage location is provided between adjacent identification codes, and the plurality of storage locations include a target storage location.

[0043] In a possible design, the shelf has storage layers, the number of the storage layers is N, N is greater than or equal to 2, and the N storage layers are stacked along a second direction; the second direction is perpendicular to the first direction;

[0044] A plurality of identification codes are arranged at intervals on any storage layer in the first direction.

[0045] In a possible design, the shelf has two guide rails arranged opposite to each other in the second direction, the two guide rails are respectively installed on the sides of any two storage layers, and the length direction of the guide rails is parallel to the first direction;

[0046] The identification code is set on a side of any guide rail facing the transport robot.

[0047] The present disclosure provides a handling robot and a storage system, wherein the handling robot includes a structural member and a handling device. Since the structural member moves relative to the shelf in a first direction, and the handling device can move relative to the structural member in a second direction, the handling device can move to any storage position of the shelf through the movement of the handling device itself in the second direction and the movement of the structural member in the first direction, and perform the picking and placing operation of the goods. The storage position corresponding to the picking and placing operation of the handling device can be called the target storage position. On this basis, through the setting of the identification device, the real-time position of the structural member relative to the shelf can be ensured, so that the structural member can accurately move to the target position along the first direction, and then the structural member can realize the accurate positioning of the handling device walking in the first direction, so as to ensure that the handling device can accurately reach the target storage position after moving in the second direction to achieve docking with the goods, and perform the picking and placing operation at the target storage position, thereby reducing the probability of misalignment between the handling device and the goods during the picking and placing process, and reducing the requirements of the handling robot on the installation accuracy of the shelf, thereby improving the accuracy of picking and placing of the goods and the handling efficiency of the handling robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0049] Figure 1 A schematic diagram of the structure of a storage system provided by an embodiment of the present disclosure;

[0050] Figure 2 A schematic diagram of the structure of another storage system provided in an embodiment of the present disclosure;

[0051] Figure 3 A schematic diagram of a transport robot provided in an embodiment of the present disclosure;

[0052] Figure 4 for Figure 1 A magnified view at point A;

[0053] Figure 5 for Figure 3 Enlarged view at B;

[0054] Figure 6 A schematic diagram of the structure of the cargo in the handling device provided by the embodiment of the present disclosure;

[0055] Figure 7 Schematic diagram of the process of the transport robot provided in the embodiment of the present disclosure picking up goods at the front end Figure 1 ;

[0056] Figure 8 Schematic diagram of the process of the transport device provided in the embodiment of the present disclosure picking up goods at the front end Figure 2 ;

[0057] Fig. 9 Schematic diagram of the process of the transport device provided in the embodiment of the present disclosure picking up goods at the front end Figure 3 ;

[0058] Fig.10 Schematic diagram of the process of the transport device provided in the embodiment of the present disclosure picking up goods at the rear end Figure 1 ;

[0059] Fig.11 Schematic diagram of the process of the transport device provided in the embodiment of the present disclosure picking up goods at the rear end Figure 2 ;

[0060] Fig.12 A schematic diagram of the structure of the transport device provided by an embodiment of the present disclosure at a first viewing angle;

[0061] Fig.13 A schematic diagram of the structure of the transport device provided by an embodiment of the present disclosure at a second viewing angle;

[0062] Fig.14 A schematic diagram of the structure of a transport device provided in an embodiment of the present disclosure;

[0063] Fig.15 A schematic diagram of a flow chart of a method for picking up and placing goods by a handling robot provided in an embodiment of the present disclosure;

[0064] Fig.16 A schematic flow chart of another method for picking up and placing goods by a handling robot provided in an embodiment of the present disclosure;

[0065] Fig.17 A schematic diagram of the positional relationship between a transport device and goods provided in an embodiment of the present disclosure;

[0066] Fig.18 A schematic diagram of the positional relationship between another transport device and goods provided in an embodiment of the present disclosure;

[0067] Fig.19 A schematic diagram of the positional relationship between another transport device and goods provided in an embodiment of the present disclosure;

[0068] Fig. 20 A schematic diagram of the positional relationship between another transport device and goods provided in an embodiment of the present disclosure;

[0069] Fig.21 A schematic diagram of a flow chart of a method for picking up and placing goods by a handling robot provided in an embodiment of the present disclosure;

[0070] Fig. 22 A schematic diagram of a flow chart of a method for picking up and placing goods by a handling robot provided in an embodiment of the present disclosure;

[0071] Fig.23 A schematic diagram of the structure of a cargo picking and placing device of a handling robot provided by an embodiment of the present disclosure;

[0072] Fig.24 A schematic structural diagram of a cargo picking and placing device of a transport robot provided in an embodiment of the present disclosure.

[0073] Reference numerals:

[0074] 100- handling robot;

[0075] 10- structural parts; 11- running wheels;

[0076] 20-handling device; 21-device body; 211-supporting platform; 212-first guide member; 213-second guide member; 214-mounting platform; 2141-fixed beam; 215-side plate; 216-first drive assembly; 2161-first motor; 2162-synchronous belt; 217-second drive assembly; 2171-second motor; 2172-transmission belt; 2173-driving pulley; 22-handling assembly; 221-mechanical arm; 222-hooking member;

[0077] 30- identification device;

[0078] 40-sensor group; 41-first sensor group; 42-second sensor group;

[0079] 50, 50a-fine-tuning sensor; 501-first fine-tuning sensor; 502-second fine-tuning sensor; 60, 60a-position sensor; 70, 70a-storage location identification sensor; 80, 80a-cargo identification sensor;

[0080] 90-in-place inspection parts;

[0081] 200-shelf; 201-rail; 210-storage layer; 2110-storage location; 2111-target storage location;

[0082] 300-goods; 310-end surface; 311-part to be hooked;

[0083] 400-alleyway;

[0084] 500-Identification code.

[0085] The above drawings show clear embodiments of the present disclosure, which will be described in more detail below. These drawings and text descriptions are not intended to limit the scope of the present disclosure in any way, but to illustrate the concepts of the present disclosure to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0086] In order to make the purpose, technical solution and advantages of the present disclosure clearer, the technical solution in the embodiment of the present disclosure will be described in more detail below in conjunction with the drawings in the preferred embodiments of the present disclosure. In the drawings, the same or similar reference numerals throughout represent the same or similar parts or parts with the same or similar functions. The described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. The embodiments described below with reference to the drawings are exemplary and are intended to be used to explain the present disclosure, and should not be construed as limitations on the present disclosure. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present disclosure. The embodiments of the present disclosure are described in detail below in conjunction with the drawings.

[0087] In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense and can be used interchangeably. For example, "connected" can be a direct connection or an indirect connection through an intermediate medium; it can be a fixed connection or a sliding connection. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0088] In the description of the present disclosure, it should be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships described in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present disclosure.

[0089] The terms "first", "second", and "third" in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged where appropriate, so that the embodiments of the present disclosure described herein can be implemented in sequences other than those illustrated or described herein.

[0090] In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or display that includes a series of steps or modules is not necessarily limited to those steps or modules explicitly listed, but may include other steps or modules not explicitly listed or inherent to such process, method, product or display.

[0091] A series of technologies have been developed for handling the picking and placing of goods on shelves by handling robots. These technologies not only improve work efficiency and reduce labor costs, but also significantly improve the safety and accuracy of cargo handling. At present, when a handling robot performs the picking and placing of items on a shelf, the handling robot moves according to a fixed distance value based on the starting position of the handling robot and the position of the goods. However, the existing technology has high requirements on the installation accuracy of the shelf, and the shelf needs to have extremely high installation accuracy so that the handling robot can reach the designated position of the shelf according to the pre-planned fixed distance value. If the shelf installation accuracy is not high, there is a position deviation between the handling robot and the shelf, and it cannot be fully guaranteed that the handling robot moves accurately to the designated location to dock with the goods, resulting in the possibility that the handling robot and the goods will be misaligned.

[0092] In order to solve the above technical problems, the embodiments of the present disclosure provide a transport robot, a method for picking and placing goods, a device, equipment, a warehousing system and a medium. An identification device is installed on a structural member on which the transport robot can move relative to a shelf along a first direction. The identification device can obtain the real-time position of the transport device of the transport robot relative to the shelf by identifying at least one identification code on the shelf, thereby realizing the positioning of the transport device. The transport robot can also accurately dock the goods without the need for the shelf to have extremely high installation accuracy.

[0093] Some embodiments of the present disclosure are described in detail below in conjunction with the accompanying drawings. In the absence of conflicts between the embodiments, the following embodiments and features in the embodiments may be combined with each other.

[0094] See also Figure 1 As shown, an embodiment of the present disclosure provides a storage system. The storage system includes a shelf 200. For ease of description, three coordinate axes are established. The three directions are a first direction, a second direction, and a third direction. The first direction can refer to the X direction. The second direction can refer to the Z direction. The third direction can refer to the Y direction. The first direction, the second direction, and the third direction are perpendicular to each other. Specifically, the second direction is perpendicular to the first direction and the third direction, and the first direction is perpendicular to the third direction and the second direction. Among them, the first direction is parallel to the length direction of the shelf 200, the second direction is parallel to the height direction of the shelf 200, and the third direction is parallel to the depth direction of the shelf 200.

[0095] The shelf 200 is used to store goods 300. The shelf 200 has a storage layer 210 for storing the goods 300. The storage layer 210 has a plurality of storage locations 2110 in a first direction, so that the goods 300 can be placed on the corresponding storage locations 2110, so that the goods 300 are stored on the storage layer 210. When a plurality of goods 300 are located on the storage layer 210, there is a spacing between adjacent goods 300 to facilitate the taking of the goods 300.

[0096] It should be noted that the cargo 300 may be a carrier for carrying goods or the goods themselves. Goods may be industrial parts, electronic accessories or products, medicines, clothing accessories, food, books, etc. The carrier may be a material box or other structure that can accommodate goods. In the present disclosure, no further limitation is made to the carrier and goods.

[0097] The number of storage layers 210 is N. N may be 1. Alternatively, N may be greater than or equal to 2, and N layers of storage layers 210 are stacked along the second direction to increase the number of goods 300 that can be stored in the shelf 200. When N is greater than or equal to 2, N may be 2, 3, 4, etc. In the present disclosure, the number of storage layers 210 is not further limited.

[0098] See also Figure 2 As shown, the number of shelves 200 can be multiple to increase the storage capacity of the storage system. Some of the shelves 200 can be connected to each other along the first direction. Some of the shelves 200 can also be arranged at intervals along the third direction. A lane 400 is formed between two shelves 200 arranged at intervals along the third direction.

[0099] The handling robot 100 has developed a series of technologies in handling the picking and placing operations of the goods 300 on the shelves 200. These technologies not only improve work efficiency and reduce labor costs, but also significantly improve the safety and accuracy of the handling of the goods 300. In some examples, the handling robot 100 can be located in the lane 400 and installed on the shelf 200 on one side of the lane 400, and can perform the picking and placing operations of the goods 300 on the shelves 200 on both sides of the lane 400. The picking and placing operations may include picking operations and placing operations. In the picking operation, the handling robot 100 can carry the goods 300 on the storage location 2110 to its interior. In the placing operation, the handling robot 100 can carry the goods 300 inside itself to the storage location 2110.

[0100] The transport robot 100 generally has a transport device 20, so as to perform the picking and placing operation of the goods 300 on the shelf 200 through the transport device 20, thereby realizing the transport function of the transport robot 100. Specifically, the transport device 20 can move relative to the shelf 200 along the first direction and the second direction, so as to perform the picking and placing operation of the goods 300 on any storage location 2110 of the shelf 200.

[0101] At present, when a handling robot performs a picking and placing operation on goods on a shelf, the handling robot moves at a fixed distance value according to the starting position of the handling robot and the position of the goods. However, the existing technology has high requirements for the installation accuracy of the shelf, and the shelf needs to have extremely high installation accuracy so that the handling robot can reach the designated position of the shelf according to the pre-planned fixed distance value. If the shelf installation accuracy is not high, there is a position deviation between the handling robot and the shelf, and it cannot be fully guaranteed that the handling robot moves accurately to the designated location to dock with the goods, resulting in the possibility that the handling robot and the goods are misaligned.

[0102] For this purpose, see Figure 2 As shown, the embodiment of the present disclosure provides a transport robot 100, and the warehousing system includes the transport robot 100. The transport robot 100 is constructed to be installed on the side of the shelf 200, and can move relative to the shelf 200 along a first direction, so that the transport robot 100 can perform pick-up and release operations on the goods 300 on any storage location 2110 on the shelf 200. Through the recognition of the identification code 500 on the shelf 200 by the recognition device 30 of the transport robot 100, the real-time position of the structural member 10 relative to the shelf 200 can be determined, and then the walking positioning of the transport device 20 is realized through the structural member 10. Without the shelf 200 having extremely high installation accuracy, the transport robot 100 can also be accurately docked with the goods 300, thereby solving the technical problem that the above-mentioned transport robot 100 may be misaligned with the goods 300.

[0103] The structure of the transport robot 100 is further described below in conjunction with the accompanying drawings and embodiments.

[0104] See also Figure 2 and Figure 3 As shown, the handling robot 100 includes a structural member 10. The structural member 10 is configured to be installed on the side of the shelf 200, and can move relative to the shelf 200 along a first direction, so that the handling robot 100 is installed on the side of the shelf 200 through the structural member 10, and the movement of the structural member 10 in the first direction is realized by the movement of the structural member 10 in the first direction. The structural member 10 can be a fixing member of the handling robot 100, and the fixing member does not move in the second direction. For example, the structural member 10 can be a column, etc. The first direction is perpendicular to the height direction of the structural member 10 of the handling robot 100, and is parallel to the length direction of the shelf 200.

[0105] See also Figure 2 and Figure 3As shown, the handling robot 100 also includes a handling device 20 installed on the structural member 10. The handling device 20 can move relative to the structural member 10 along the second direction, so that the handling device 20 can move to different positions of the structural member 10 along the second direction. In addition, since the structural member 10 is installed on the shelf 200 and the handling device 20 is installed on the structural member 10, when the structural member 10 moves relative to the shelf 200 along the first direction, the handling device 20 can be driven to move simultaneously, so that the handling device 20 can move to any storage location 2110 of the shelf 200 through the movement of the handling device 20 along the structural member 10 in the second direction and cooperate with the movement of the structural member 10 along the shelf 200 in the first direction, so as to perform the picking and placing operation of the goods 300. Among them, the storage location 2110 corresponding to the picking and placing operation of the handling device 20 can be called the target storage location 21101.

[0106] It should be noted that the directions represented by the second direction and the first direction can be found in the relevant description above and will not be repeated here.

[0107] See also Figures 1 to 4 As shown, the shelf 200 has two guide rails 201 arranged opposite to each other in the second direction. The length direction of the guide rail 201 is parallel to the first direction. The two guide rails 201 are respectively installed on the sides of any two storage layers 210, so that the guide rails 201 can be installed on the shelf 200 while being arranged opposite to each other in the second direction. Specifically, the guide rail 201 can be installed on the side of the storage layer 210 facing the side of the handling robot 100. The handling robot 100 also includes a running wheel 11. The structural member 10 is connected with the running wheel 11 at the position corresponding to the guide rail 201, and the running wheel 11 is configured to move along the guide rail 201. The handling robot 100 also includes a motor connected to the running wheel 11, and the motor can drive the running wheel 11 to move along the guide rail 201, thereby driving the structural member 10 to move at the same time, and realizing the movement of the structural member 10 relative to the shelf 200 in the first direction. The running wheel 11 is connected to the structural member 10 and can rotate relative to the structural member 10 so that the running wheel 11 moves along the guide rail 201. For details, please refer to the structure of the existing handling robot 100, which will not be described in detail here. The driving method of the motor to the walking wheel 11 is well known to those skilled in the art, which will not be described in detail here.

[0108] The handling device 20 can be mounted on the structural member 10 by sliding or the like, so that the handling device 20 moves relative to the structural member 10 along the second direction under the drive of the handling robot 100. The driving method of the handling device 20 by the handling robot 100 is also well known to those skilled in the art and will not be described in detail here.

[0109] The number of the structural member 10 may be one or two. Figure 1As shown in FIG4 , when there are two structural members 10, the two structural members 10 can be spaced apart along the first direction, and the handling device 20 can be installed on the two structural members 10 and located between the two structural members 10. Compared with one structural member 10, when there are two structural members 10, not only the stability of the handling device 20 installed on the structural member 10 can be enhanced, but also the stability of the handling device 20 when it moves with the structural member 10 in the first direction can be enhanced.

[0110] The structure of the transport robot 100 is further described below by taking two structural members 10 as an example.

[0111] See also Figure 4 As shown, the handling robot 100 includes an identification device 30. The identification device 30 is installed on the structural member 10, and is configured to identify the identification code 500 on the shelf 200 when the structural member 10 moves along the first direction, so as to determine the real-time position of the structural member 10 relative to the shelf 200 according to the identification code 500. The handling device 20 is configured to move to the target height along the second direction to reach the target storage location 21101 of the shelf 200 when the real-time position of the structural member 10 is consistent with the target position, and perform the picking and placing operation of the goods 300 between itself and the target storage location 21101. Among them, the target position is the position of the structural member 10 corresponding to the target storage location 21101. Since the structural member 10 moves along the first direction, and the shelf 200 has multiple columns of storage locations 2110 in the first direction, the target position can be understood as the position of the structural member 10 corresponding to the column where the target storage location 21101 is located on the shelf 200.

[0112] Through the identification device 30, the structural member 10 can be accurately moved to the target position along the first direction, and the accurate positioning of the transport device 20 walking in the first direction is realized, so as to ensure that the transport device 20 can accurately reach the target storage location 21101 after moving in the second direction to achieve docking with the goods 300, and perform picking and placing operations at the target storage location 21101, thereby reducing the probability of misalignment between the transport device 20 and the goods 300 during the picking and placing process, and reducing the requirements of the transport robot 100 on the installation accuracy of the shelf 200, thereby improving the accuracy of picking and placing and the transport efficiency of the transport robot 100.

[0113] It should be noted that one identification code 500 corresponds to one position information. When the structural member 10 moves along the first direction, the identification device 30 mentioned above identifies the identification code 500 on the shelf 200 to determine the real-time position of the structural member 10 relative to the shelf 200 according to the identification code 500. It can be understood that the identification device 30 can determine the real-time position of the structural member 10 relative to the shelf 200 according to one identification code 500. Specifically, when the handling device 20 moves along the first direction, it will identify each identification code 500 passed by to verify the real-time position of the handling robot 100.

[0114] See also Figure 4 As shown, the shelf 200 is provided with a plurality of identification codes 500 at intervals in the first direction. As described above, a plurality of storage locations 2110 are provided on the shelf 200. A storage location 2110 is provided between adjacent identification codes 500. Specifically, the spacing of the multiple identification codes 500 in the first direction is deployed according to the spacing of the storage locations 2110 to ensure that a storage location 2110 is provided between adjacent identification codes 500. The plurality of storage locations 2110 include a target storage location 21101, so that when the structural member 10 moves in the first direction, it can pass through at least one identification code 500, and the real-time position of the structural member 10 in the first direction is determined by at least one identification code 500.

[0115] As described above, the shelf 200 has a storage layer 210, and the number of storage layers 210 is N. When N is greater than or equal to 2, multiple identification codes 500 are arranged at intervals in the first direction on one of the storage layers 210, so that the multiple identification codes 500 can be located at the same height of the shelf 200, so that when the identification device 30 moves along the structural member 10 along the first direction, it can identify each identification code 500 to determine the real-time position of the structural member 10, and there is no need for the identification device 30 to move in the second direction, which can simplify the structure of the transport robot 100. Moreover, only one row of identification codes 500 is set on the entire shelf 200, that is, a column of storage locations 2110 can be located by identifying one identification code 500, thereby reducing the loss of identification codes 500.

[0116] See also Figure 4 As shown, when the structural member 10 moves in the first direction to one column of storage locations 2110 of the shelf 200, the identification device 30 is constructed to correspond to an identification code 500, so that the identification device 30 can better identify the identification code 500 corresponding to the column of storage locations 2110 and determine the real-time position of the structural member 10.

[0117] Specifically, the installation height of the identification device 30 on the structural member 10 can be equal to the installation height of the storage layer 210 where the identification code 500 is located on the shelf 200, so that when the structural member 10 moves in the first direction to one of the columns of storage locations 2110 of the shelf 200, the identification device 30 can be aligned with the identification code 500 corresponding to the column of storage locations 2110. For example, see Figure 4 As shown, when the identification code 500 is located at the second storage layer from bottom to top of the shelf 200, the identification device 30 can be installed on the structure 10 at a height equal to the second storage layer. Figure 5 As shown, when the identification code 500 is located at the bottom storage layer of the shelf 200, the identification device 30 can be installed on the structure 10 at a height equal to that of the bottom storage layer.

[0118] It should be noted that the identification device 30 and the identification code 500 are relative to each other, which can be understood as the identification device 30 and the identification code 500 are arranged face to face. The "A and B are arranged face to face" mentioned in the present disclosure can be understood as A can be arranged directly opposite to B in the first direction. For example, the identification device 30 and the identification code 500 are arranged face to face, which can be understood as the identification device 30 and the identification code 500 are arranged directly opposite. In some embodiments, the identification code 500 is set in the field of view of the identification device 30, which can be regarded as the identification device 30 and the identification code 500 are arranged face to face. If there is a description similar to "A and B are arranged face to face" below, it can be understood in this way.

[0119] A plurality of identification codes 500 may be arranged at intervals along the first direction on a side of any one of the guide rails 201 facing the transport robot 100. For example, a plurality of identification codes 500 may be arranged at intervals along the first direction on the guide rail 201 adjacent to the bottom layer of the shelf 200. Since the length direction of the guide rail 201 is parallel to the first direction and the guide rail 201 is installed on the storage layer 210, when a plurality of identification codes 500 are arranged on the guide rail 201, the plurality of identification codes 500 may be arranged at intervals on the storage layer 210.

[0120] Alternatively, in some embodiments, see Figure 4 As shown, a plurality of identification codes 500 can be directly and spaced apart along the first direction on the side of the storage layer 210 facing the transfer robot 100, rather than being indirectly set on the side of the storage layer 210 through the guide rail 201. In the present application, there is no particular limitation on the setting position of the identification code 500 on the shelf 200. The following takes the example of the identification code 500 being directly set on the side of the storage layer 210 to further explain the structure of the transfer robot 100.

[0121] See also Figure 4 As shown, the transport device 20 and the identification device 30 can be located on opposite sides of the structural member 10 (for example, the transport device 20 and the identification device 30 are respectively located on both sides of a column), so that when the transport device 20 and the identification device 30 are installed on the structural member 10, the identification device 30 can be located on the outside of the transport device 20, so as to avoid the installation of the identification device 30 on the structural member 10 affecting the movement of the transport device 20 in the second direction.

[0122] For example, the handling device 20 may be located on the side of the two structural members 10 facing each other, so that the handling device 20 is installed on the two structural members 10 and is located between the two structural members 10. The identification device 30 may be installed on either of the two structural members 10 to realize the setting of the identification device 30 on the handling robot 100. Specifically, the identification device 30 may be located on the side of the structural member 10 away from the handling device 20, so that the handling device 20 and the identification device 30 may be located on opposite sides of the structural member 10.

[0123] It should be noted that the identification device 30 can be fixed on a mounting seat, and the mounting seat is installed and fixed on the structural member 10, so that the identification device 30 can be installed on the structural member 10 through the mounting seat.

[0124] The identification device 30 may be a camera device, which may include but is not limited to a camera, etc. The identification code 500 is a two-dimensional code, which records the position information of the corresponding storage location column on the shelf 200, so that one identification code 500 corresponds to one position information. The position information of the storage location column can be understood as the position information of a column of storage locations on the shelf 200. At this time, one position information corresponding to one identification code 500 can reflect the position information of the column of storage locations in the first direction.

[0125] The camera device is configured to obtain image information of the QR code to determine position information corresponding to the QR code according to the image information, so that the handling robot 100 can determine the real-time position of the structural member 10 in the first direction according to the information determined by the camera device. In addition, the handling robot 100 can also compare the determined real-time position with the target position, so that when the real-time position is consistent with the target position, the driving of the structural member 10 to move is stopped, and the handling device 20 is driven to move to the target height along the second direction.

[0126] It should be noted that the camera device can take a picture of the QR code to obtain the image information of the QR code. In some embodiments, the recognition device 30 can also be a radio frequency device, etc. For example, the radio frequency device can be a card reader, etc. At this time, the recognition code 500 can be an electronic tag that records the location information on the shelf 200, and the electronic tag can be a barcode. The recognition device 30 can obtain the image information of the barcode by scanning, etc., to determine the location information corresponding to the QR code based on the image information. In the present disclosure, the structure of the recognition device 30 and the recognition code 500 is not particularly limited.

[0127] The following takes the case where the identification device 30 is a camera device and the identification code 500 is a two-dimensional code as an example to further illustrate the transport robot 100.

[0128] In the first scenario, the transport robot 100 may correspond to two shelves 200. In this case, the transport robot 100 is located in the lane 400, and one transport robot 100 performs the picking and placing operation on the goods 300 on the two shelves 200 on both sides of the lane 400. Alternatively, in the second scenario, the transport robot 100 may not be located in the lane 400. In this case, one transport robot 100 corresponds to one shelf 200, and the transport robot 100 can perform the picking and placing operation on the goods 300 on the corresponding shelf 200. The following takes these two scenarios as examples to respectively explain the installation of the transport robot 100 on the shelf 200 and the contents recorded in the identification code 500.

[0129] In the first scenario, for ease of description, see Figure 2 As shown, the shelf 200 on the left side of the lane 400 is defined as shelf 200A, and the shelf 200 on the right side of the lane 400 is defined as shelf 200B. Shelves 200A and 200B are symmetrically arranged on both sides of the lane 400, and shelf 200A is provided with a corresponding storage location 2110 at any storage location 2110 corresponding to shelf 200B. The transport robot 100 can be installed only on any shelf 200 on both sides of the lane 400, so that the goods 300 on the shelves 200 on both sides of the lane 400 can be picked up and placed. At this time, the identification code 500 can be set only on the shelf 200 where the transport robot 100 is installed. For example, the transport robot 100 can be installed on shelf 200B, and the identification code 500 is also set on shelf 200B.

[0130] In the first scenario, the position information on the shelf 200 recorded by the identification code 500 can be coordinate information. The coordinate information can be expressed as (x1, y1). Among them, x1 can represent the position of multiple storage locations 2110 corresponding to the identification code 500 in the first direction. Since multiple identification codes 500 are arranged on the same storage layer 210 of the shelf 200B at intervals in the first direction, the shelf 200B has multiple x1 information in the first direction, and each x1 information corresponds to the position of the structural component 10 in the first direction. y1 represents the position of multiple storage locations 2110 corresponding to the identification code 500 in the third direction. See Figure 2 As shown, for example, when y1=0, it can indicate that the multiple storage locations 2110 corresponding to the identification code 500 are located at the shelf 200A, and when y1=1, it can indicate that the multiple storage locations 2110 corresponding to the identification code 500 are located at the shelf 200B.

[0131] The target storage location 21101 also corresponds to a coordinate information. Different from the coordinate information recorded in the identification code 500, the coordinate information recorded in the target storage location 21101 can be expressed as (x, y, z). x can represent the position of the target storage location 21101 in the first direction. y represents the position of the target storage location 21101 in the third direction. In other words, y represents whether it is located on shelf 200A or shelf 200B. The x information and the y information reflect the target position of the target storage location 21101, which can be represented by the coordinate information (x, y). z represents the position of the target storage location 21101 in the second direction, that is, the target height of the target storage location 21101.

[0132] When the handling device 20 moves along the first direction with the structural member 10, the identification device 30 can determine the real-time position of the structural member 10 according to the coordinate information (x1, y1) recorded in the identification code 500 passed during the movement. For example, when the x1 information in the coordinate information (x1, y1) is the same as the x information in the coordinate information (x, y, z) corresponding to the target storage location 21101 acquired by the handling robot 100 (x1=x), the handling robot 100 stops driving the structural member 10 to move, and controls the handling device 20 to move along the second direction to the target height, thereby reaching the target storage location 21101.

[0133] See also Figure 2 As shown, in one example, if the coordinate information (x, y, z) of the target storage location obtained by the transport robot 100 is 0, it means that the target storage location 21101 is located at shelf 200A, and the transport robot 100 can control the transport device 20 to pick up the goods from one side of shelf 200A. If the coordinate information (x, y, z) of the target storage location obtained by the transport robot 100 is 1, it means that the target storage location 21101 is located at shelf 200B, and the transport robot 100 can control the transport device 20 to pick up the goods from one side of shelf 200B.

[0134] Different from the first scenario, in the second scenario, since one transport robot 100 corresponds to only one shelf 200, there is no need to confirm the shelf 200 where the target location 21101 is located. At this time, the coordinate information on the shelf 200 recorded in the identification code 500 may only include x1 information.

[0135] From the above, it can be seen that the real-time position mentioned in the present disclosure is consistent with the target position on the shelf 200, which can be understood as the x1 information in the coordinate information obtained by the transport robot 100 is consistent with the x information of the target position of the target location 21101.

[0136] The structure of the transport device 20 will be further described below in conjunction with the accompanying drawings.

[0137] See also Figure 6 and Figure 7 As shown, the transport device 20 includes a device body 21 and a transport assembly 22. The device body 21 can be understood as a structure other than the transport assembly 22 of the transport device 20. The transport assembly 22 includes a mechanical arm 221 and a hooking member 222. The hooking member 222 is disposed in the middle of the mechanical arm 221, and is configured to be able to hook the goods 300 to perform a pick-up and release operation. The middle of the mechanical arm 221 refers to the middle area of ​​the mechanical arm 221. The mechanical arm 221 is disposed on opposite sides of the device body 21. For example, the mechanical arm 221 is disposed on opposite sides of the device body 21 in a first direction.

[0138] See also Figure 7 and Figure 8 As shown, the mechanical arm 221 is arranged to move along the direction of picking up and placing goods of the handling device 20, and can rotate relative to the device body 21, so that when the mechanical arm 221 moves along the direction of picking up and placing goods of the handling device 20 and rotates relative to the device body 21, it can drive the hooking member 222 to move or rotate at the same time. In this way, the hooking member 222 can be moved to the end of the device body 21 facing the goods 300 under the drive of the mechanical arm 221 to hook the goods 300 and perform the picking operation of the goods 300, or the hooking member 222 can also push the goods 300 in the device body 21 to the target storage location 21101 under the drive of the mechanical arm 221 to perform the placing operation of the goods 300. It should be noted that the picking up and placing direction of the handling device 20 is parallel to the third direction (Y direction).

[0139] For details, see Figures 7 to 9 As shown, when the handling device 20 performs a picking operation, the mechanical arm 221 can move along the picking and placing direction of the handling device 20 to the end of the device body 21 facing the goods 300, and drive the hooking member 222 to move to the end of the device body 21 facing the goods 300 at the same time. In addition, during the movement of the mechanical arm 221, the mechanical arm 221 can also rotate relative to the device body 21, and drive the hooking member 222 to rotate relative to the device body 21 at the same time, so that when the mechanical arm 221 moves to the side where the goods 300 are located, the hooking member 222 can face the end surface 310 of the goods 300 and align with the to-be-hooked portion 311 of the goods 300, thereby hooking the to-be-hooked portion 311. After the hooking member 222 hooks onto the part to be hooked 311, the robotic arm 221 can move along the picking and placing direction of the transport device 20 toward the side where the center of the device body 21 is located, and pull the goods 300 into the device body 21 through the hooking member 222, thereby realizing the picking operation of the goods 300 by the transport device 20.

[0140] It should be noted that the portion to be hooked 311 may be a handle of the cargo 300, and a groove body for accommodating the hooking member 222 is provided between the handle and the end surface 310 of the cargo 300. The hooking member 222 may be a structure on the mechanical arm 221 that matches the shape of the groove body. When the hooking member 222 is located in the groove body, the hooking member 222 hooks the portion to be hooked 311.

[0141] See also Figures 7 to 11 As shown, the robotic arm 221 can move to the two ends of the device body 21 along the picking and placing direction of the transport device 20, so that the transport device 20 can realize two-way picking in the picking and placing direction, so that when the transport robot 100 is applied to the first scenario mentioned above, the transport device 20 can not only perform picking and placing operations on the goods 300 on the shelf 200A, but also perform picking and placing operations on the goods 300 on the shelf 200B.

[0142] It should be noted that along the loading and unloading direction (Y direction) of the handling device 20, the end of the device body 21 adjacent to the structural member 10 is generally referred to as the front end of the handling device 20, and correspondingly, the end of the device body 21 away from the structural member 10 is generally referred to as the rear end of the handling device 20. Figures 7 to 9 Schematic diagram of the process of the transport device 20 performing a picking operation at the front end is shown in FIG. Fig.10 and Fig.11 The schematic diagram shows the process of the handling device 20 performing a picking operation at the rear end.

[0143] When the handling device 20 performs a cargo release operation, the mechanical arm 221 can move along the cargo pick-up and release direction of the handling device 20 toward the end of the device body 21 adjacent to the target storage location 21101. In addition, during the movement of the mechanical arm 221, the hooking member 222 is driven to move simultaneously, so that the hooking member 222, driven by the mechanical arm 221, pushes the cargo 300 in the device body 21 to the target storage location 21101 to perform the cargo release operation of the cargo 300.

[0144] It should be noted that when the handling device 20 pushes the goods 300 to the target storage location 21101 through the hooking member 222, the mechanical arm 221 can rotate relative to the device body 21 toward the side away from the to-be-hooked portion 311, and drive the hooking member 222 to rotate at the same time, so that the hooking member 222 is separated from the to-be-hooked portion 311 (unhooked). After the hooking member 222 is unhooked, the mechanical arm 221 can move along the picking and placing direction of the handling device 20 toward the side where the center of the device body 21 is located, and drive the hooking member 222 to move at the same time, so as to perform the next picking operation.

[0145] See also Fig.12 and Fig.13As shown, the device body 21 includes two side plates 215 spaced apart in a first direction. The device body 21 includes a first drive assembly 216, so that the first drive assembly 216 drives the mechanical arm 221 to move in the direction of picking up and placing goods of the handling device 20. For example, the first drive assembly 216 can be a belt drive assembly. The first drive assembly 216 can include a first motor 2161 and a first transmission unit. The first motor 2161 is mounted on either of the two side plates 215. The first transmission unit can be a synchronous belt drive assembly. The synchronous belt drive assembly can include two synchronous belts 2162. A synchronous belt 2162 is provided on each of the facing sides of the two side plates 215. The two ends of the mechanical arm 221 are slidably arranged on the two side plates 215, and are fixedly connected to the two synchronous belts 2162 respectively. The two synchronous belts 2162 are connected to the first motor 2161, and can move simultaneously along the picking and placing direction of the transport device 20 under the drive of the first motor 2161, and drive the robotic arm 221 to move simultaneously, thereby realizing the movement of the robotic arm 221 in the picking and placing direction of the transport device 20.

[0146] It should be noted that the manner in which the first driving assembly 216 drives the two synchronous belts 2162 to move simultaneously along the picking and placing direction of the transport device 20 can be determined according to the structure of the existing transport device 20 and will not be further elaborated in the present disclosure.

[0147] See also Fig.12 As shown, the device body 21 also includes a second drive assembly 217, so that the second drive assembly 217 drives the mechanical arm 221 to rotate relative to the side plate 215, thereby realizing the rotation of the mechanical arm 221 relative to the device body 21. For example, the second drive assembly 217 can be a belt transmission assembly. Specifically, the second drive assembly 217 can include a second motor 2171, a transmission belt 2172, a driving pulley 2173 and a passive pulley. The second motor 2171 is installed on either of the two side plates 215. The driving pulley 2173 and the passive pulley are arranged on the same side plate 215 at intervals along the second direction. The transmission belt 2172 is sleeved on the outer side of the driving pulley 2173 and the passive pulley. Among them, the driving pulley 2173 is connected to the second motor 2171, one end of the mechanical arm 221 is connected to the passive pulley, and the other end of the mechanical arm 221 is rotatably arranged on the other side plate 215. The second motor 2171 can drive the active pulley 2173 to rotate, and the transmission belt 2172 can drive the passive pulley to rotate. When the passive pulley rotates, the mechanical arm 221 can be driven to rotate on the side plate 215, thereby realizing the rotation of the mechanical arm 221 relative to the device body 21.

[0148] See also Fig.13 , Fig.14As shown, the device body 21 may also include a supporting platform 211, a first guide member 212 and a second guide member 213. The supporting platform 211 is used to support the goods 300. The supporting platform 211 may include two synchronously rotating belt drive assemblies to facilitate the movement of the goods 300 in the device body 21. It should be noted that the supporting platform 211 may also be a support plate, etc. In the present disclosure, the structure of the supporting platform 211 is not further limited. The first guide member 212 and the second guide member 213 are distributed on both sides of the supporting platform 211 to guide the moving direction of the goods 300 in the device body 21. The device body 21 may also include a mounting platform 214. The bottom of the transport device 20 has a mounting platform 214, and the supporting platform 211, the first guide member 212, and the second guide member 213 are mounted on the top surface of the mounting platform 214, so as to provide a mounting platform for other structures in the device body 21 such as the supporting platform 211, the first guide member 212, and the second guide member 213 through the mounting platform 214. Among them. The side panels 215 are also mounted on both sides of the mounting platform 214 in the first direction. The top surface of the mounting platform 214 forms the inner bottom surface of the transport device 20. Correspondingly, the bottom surface of the mounting platform 214 forms the outer bottom surface of the transport device 20.

[0149] In summary, the present disclosure can realize accurate walking and positioning of the transport device 20 in the first direction through the setting of the identification device 30, reduce the probability of misalignment between the transport device 20 and the goods 300 during the process of picking up and placing goods, and improve the accuracy of picking up and placing goods and the handling efficiency of the transport robot 100. However, when the transport device 20 performs the picking operation at the target storage location 21101, the offset posture of the goods 300 relative to the transport device 20 may also cause the transport device 20 and the goods 300 to be misaligned, affecting the distance between the goods 300 on two adjacent shelves 200 in the first direction, thereby affecting the accuracy of picking up and placing goods and the handling efficiency of the transport robot 100.

[0150] For this purpose, see Fig.14 As shown, the transport robot 100 also includes a first sensor group 41. The first sensor group 41 includes a fine-tuning sensor 50, which is arranged at one end of the transport device 20 in the direction of picking up and placing goods. The detection surface of the fine-tuning sensor 50 faces the shelf 200, and is configured to perform offset detection on the goods 300 on the target storage location 21101. The transport robot 100 is configured to control the movement of the structural member 10 in the first direction according to the detection data of the offset detection, so as to adjust the position of the transport device 20 relative to the goods 300, so that the transport device 20 is aligned with the goods 300, thereby avoiding the misalignment of the transport device 20 and the goods 300 when picking up the goods, and further improving the accuracy of picking up and placing the goods and the transport efficiency of the transport robot 100.

[0151] The fine-tuning sensor 50 is a time of flight (ToF) sensor or other sensors capable of detecting the deviation of the goods 300 on the target storage location 21101 .

[0152] See also Fig.14 As shown, the number of fine-tuning sensors 50 can be one or two. In the present disclosure, the number of fine-tuning sensors 50 is not further limited. When the number of fine-tuning sensors 50 is two, the two fine-tuning sensors 50 are arranged at the same end of the handling device 20 along the first direction, so that when the handling device 20 moves to the target storage location 21101, the two fine-tuning sensors 50 can be located on both sides of the goods 300 in the first direction, so that the handling robot 100 can determine whether the goods 300 are in an offset posture relative to the handling device 20 at the target storage location 21101 according to the detection data of the offset detection of the two fine-tuning sensors 50, so that the handling robot 100 can determine whether the handling device 20 can pick up the goods according to the offset posture of the goods 300, so as to avoid the handling device 20 from being misaligned with the goods 300 and colliding with the goods 300 when picking up the goods, thereby further improving the accuracy and handling efficiency of the handling robot 100 in picking up and releasing the goods.

[0153] It should be noted that, compared to one fine-tuning sensor 50, when there are two fine-tuning sensors 50, based on the detection data of the offset detection of the two fine-tuning sensors 50, it is possible to more accurately determine whether the goods 300 are in the above-mentioned offset posture at the target storage location 21101, so that the transport robot 100 can more accurately determine whether the transport device 20 can pick up the goods based on the offset posture of the goods 300, to ensure that the transport device 20 does not collide with the goods 300 when picking up the goods, thereby further improving the accuracy of picking up and releasing goods and the transport efficiency of the transport robot 100.

[0154] The structure of the transport robot 100 is further described below by taking the example that the first sensor group 41 includes two fine-tuning sensors 50 .

[0155] The two fine adjustment sensors 50 include a first fine adjustment sensor 501 and a second fine adjustment sensor 502. The first fine adjustment sensor 501 is disposed at one end of the first guide member 212, and the second fine adjustment sensor 502 is disposed at one end of the second guide member 213 and is opposite to the first fine adjustment sensor 501, so that the first fine adjustment sensor 501 and the second fine adjustment sensor 502 can be spaced apart at the same end of the transport device 20 along the first direction through the first guide member 212 and the second guide member 213.

[0156] The handling robot 100 is configured to determine the triggering state of the two fine-tuning sensors 50 according to the identification signals of the two fine-tuning sensors 50, and control the structural member 10 to move along the first direction within a preset distance according to the triggering state of the two fine-tuning sensors 50, so that the two fine-tuning sensors 50 are both in an untriggered state, so that the handling assembly 22 is aligned with the goods 300, thereby preventing the handling device 20 from being misaligned with the goods 300 and colliding with the goods 300 when picking up the goods, further improving the accuracy of picking up and releasing the goods and the handling efficiency of the handling robot 100. Among them, the triggering state includes a triggered state or an untriggered state.

[0157] It should be noted that, for the sensor of the present application, the triggered state can be understood as the detection surface of the sensor is in a blocked state, at which time the sensor is triggered; correspondingly, the untriggered state can be understood as the detection surface of the sensor is in an unblocked state, and the sensor is not triggered. For example, the triggered state of the fine-tuning sensor 50 can be understood as the detection surface of the fine-tuning sensor 50 is in a blocked state, at which time the fine-tuning sensor 50 is triggered; the untriggered state of the fine-tuning sensor 50 can be understood as the detection surface of the fine-tuning sensor 50 is in an unblocked state, at which time the fine-tuning sensor 50 is not triggered. If there are similar descriptions below, they can be understood in this way.

[0158] See also Fig.14 As shown, the first sensor group 41 may further include a position sensor 60. The position sensor 60 is disposed on the mounting platform 214 and is located at the edge of the mounting platform 214 in the direction of picking up and placing goods. The detection surface of the position sensor 60 is away from the plane where the mounting platform 214 is located, and is configured to determine whether the goods 300 exceed the edge of the transport device 20 and the goods 300 are in the transport device 20. If the position sensor 60 detects that the goods 300 exceed the edge of the transport device 20, it can be considered that the goods 300 are not completely placed on the transport device 20, and in the process of transporting the goods 300, it is easy for the goods 300 to collide with the shelf 200. By setting the position sensor 60, the transport robot 100 can determine whether the goods 300 are completely placed on the transport device 20 through the position sensor 60, and the reliability and safety of the process of picking up and placing goods can be guaranteed.

[0159] The transport robot 100 is constructed to determine whether the position sensor 60 is triggered based on the identification signal of the position sensor 60, and to determine that the goods 300 exceed the edge of the transport device 20 when the position sensor 60 is triggered, so that after the goods 300 exceed the edge of the transport device 20, the transport robot 100 controls the robotic arm 221 to move along the picking and placing direction of the transport device 20 away from the shelf 200 until the position sensor 60 is not triggered, to ensure that the goods 300 are completely placed on the transport device 20, thereby ensuring the reliability and safety of the picking and placing process.

[0160] It should be noted that, for the position sensor 60, when the cargo 300 is located in the transport device 20 and blocks the detection surface of the position sensor 60, it can be considered that the position sensor 60 is triggered. Correspondingly, when the cargo 300 is located in the transport device 20 and does not block the detection surface of the position sensor 60, it can be considered that the position sensor 60 is not triggered. For example, the position sensor 60 can be a distance sensor, etc.

[0161] See also Fig.14 As shown, the first sensor group 41 further includes a storage location identification sensor 70, which is tiltedly arranged on the mounting platform 214 of the transport device 20 so that the detection surface of the storage location identification sensor 70 faces the shelf 200 at a preset angle. The storage location identification sensor 70 is configured to detect whether there is a cargo 300 in the target storage location 21101. For example, the storage location identification sensor 70 can be a distance measuring sensor or the like.

[0162] When the storage location identification sensor 70 detects that there is cargo 300 on the target storage location 21101, the handling robot 100 abandons the cargo placement operation on the current target storage location 21101 and reports an error. When the storage location identification sensor 70 detects that there is no cargo 300 on the target storage location 21101, the handling robot 100 controls the handling device 20 to perform the cargo placement operation. Therefore, by setting the storage location identification sensor 70, before the handling device 20 performs the cargo placement operation on the target storage location 21101, it is possible to detect whether there is cargo 300 on the target storage location 21101, so as to improve the safety of the handling robot 100 in performing the cargo placement operation.

[0163] The storage location identification sensor 70 is tilted and arranged on the mounting platform 214 at a preset elevation angle, and is located on the side of the position sensor 60 facing the center of the handling device 20. By tilting the storage location identification sensor 70, it is possible to avoid being blocked by the position sensor 60, so as to ensure that the storage location identification sensor 70 can detect whether there is a cargo 300 on the target storage location 21101. Exemplarily, the elevation angle of the storage location identification sensor 70 on the mounting platform 214 can be determined according to parameters such as the distance between the storage location identification sensor 70 and the cargo 300 when the handling device 20 moves to the target storage location 21101, the size of the cargo 300 in the second direction (the height of the cargo 300), and the installation height of the identification sensor on the mounting platform 214, so as to ensure that the storage location identification sensor 70 can detect whether there is a cargo 300 on the target storage location 21101 without affecting the carrying of the cargo 300 by the supporting platform 211.

[0164] The handling robot 100 is configured to determine whether the storage location identification sensor 70 is triggered according to the identification signal of the storage location identification sensor 70, and when the storage location identification sensor 70 is triggered within a preset time, it is determined that there are goods 300 on the target storage location 21101, so that the handling robot 100 abandons the current cargo placement operation on the target storage location 21101 and reports an error, thereby improving the safety of the handling robot 100. In addition, since the setting of determining that there are goods 300 on the target storage location 21101 is determined by determining that the storage location identification sensor 70 is triggered within a preset time, it is possible to avoid erroneous judgments caused by the storage location identification sensor 70 accidentally touching other structures in the storage system, thereby improving the detection accuracy of the storage location identification sensor 70.

[0165] In a possible implementation, the above-mentioned fine-tuning sensor 50 can also realize the function of the above-mentioned storage location identification sensor 70. In a specific implementation, during the release operation, there is no unique limitation on whether the detection of whether there are goods 300 in the target storage location 21101 is realized by the fine-tuning sensor 50 or the storage location identification sensor 70.

[0166] In one possible design, see Fig.14 As shown, the first sensor group 41 further includes a cargo identification sensor 80. For example, the cargo identification sensor 80 may be a distance measuring sensor or the like.

[0167] The mounting platform 214 of the transport device 20 is a mounting frame, and a fixed beam 2141 is provided in the middle region of the mounting frame, and the cargo identification sensor 80 is disposed at one end of the fixed beam 2141. The detection surface of the cargo identification sensor 80 faces the cargo 300 in the transport device 20, and the cargo identification sensor 80 is configured to detect whether there is cargo 300 in the device body 21.

[0168] When the cargo identification sensor 80 detects that there are cargoes 300 in the transport device 20, the transport device 20 abandons the picking operation for the current target storage location 21101 and reports an error. When the cargo identification sensor 80 detects that there are no cargoes 300 in the transport device 20, the transport robot 100 controls the transport device 20 to perform the picking operation. Therefore, by setting the cargo identification sensor 80, it is possible to detect whether there are cargoes 300 in the transport device 20 before the transport device 20 performs the picking operation, so as to improve the transport efficiency of the transport robot 100.

[0169] Since the middle area of ​​the installation frame has a fixed beam 2141, the cargo identification sensor 80 can be located in the middle of the installation frame while being installed on the handling device 20 through the fixed beam 2141, so that when the cargo 300 is located in the device body 21, the detection surface of the cargo identification sensor 80 can be shielded, thereby realizing the cargo identification sensor 80's detection function of whether there is cargo 300 in the device body 21. In addition, since the installation platform 214 is an installation frame, the cargo identification sensor 80 can be triggered by the cargo 300 in the handling device 20 through the installation frame to determine whether there is cargo 300 in the handling device 20.

[0170] It should be noted that, for the cargo identification sensor 80 , when the cargo 300 is located in the transport device 20 and blocks the detection surface of the cargo identification sensor 80 , it can be considered that the cargo identification sensor 80 is triggered.

[0171] It should be noted that the transport device 20 can be constructed to be able to perform picking and placing operations at both ends of the picking and placing direction, that is, the transport device 20 can perform bidirectional picking and placing operations, that is, the transport device 20 can perform picking and placing operations on the shelves 200 on both sides of the aisle 400.

[0172] For this purpose, see Fig.14 As shown, the handling device 20 may also include a second sensor group 42, and the second sensor group 42 has the same structure as the first sensor group 41. That is, the second sensor group 42 also includes two fine-tuning sensors 50, a position sensor 60, a storage location identification sensor 70, and a cargo identification sensor 80. The functions of each sensor in the second sensor group 42 can be referred to the relevant description of the first sensor group 41 above, and will not be repeated here. In order to facilitate the distinction from the labels of each sensor in the first sensor group 41, "a" is added after the label of each sensor in the second sensor group 42. For example, the fine-tuning sensor 50 of the second sensor group 42 can be represented by the label 50a, the position sensor 60 can be represented by the label 60a, and the storage location identification sensor 70 can be represented by the label 70a.

[0173] The second sensor group 42 and the first sensor group 41 are symmetrically arranged at the two ends of the handling device 20 in the direction of picking up and placing goods. The two ends of the handling device 20 in the direction of picking up and placing goods can be called the front end and the rear end of the handling device 20. Among them, the first sensor group 41 can be arranged at the front end of the handling device 20, so that when the handling device 20 performs the picking and placing operation at the front end, some sensors in the first sensor group 41 can realize whether there are goods 300 on the target storage position 21101 at the front end of the handling device 20 and the offset detection of the goods 300. The second sensor group 42 can be arranged at the rear end of the handling device 20. Some sensors in the second sensor group 42 can realize whether there are goods 300 on the target storage position 21101 at the rear end of the handling device 20 and the offset detection of the goods 300. In addition, by setting the front and rear two position sensors and the front and rear two cargo identification sensors, the accuracy of the detection of the goods 300 in the handling device 20 can be enhanced.

[0174] See also Fig.14 As shown, the handling device 20 further includes an in-place detection member 90 . The in-place detection member 90 is disposed in the middle of the mechanical arm 221 . When the hooking member 222 hooks the goods 300 , the detection surface of the in-place detection member 90 faces the end surface 310 of the goods 300 .

[0175] The in-place detection member 90 is configured to detect whether the hooking member 222 is in place to determine whether the hooking member 222 can perform a hooking operation, thereby achieving accurate hooking of the goods 300 and improving the accuracy and efficiency of picking up the goods.

[0176] The handling robot 100 is configured to determine whether the in-place detection member 90 is triggered according to the identification signal of the in-place detection member 90, and when the in-place detection member 90 is triggered, determine that the hooking member 222 is in place and is aligned with the to-be-hooked portion 311 of the cargo 300, so as to achieve accurate hooking of the cargo 300 by the hooking member 222. If the in-place detection member 90 is not triggered, the hooking member 222 will continue to move toward the cargo 300 under the drive of the robot arm 221 until the in-place detection member 90 is triggered.

[0177] In order to improve the accuracy and efficiency of picking up goods, the present disclosure first detects the distance parameter between the goods 300 and the handling device 20 through the storage location identification sensor 70, and then determines the target detection position of the hooking member 222 according to the distance parameter, and then detects it through the in-place detection member 90 when the hooking member 222 moves to the target detection position. Through the introduction of the distance parameter, compared with the way that the hooking member 222 blindly approaches the goods 300 to pick up the goods, a basic motion plan is determined for the hooking member 222, and the target detection position is first reached and then detected, which improves the efficiency of picking up goods and the accuracy of detection, thereby improving the accuracy of picking up goods. In addition, when the handling robot 100 performs the operation of releasing goods, the hooking member 222 is first controlled to push the goods 300 to the target storage location 21101 and after being separated from the goods 300, the identification signal of the in-place detection member 90 is used to verify whether the goods 300 are completely placed on the target storage location 21101, and the reliability of releasing goods is guaranteed through the identification of the in-place detection member 90.

[0178] Fig.15 The flowchart of a method for picking up and placing goods by a handling robot provided in an embodiment of the present disclosure is shown in FIG. The execution subject of the method in this embodiment may be a handling robot or a handling robot's picking up and placing goods device. The handling robot may be Figure 1 The transfer robot 100 shown in FIG. Fig.15 As shown, the method for picking up and placing goods by the transport robot in this embodiment may include:

[0179] Step 1501: Acquire a transport instruction, where the transport instruction includes location information of a target storage location, and the location information includes a target location and a target height of the target storage location.

[0180] In a possible design, the position information here may be coordinate information. Exemplarily, the coordinate information is expressed as (x, y, z), where x represents the coordinate in a first direction, z represents the coordinate in a second direction, and y represents the coordinate in a third direction.

[0181] The first direction and the third direction are both perpendicular to the height direction of the vertical structure. The first direction is parallel to the shelf end surface, the third direction is perpendicular to the shelf end surface, and the second direction is parallel to the height direction of the vertical structure.

[0182] In a possible design, a transport robot is arranged between two shelves (shelf A and shelf B), and the transport robot can perform pick-up and placement operations on the goods on shelf A, and can also perform pick-up and placement operations on the goods on shelf B. According to the coordinate information (x0, y0, z0) in the location information of the target storage location, the shelf where the storage location corresponding to the goods to be picked up and placed is located, the target column in the shelf, and the target height in the target column can be determined.

[0183] Step 1502: Control the structure to move along the first direction, and control the identification device to identify at least one identification code on the shelf passing by to obtain the real-time position of the transport device relative to the shelf.

[0184] Specifically, for single-depth storage locations, the y values ​​of all storage locations on shelf A are the same, the y values ​​of all storage locations on shelf B are the same, and the x values ​​corresponding to the storage locations on both sides of the handling device are the same. Since the handling device only operates in the corresponding aisle, in the specific implementation process, the location information in the identification code may include only the x-coordinate, or may include both the x-coordinate and the y-coordinate, so as to determine the real-time position of the handling device.

[0185] Therefore, information x1 can be obtained by scanning the identification code through the identification device, or information (x1, y1) can be obtained, that is, the position information currently obtained by the transport robot scanning the identification code is the real-time position of the transport device relative to the shelf.

[0186] Optionally, at least one identification code is located on the shelf plate of any storage layer of the shelf, and all identification codes are located on the shelf plates of the same storage layer. For example, the identification codes can be uniformly set on the shelf plates of the first storage layer of the shelf, and an identification code is set for each column of storage locations.

[0187] Optionally, a set of identification codes is provided on the shelf of each storage layer. In this case, no matter which storage layer of the shelf the identification device moves to, the storage location can be identified.

[0188] Step 1503: When it is detected that the real-time position is consistent with the target position, the movement of the structural member along the first direction is stopped.

[0189] Among them, when it is detected that the real-time position is consistent with the target position, it specifically means that the x-coordinate x1 of the real-time position is consistent with the x-coordinate x0 of the target position, that is, x1=x0, and the y-coordinate of the real-time position and the y-coordinate of the target position can be the same or different. From the specific structure of the above-mentioned transport robot, it can be known that the transport robot can perform pick-up and release operations on the goods in relative positions on shelves A and B on both sides by scanning the QR code on shelf A on one side. That is to say, when the target position is (x0, y0), and y0 is the y-coordinate corresponding to shelf A, the x-coordinate of the real-time position is (x0, y0). When the mark x1 is consistent with the x-coordinate x0 of the target position, the structure is stopped from moving along the first direction. At this time, the identified y-coordinate y1 of the real-time position is consistent with the y-coordinate y0 of the target position. When the target position is (x0, y0), and y0 is the y-coordinate corresponding to shelf B, the x-coordinate x1 of the real-time position is consistent with the x-coordinate x0 of the target position, the structure is stopped from moving along the first direction. At this time, the y-coordinate y1 of the real-time position is inconsistent with the y-coordinate y0 of the target position, but the y-coordinate y1 of the real-time position is consistent with y2, wherein y2 is the y-coordinate corresponding to shelf A.

[0190] Step 1504: Control the transport device to move to a target height along a second direction to align with a target storage location.

[0191] Specifically, when it is detected that the real-time position is consistent with the target position, it is determined that the transport robot has reached the target position of the target storage location in the first direction, that is, it has reached the position corresponding to (x0, y0) in the coordinate information corresponding to the target storage location. At this time, the transport device only needs to move along the second direction to the height corresponding to z0 in the coordinate information to reach the target storage location.

[0192] The presently disclosed embodiment provides a method for picking up and placing goods by a handling robot. When the handling robot performs a picking up and placing action, a structural part of the handling robot first moves along a first direction on the shelf to find a target position of a target storage location. During this process, an identification device of the handling robot is always in an identification state. The handling robot identifies at least one identification code on the shelf through the identification device, and then determines the real-time position of the handling device on the shelf through the identification code to achieve accurate walking positioning of the handling robot. When the real-time position corresponding to the identification code identified by the identification device is the target position, it can be determined that the structural part of the handling robot has accurately reached the target position, and then the handling device is controlled to move to the target height. Even if the installation accuracy of the shelf is not high, the handling device of the handling robot can still accurately reach the target storage location where the goods are obtained by identifying the identification code on the shelf through the identification device, and achieve accurate docking with the goods at the target storage location, thereby reducing the probability of dislocation during the picking up and placing of goods by the handling robot and improving the accuracy and efficiency of picking up and placing goods.

[0193] In one possible design, see Fig.14 As shown, the transport robot 100 further includes a first sensor group 41; the first sensor group 41 includes a cargo identification sensor 80a; the transport instruction is a cargo pickup instruction, and the above method further includes:

[0194] Step 1505: Acquire a first identification signal from a cargo identification sensor.

[0195] Step 1506: Determine whether the cargo identification sensor is triggered according to the first identification signal.

[0196] Step 1507: If the cargo identification sensor is triggered, it is determined that there is cargo in the transport device.

[0197] The detection surface of the cargo identification sensor here faces the cargo in the transport device, so the transport robot can determine whether there is cargo in the transport device through the triggering state of the cargo identification sensor.

[0198] Step 1508: If the cargo identification sensor is not triggered, it is determined that there is no cargo in the transport device.

[0199] Step 1509: If it is determined that there is no cargo in the transport device, the transport device is controlled to perform a cargo pickup operation from the target storage location.

[0200] If there is no cargo in the transport device, normal cargo pickup operations can be performed.

[0201] In a possible design, if it is determined that there are goods in the handling device, a pick-up error prompt is issued.

[0202] Optionally, the pickup error prompt can be any prompt method such as voice prompt, light flashing prompt, text prompt, etc., and the present disclosure does not make any specific restrictions on this.

[0203] Optionally, the number of cargo identification sensors can be one or two. When the number of cargo identification sensors is two, if any one of the cargo identification sensors is triggered, it is determined that there is cargo in the transport device, and if both cargo identification sensors are not triggered, it is determined that there is no cargo in the transport device.

[0204] It can be understood that steps 1505 to 1509 may be performed before step 1504 , after step 1504 , or simultaneously with step 1504 .

[0205] Among them, a cargo identification sensor is arranged on the transport robot disclosed in the present invention. When the instruction received by the transport robot is a pick-up instruction, the transport robot can identify whether there is cargo in the transport device through the cargo identification sensor, and after determining that there is no cargo in the transport device, the transport device is controlled to perform a pick-up operation from the target storage location, thereby ensuring that the transport device picks up cargo when it is idle, avoiding collision and damage of cargo, reducing the occurrence of pick-up errors, and further improving the reliability of the transport robot in picking up cargo.

[0206] In a possible design, the transport robot further includes a first sensor group 41; the first sensor group 41 includes a storage location identification sensor 70a; the transport instruction is a cargo release instruction, and the above method further includes:

[0207] S15010. Obtain a second identification signal from a storage location identification sensor.

[0208] S15011. Determine whether the storage location identification sensor is triggered based on the second identification signal.

[0209] S15012. If the storage location identification sensor is triggered, it is determined that there are goods in the target storage location, and a goods release error prompt is issued.

[0210] Among them, the storage location identification sensor is tiltedly arranged on the mounting platform of the handling device, and the detection surface faces the shelf at a preset angle. The handling robot can detect whether there are goods on the shelf through the triggering state of the storage location identification sensor.

[0211] In one possible implementation, there are two storage location identification sensors, each of which faces a shelf, for example, storage location identification sensor A faces shelf A, and storage location identification sensor B faces shelf B. When goods are placed on the target shelf, the second identification signal of the storage location identification sensor corresponding to the target shelf is obtained to detect whether there are goods on the shelf.

[0212] Optionally, the cargo release error prompt may be any prompt method such as voice prompt, light flashing prompt, text prompt, etc., and the present disclosure does not make any specific restrictions on this.

[0213] S15013. If the storage location identification sensor is not triggered, it is determined that there is no cargo at the target storage location, and the handling device is controlled to release the cargo to the target storage location.

[0214] It can be understood that steps 15010 to 15013 can be performed before step 1504, after step 1504, or simultaneously with step 1504.

[0215] Among them, the handling robot disclosed in the present invention is also provided with a storage location identification sensor. When the handling robot executes a cargo release instruction, it uses the storage location identification sensor to identify in advance whether there are cargoes in the target storage location. If the existence of cargoes is identified in the target storage location to be released, if the release continues, a collision will occur between the two cargoes, thereby damaging the cargoes. Therefore, if the storage location identification sensor identifies that there are cargoes in the target storage location, the cargoes cannot be placed repeatedly in the target storage location, and thus a cargo release error prompt is issued. If it is identified that there are no cargoes in the target storage location to be released, the cargo release operation is executed to prevent the phenomenon of repeated placement of cargoes in the same storage location, thereby further improving the reliability and safety of the cargo release of the handling robot.

[0216] In a possible design, the transport instruction includes a pick-up instruction or a put-down instruction, and the transport robot further includes a first sensor group 41; after controlling the transport device to move to a target height along the second direction to align with the target storage location, the method further includes:

[0217] If the transport instruction is a pick-up instruction, then according to the identification signal sent by the first sensor group, the transport device is controlled to perform a pick-up operation from the target storage location; and\or, if the transport instruction is a release instruction, then according to the identification signal sent by the first sensor group, the transport device is controlled to perform a release operation to the target storage location.

[0218] Here, the handling robot disclosed in the present invention is equipped with a first sensor group consisting of at least one sensor. The first sensor group includes, for example, the above-mentioned storage location identification sensor, cargo identification sensor, etc., which are not specifically limited here. During the process of the handling robot performing the placing and picking operations, the status information of the handling robot and the cargo during the picking and placing process can be identified based on the identification signal of at least one sensor. The status information can provide support for picking and placing cargo, thereby improving the accuracy and reliability of picking and placing cargo.

[0219] The following describes the usage of the first sensor group in the present disclosure in conjunction with a specific cargo picking and placing process:

[0220] Fig.16 The flowchart of another method for picking up and placing goods by a handling robot provided in an embodiment of the present disclosure is a flowchart of another method for picking up and placing goods by a handling robot provided in an embodiment of the present disclosure. The transportation instruction disclosed in the present disclosure is a picking up instruction. The execution subject of the method in this embodiment can be a handling robot or a picking up and placing device of the handling robot, such as Fig.14 As shown, the handling robot of the present disclosure further includes a first sensor group 41, the first sensor group further includes a fine-tuning sensor 50a, the handling device 20 includes a device body 21 and a handling assembly 22, the handling assembly 22 includes a mechanical arm 221 and a hooking member 222, and the fine-tuning sensor 50a includes a first fine-tuning sensor and a second fine-tuning sensor. Fig.16 As shown, the method for picking up and placing goods by the transport robot in this embodiment may include:

[0221] Step 1601: Acquire a transport instruction, where the transport instruction includes location information of a target storage location, and the location information includes a target location and a target height of the target storage location.

[0222] Step 1602: Control the structure to move along the first direction, and control the identification device to identify at least one identification code on the shelf passing by to obtain the real-time position of the transport device relative to the shelf.

[0223] Step 1603: When it is detected that the real-time position is consistent with the target position, the movement of the structural member along the first direction is stopped.

[0224] Step 1604: Control the transport device to move to a target height along a second direction to align with a target storage location.

[0225] Among them, the implementation method of step 1601 to step 1604 is similar to the implementation method of step 1501 to step 1504, and will not be repeated here.

[0226] In a possible design, after step 1604, the method further includes:

[0227] The transport device is controlled to move in the second direction, and during the movement, a ninth identification signal of the fine-tuning sensor 50a is obtained; according to the ninth identification signal, the height reached by the transport device is adjusted to be a reference height of the target storage location to align with the target storage location.

[0228] In one possible implementation, the fine-tuning sensors are arranged in two groups, for example, the first group of fine-tuning sensors faces shelf A, and the second group of fine-tuning sensors faces shelf B. The present invention can detect the storage position reference of the target shelf through a group of fine-tuning sensors corresponding to the target shelf, so that the height reached by the handling device is the reference height of the target storage position.

[0229] Specifically, excluding the first-layer storage locations, for storage locations above the second layer, the target height issued by the scheduling system and obtained by the handling robot is the height of the storage location minus the installation height of the fine-tuning sensor. For example, if the height of the target storage location is 400mm and the installation height of the fine-tuning sensor is 50mm, the target height is 400mm-50mm=350mm. After the handling device rises to the target storage location, the upper edge of the shelf beam is detected by the fine-tuning sensor during the up and down movement of the handling device to determine the reference height of the storage location. When the fourth preset distance (for example, ±20mm, the embodiment of the present disclosure does not impose specific restrictions on the fourth preset distance) is moved up and down, and the fine-tuning sensor still has no level change, an error is reported.

[0230] In addition, during the cargo release operation, while the handling device moves up and down to detect that the upper edge of the shelf beam has reached the reference height of the storage location, the fine-tuning sensor can also determine whether there are already goods in the target storage location, thereby realizing the corresponding function of the above-mentioned storage location identification sensor. That is to say, during the cargo release operation, whether there are already goods in the target storage location can be determined by either the storage location identification sensor or the fine-tuning sensor, and no limitation is made here.

[0231] Among them, in order to improve the accuracy of picking up goods, the present invention further identifies the reference height of the target storage location through a fine-tuning sensor after controlling the transport device to reach the target height, and adjusts the transport device to the reference height of the target storage location through the identification signal of the fine-tuning sensor, thereby further improving the accuracy of picking up goods.

[0232] Step 1605: Acquire a third identification signal of the first fine-tuning sensor and a fourth identification signal of the second fine-tuning sensor.

[0233] In a possible implementation manner, the first fine-tuning sensor and the second fine-tuning sensor are time of flight (ToF) sensors.

[0234] In a possible implementation, a group of first fine-tuning sensors and a group of second fine-tuning sensors are respectively provided on one side adjacent to each shelf of the transport device, for detecting the offset between the transport device and the goods on the corresponding shelf.

[0235] Step 1606: Adjust the transport device according to the third identification signal and the fourth identification signal so that the transport device is aligned with the goods.

[0236] In one possible design, adjusting the handling device according to the third identification signal and the fourth identification signal includes:

[0237] According to the third recognition signal and the fourth recognition signal, it is determined whether the first fine-tuning sensor and the second fine-tuning sensor are triggered; and according to whether the first fine-tuning sensor and the second fine-tuning sensor are triggered, the transport device is adjusted.

[0238] Specifically, when adjusting the handling device to align with the goods, the present invention respectively obtains the third identification signal of the first fine-tuning sensor and the fourth identification signal of the second fine-tuning sensor. The third identification signal and the fourth identification signal can be used to determine whether the first fine-tuning sensor and the second fine-tuning sensor are triggered. By determining whether the first fine-tuning sensor and the second fine-tuning sensor are triggered, the positional relationship between the goods and the handling device can be accurately determined, and precise picking of goods can be achieved through adjustment.

[0239] In a possible design, adjusting the handling device according to whether the first fine-tuning sensor and the second fine-tuning sensor are triggered includes:

[0240] If the first fine-tuning sensor is triggered and the second fine-tuning sensor is not triggered, the control structure moves along the first direction toward the position of the first fine-tuning sensor within a first preset distance until the picking-up condition is met, wherein the picking-up condition is that both the first fine-tuning sensor and the second fine-tuning sensor are not triggered.

[0241] In a possible design, adjusting the handling device according to whether the first fine-tuning sensor and the second fine-tuning sensor are triggered includes:

[0242] If the first fine-tuning sensor is not triggered and the second fine-tuning sensor is triggered, the control structure moves along the first direction toward the position of the second fine-tuning sensor within the second preset distance until the picking-up condition is met, wherein the picking-up condition is that both the first fine-tuning sensor and the second fine-tuning sensor are not triggered.

[0243] It can be understood that the first preset distance and the second preset distance can be determined according to actual conditions, and the first preset distance and the second preset distance can be the same or different, and the present disclosure does not impose any specific limitation on this.

[0244] The Tof detection method is explained below with reference to a specific example. By way of example, the box spacing is 30 mm, the ToF detection distance is set to 150 mm, and the field of view (FOV) is set to 5°. It can be understood that the above data are all schematic, and the embodiments of the present disclosure do not impose specific limitations on this.

[0245] Demonstratively, Fig.17 A schematic diagram of the positional relationship between a transport device and goods provided in an embodiment of the present disclosure. Fig.17 The handling device includes a first fine-tuning sensor 501 and a second fine-tuning sensor 502. Fig.17 The figure shows the normal position relationship between the goods and the handling device. There is no offset between the handling device and the goods. Before picking up the goods, the first fine-tuning sensor and the second fine-tuning sensor are not triggered. In this case, when the handling device picks up the goods, the offset of the goods will not cause the goods to collide with the handling device when moving to the handling device.

[0246] Demonstratively, Fig.18 A schematic diagram of the positional relationship between another transport device and goods provided in an embodiment of the present disclosure, Fig.18 The handling device includes a first fine-tuning sensor 501 and a second fine-tuning sensor 502, such as Fig.18 The figure shows the state of cargo angle deviation. Before picking up the cargo, the first fine-tuning sensor is triggered, and the second fine-tuning sensor is not triggered.

[0247] Demonstratively, Fig.19A schematic diagram of the position relationship between another transport device and goods provided in an embodiment of the present disclosure, Fig.19 The handling device includes a first fine-tuning sensor 501 and a second fine-tuning sensor 502, such as Fig.19 The figure shows the state of horizontal deviation of goods. Before picking up the goods, the first fine-tuning sensor is triggered, and the second fine-tuning sensor is not triggered.

[0248] Fig.18 and Fig.19 When the first fine-tuning sensor is triggered and the second fine-tuning sensor is not triggered, the control structure moves along the first direction toward the position of the first fine-tuning sensor within the first preset distance, that is, moves horizontally to the left, until the picking-up conditions are met.

[0249] Demonstratively, Fig. 20 A schematic diagram of the positional relationship between another transport device and goods provided in an embodiment of the present disclosure, Fig. 20 The handling device includes a first fine-tuning sensor 501 and a second fine-tuning sensor 502, such as Fig. 20 The figure shows the state of horizontal deviation of the goods. Before picking up the goods, the second fine-tuning sensor is triggered, and the first fine-tuning sensor is not triggered. If the first fine-tuning sensor is not triggered and the second fine-tuning sensor is triggered, the control structure moves along the first direction to the position where the second fine-tuning sensor is located within the second preset distance until the picking up condition is met.

[0250] For example, the first preset distance and the second preset distance are set to 30 mm, that is, the present disclosure sets the maximum distance of lateral movement to 30 mm. If the first fine-tuning sensor and the second fine-tuning sensor are not triggered after the transport device moves the maximum distance of 30 mm, the robot reports an error.

[0251] Among them, the specific method of adjusting the offset between the handling device and the goods is: according to the triggering state of the first fine-tuning sensor and the second fine-tuning sensor, determine whether the handling device is offset relative to the goods; if the first fine-tuning sensor is not triggered and the second fine-tuning sensor is triggered, then it is determined that the detection range of the second fine-tuning sensor is blocked by the goods. Since the first fine-tuning sensor and the second fine-tuning sensor are respectively installed on the first guide member and the second guide member, and the first guide member and the second guide member are distributed on both sides of the supporting platform of the handling device, they guide the goods. Therefore, if the second fine-tuning sensor is in the triggered state, when picking up the goods, the goods are blocked from the shelf. During the process of pulling it back to the transport robot, it may collide with parts near the installation position of the second fine-tuning sensor on the transport device (for example, the second guide member, the side wall of the transport device, etc.). Therefore, when the second fine-tuning sensor is in the triggered state, the transport device needs to move along the first direction toward the second fine-tuning sensor. During the fine-tuning process, the maximum adjustment distance is limited to prevent picking errors caused by excessive adjustment distance during the relative position adjustment of the transport device and the goods. When both fine-tuning sensors are not triggered within the specified adjustment distance, it is determined that the adjustment is completed, ensuring accurate, safe and reliable picking of goods.

[0252] Step 1607: Control the hooking member to hook the goods from the target storage location to the handling device.

[0253] Here, in order to ensure the accuracy of picking up goods, the present invention provides a first fine-tuning sensor and a second fine-tuning sensor on the transporting robot. Through the recognition signals of the first fine-tuning sensor and the second fine-tuning sensor, the offset between the transporting device and the goods can be identified, thereby adjusting the position of the transporting device to align with the goods, preventing the occurrence of excessive offset between the goods and the transporting device and the inability to pick up goods, thereby further improving the accuracy and reliability of the transport robot in picking up goods.

[0254] Fig.21 The present invention provides a flowchart of a method for picking up and placing goods by a transport robot, wherein the transport instruction disclosed in the present invention is a pick-up instruction. Fig.16 On the basis of, the handling device 20 also includes an in-place detection member 90. Fig.21 As shown, the method for picking up and placing goods by the transport robot in this embodiment may include:

[0255] Step 2101: Acquire a transport instruction, where the transport instruction includes location information of a target storage location, and the location information includes a target location and a target height of the target storage location.

[0256] Step 2102: Control the structure to move along the first direction, and control the identification device to identify at least one identification code on the shelf passing by to obtain the real-time position of the transport device relative to the shelf.

[0257] Step 2103: When it is detected that the real-time position is consistent with the target position, the movement of the structural member along the first direction is stopped.

[0258] Step 2104: Control the transport device to move to a target height along a second direction to align with a target storage location.

[0259] Step 2105: Acquire a third identification signal of the first fine-tuning sensor and a fourth identification signal of the second fine-tuning sensor.

[0260] Step 2106: Adjust the transport device according to the third identification signal and the fourth identification signal so that the transport device is aligned with the goods.

[0261] Among them, the implementation method of step 2101 to step 2106 is similar to the implementation method of step 2001 to step 2006, and will not be repeated here.

[0262] Step 2107: Control the hooking member to move to the target detection position, and when at the target detection position, the detection surface of the in-place detection member faces the end surface of the goods.

[0263] In a possible design, controlling the hook member to move to a target detection position includes:

[0264] Acquire the sixth identification signal of the storage location identification sensor 70a; determine the distance parameter between the goods and the handling device 20 according to the sixth identification signal; determine the target detection position according to the distance parameter; control the hook to move to the target detection position.

[0265] Among them, the storage location identification sensor can detect the distance between the handling device and the goods.

[0266] In order to improve the accuracy and efficiency of picking up goods, the present invention can first identify the distance parameters between the goods and the handling device through the storage position identification sensor, and then control the movement of the hook member. Compared with the method of blindly approaching the goods to pick up the goods, a basic motion plan is determined for the hook member, which first reaches the target detection position and then performs detection, thereby improving the efficiency of picking up goods, and also improving the accuracy of detection, thereby improving the accuracy of picking up goods.

[0267] Step 2108: Obtain a fifth identification signal of the in-place detection component.

[0268] Step 2109: Determine whether the in-place detection element is triggered according to the fifth recognition signal.

[0269] Step 21010: If the arrival detection component is triggered, the hooking component is controlled to hook the goods from the target storage location to the handling device.

[0270] In a possible design, if the in-place detection member is not triggered, the hooking member is controlled to continue moving in a direction close to the goods until the in-place detection member is triggered.

[0271] Here, the present disclosure can also detect whether the hooking member of the transport robot has accurately reached the position for hooking the goods through the in-place detection member provided on the transport device, thereby achieving accurate hooking of the goods and improving the accuracy and efficiency of picking up the goods.

[0272] In a possible design, the first sensor group 41 further includes a position sensor 60a; after controlling the hooking member to hook the goods from the target storage location to the handling device, the method further includes:

[0273] Obtain the eighth identification signal of the position sensor; determine whether the position sensor is triggered based on the eighth identification signal; if the position sensor is triggered, control the hook to drive the goods to continue moving away from the shelf until the position sensor is not triggered.

[0274] like Fig.14 As shown, the position sensor 60a is disposed on the mounting platform 214 at the bottom of the transport device 20 and is located at the edge of the mounting platform 214 in the direction of picking and placing goods, so that the position sensor can detect whether the goods exceed the edge of the transport device.

[0275] Optionally, if the position sensor is triggered, a prompt is issued that the goods exceed the edge of the handling device.

[0276] Among them, during the picking process, the present invention can determine whether the goods are completely placed on the carrying device through the position sensor on the carrying robot. If the goods are not completely placed on the carrying device, then during the transportation of the goods, it is easy for the goods to collide with the shelf. Therefore, if the position sensor is triggered, it proves that the goods are not completely placed on the carrying device, and the goods need to be moved away from the shelf, further ensuring the reliability and safety of the picking and placing process.

[0277] Fig. 22 The flowchart of a method for picking up and placing goods by a handling robot provided in an embodiment of the present disclosure is shown in FIG. The transport instruction of the present disclosure is a cargo placing instruction. The execution subject of the method in the present embodiment can be a handling robot or a cargo picking and placing device of the handling robot. The handling robot of the present disclosure also includes a first sensor group 41, such as Fig.14 As shown, the transport device includes a device body and a transport assembly, the transport assembly includes a mechanical arm and a hook, and the transport device 20 also includes an in-place detection member 90. Fig. 22 As shown, the method for picking up and placing goods by the transport robot in this embodiment may include:

[0278] Step 2201: Obtain transportation instructions, where the transportation instructions include location information of a target storage location, and the location information includes a target location and a target height of the target storage location.

[0279] Step 2202: Control the structure to move along the first direction, and control the identification device to identify at least one identification code on the shelf passing by to obtain the real-time position of the transport device relative to the shelf.

[0280] Step 2203: When it is detected that the real-time position is consistent with the target position, the movement of the structural member along the first direction is stopped.

[0281] Step 2204: Control the transport device to move to a target height along the second direction to align with the target storage location.

[0282] Among them, the implementation method of step 2201 to step 2204 is similar to the implementation method of step 1501 to step 1504, and will not be repeated here.

[0283] Step 2205: Control the hook to push the goods from the transport device to the target storage location.

[0284] Step 2206: Control the hooking member to move a third preset distance away from the cargo and separate from the cargo.

[0285] It can be understood that the third preset distance here can be determined according to actual conditions, and the embodiment of the present disclosure does not impose any specific limitation on this.

[0286] Step 2207: Obtain the seventh identification signal of the in-place detection component.

[0287] Step 2208: Determine whether the goods are completely placed in the target storage location based on the seventh recognition signal.

[0288] In a possible design, it is determined whether the in-place detection part is triggered according to the seventh recognition signal. If not triggered, the cargo release operation ends; if triggered, the trial operation of steps 2205 to 2208 is performed again until the in-place detection part is not triggered. Optionally, if the number of attempted operations is greater than a preset number threshold, the attempted operation is stopped and an error is reported. The preset number threshold here can be determined according to actual conditions, and the embodiments of the present disclosure do not impose specific restrictions on this.

[0289] Here, the handling robot disclosed in the present invention is also provided with an in-place detection part. When the handling robot performs a cargo release operation, it first controls the hook part to push the cargo to the target storage location and then detaches from the cargo. Then, it verifies whether the cargo is completely placed in the target storage location through the recognition signal of the in-place detection part. The reliability of cargo release is ensured through the recognition of the in-place detection part.

[0290] Fig.23The schematic diagram of the structure of a pick-up and place device of a handling robot provided by an embodiment of the present disclosure is applied to the handling robot, and the handling robot comprises a structural member 10, a handling device 20, and an identification device 30. The structural member 10 is installed on the side of a shelf 200 and can move relative to the shelf 200 along a first direction; the handling device 20 is installed on the structural member 10 and can move relative to the structural member 10 along a second direction, the second direction is perpendicular to the first direction and parallel to the height direction of the shelf 200; the identification device 30 is installed on the structural member 10. Fig.23 As shown, the device includes: an acquisition module 2301 , a first control module 2302 , a second control module 2303 and a third control module 2304 .

[0291] The acquisition module is used to acquire the transport instruction, the transport instruction includes the location information of the target storage location, and the location information includes the target location and target height of the target storage location;

[0292] A first control module, used to control the structure to move along a first direction, and control the identification device to identify at least one identification code on the shelf passing by to obtain the real-time position of the transport device relative to the shelf;

[0293] A second control module is used to stop the movement of the structural member along the first direction when it is detected that the real-time position is consistent with the target position;

[0294] The third control module is used to control the transport device to move to a target height along the second direction to align with a target storage location.

[0295] In a possible design, the transport robot further includes a first sensor group 41; the first sensor group 41 includes a cargo identification sensor 80a; the transport instruction is a cargo pickup instruction, and the device further includes a cargo pickup control module for:

[0296] Acquire a first identification signal of a cargo identification sensor;

[0297] Determining whether a cargo identification sensor is triggered according to the first identification signal;

[0298] If the cargo identification sensor is triggered, it is determined that there is cargo in the handling device;

[0299] If the cargo identification sensor is not triggered, it is determined that there is no cargo in the handling device;

[0300] If it is determined that there is no cargo in the transport device, the transport device is controlled to perform a cargo pickup operation from the target storage location.

[0301] In a possible design, the transport robot further includes a first sensor group 41; the first sensor group 41 includes a storage location identification sensor 70a; the transport instruction is a cargo release instruction, and the device further includes a cargo release control module for:

[0302] Acquire a second identification signal of a storage location identification sensor;

[0303] According to the second identification signal, determining whether the storage location identification sensor is triggered;

[0304] If the storage location identification sensor is triggered, it is determined that there are goods in the target storage location, and a goods release error prompt is issued;

[0305] If the storage location identification sensor is not triggered, it is determined that there is no cargo at the target storage location, and the handling device is controlled to release the cargo to the target storage location.

[0306] In a possible design, the transport instruction includes a pick-up instruction or a put-down instruction, and the transport robot further includes a first sensor group 41; after the third control module is used to control the transport device to move to a target height along the second direction to align with the target storage location, the device further includes a fourth control module for:

[0307] If the transport instruction is a pickup instruction, the transport device is controlled to perform a pickup operation from the target storage location according to the identification signal sent by the first sensor group;

[0308] and\or,

[0309] If the transport instruction is a goods release instruction, the transport device is controlled to perform a goods release operation to the target storage location according to the identification signal sent by the first sensor group.

[0310] In a possible design, the first sensor group further includes a fine-tuning sensor 50a, the transport device 20 includes a device body 21 and a transport assembly 22, the transport assembly 22 includes a mechanical arm 221 and a hook 222, and the fine-tuning sensor 50a includes a first fine-tuning sensor and a second fine-tuning sensor; the fourth control module specifically includes:

[0311] A first acquisition submodule, used to acquire a third identification signal of the first fine-tuning sensor and a fourth identification signal of the second fine-tuning sensor;

[0312] an adjustment submodule, configured to adjust the handling device according to the third identification signal and the fourth identification signal so that the handling device is aligned with the cargo;

[0313] The first control submodule is used to control the hooking member to hook the goods from the target storage location to the handling device.

[0314] In a possible design, the adjustment submodule is specifically used for:

[0315] Determining whether the first fine-tuning sensor and the second fine-tuning sensor are triggered according to the third recognition signal and the fourth recognition signal;

[0316] The transport device is adjusted according to whether the first fine-tuning sensor and the second fine-tuning sensor are triggered.

[0317] In a possible design, the adjustment submodule is further specifically used for:

[0318] If the first fine-tuning sensor is triggered and the second fine-tuning sensor is not triggered, the control structure moves along the first direction toward the position of the first fine-tuning sensor within a first preset distance until the picking-up condition is met, wherein the picking-up condition is that both the first fine-tuning sensor and the second fine-tuning sensor are not triggered.

[0319] In a possible design, the adjustment submodule is further specifically used for:

[0320] If the first fine-tuning sensor is not triggered and the second fine-tuning sensor is triggered, the control structure moves along the first direction toward the position of the second fine-tuning sensor within the second preset distance until the picking-up condition is met, wherein the picking-up condition is that both the first fine-tuning sensor and the second fine-tuning sensor are not triggered.

[0321] In a possible design, the handling device 20 further includes an in-place detection member 90; the first control submodule is specifically used for:

[0322] Control the hooking member to move to the target detection position, and when at the target detection position, the detection surface of the in-place detection member faces the end surface of the goods;

[0323] Acquire a fifth identification signal of the detection member in place;

[0324] According to the fifth recognition signal, determining whether the in-place detection element is triggered;

[0325] If the arrival detection part is triggered, the hooking part is controlled to hook the goods from the target storage location to the handling device.

[0326] In a possible design, the first control submodule is further specifically used for:

[0327] Acquire a sixth identification signal of the storage location identification sensor 70a;

[0328] Determine the distance parameter between the cargo and the handling device 20 according to the sixth recognition signal;

[0329] According to the distance parameter, determine the target detection position;

[0330] Control the hook to move to the target detection position.

[0331] In a possible design, the transport device includes a device body and a transport assembly, the transport assembly includes a mechanical arm and a hooking member, and the transport device 20 also includes an in-place detection member 90; the fourth control module specifically includes:

[0332] The second control submodule is used to control the hook to push the goods from the handling device to the target storage location;

[0333] The third control submodule is used to control the hooking member to move a third preset distance away from the cargo and to separate from the cargo;

[0334] A second acquisition submodule is used to acquire a seventh identification signal of the in-place detection member;

[0335] The judging submodule is used to judge whether the goods are completely placed in the target storage location according to the seventh recognition signal.

[0336] In a possible design, the first sensor group 41 further includes a position sensor 60a; after the first control submodule is used to control the hooking member to hook the goods from the target storage location to the handling device, the above device further includes a first position control module for:

[0337] acquiring an eighth identification signal of the position sensor;

[0338] determining, according to the eighth identification signal, whether the position sensor is triggered;

[0339] If the position sensor is triggered, the hooking member is controlled to drive the goods to continue to move in a direction away from the shelf until the position sensor is not triggered.

[0340] In a possible design, after the third control module is used to control the transport device to move to the target height along the second direction, the device further includes a second position control module, which is used to:

[0341] Controlling the transport device to move along the second direction, and obtaining a ninth identification signal of the fine-tuning sensor 50a during the movement;

[0342] According to the ninth recognition signal, the height reached by the transport device is adjusted to be the reference height of the target storage location so as to align with the target storage location.

[0343] Fig.24 The schematic diagram of the structure of a cargo pick-up and placement device of a handling robot provided in an embodiment of the present disclosure is shown in FIG. Fig.24 As shown, the cargo picking and placing device of the transport robot of this embodiment may include:

[0344] At least one processor 2401 and memory 2402;

[0345] Memory 2402 stores computer executable instructions;

[0346] At least one processor 2401 executes the computer-executable instructions stored in the memory 2402, so that the at least one processor 2401 executes the method of any of the above embodiments.

[0347] Optionally, the memory 2402 may be independent or integrated with the processor 2401 .

[0348] The implementation principle and technical effects of the cargo picking and placing equipment of the transport robot provided in this embodiment can be found in the aforementioned embodiments and will not be repeated here.

[0349] The embodiment of the present disclosure further provides a storage system, including a shelf 200 and a handling robot, wherein the handling robot includes a structural member 10, a handling device 20, and an identification device 30, wherein the structural member 10 is installed at the side of the shelf 200 and can move relative to the shelf 200 along a first direction; the handling device 20 is installed on the structural member 10 and can move relative to the structural member 10 along a second direction, wherein the second direction is perpendicular to the first direction and parallel to the height direction of the shelf 200; the identification device 30 is installed on the structural member 10, and the handling robot is configured to be installed at the side of the shelf 200 and can move relative to the shelf 200 along a first direction, wherein the first direction is perpendicular to the height direction of the structural member 10 of the handling robot;

[0350] The shelf 200 is provided with a plurality of identification codes at intervals in the first direction. The shelf 200 is provided with a plurality of storage locations 2110 , with one storage location 2110 being provided between adjacent identification codes. The plurality of storage locations 2110 include a target storage location 21101 .

[0351] In a possible design, the shelf 200 has a storage layer 210, the number of the storage layers 210 is N, N is greater than or equal to 2, and the N storage layers 210 are stacked along a second direction; the second direction is perpendicular to the first direction;

[0352] A plurality of identification codes are disposed at intervals on any one of the storage layers 210 in the first direction.

[0353] In a possible design, the shelf 200 has two oppositely arranged guide rails 201 in the second direction, and the two guide rails 201 are respectively installed on the sides of any two layers of the storage layers 210, and the length direction of the guide rails 201 is parallel to the first direction; the identification code 500 is set on the side of any one of the guide rails 201 facing the transport robot 100.

[0354] In the warehousing system provided by the embodiments of the present disclosure, the specific working principles, processes and beneficial effects of the handling robot and the method of picking and placing goods can be found in the aforementioned embodiments and will not be repeated here.

[0355] The embodiments of the present disclosure further provide a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, a method as described in any of the above embodiments is implemented.

[0356] Among them, the computer readable storage medium can be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0357] The present disclosure also provides a program product, which includes an executable computer program, which is stored in a readable storage medium. At least one processor of the cargo picking and placing device of the transport robot or the storage system can read the computer program from the readable storage medium, and at least one processor executes the computer program so that the cargo picking and placing device of the transport robot implements the cargo picking and placing method of the transport robot provided in the above various embodiments.

[0358] In the several embodiments provided in the present disclosure, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules is only a logical function division, and there may be other division methods in actual implementation, such as multiple modules can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or modules, which can be electrical, mechanical or other forms.

[0359] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0360] In addition, each functional module in each embodiment of the present disclosure may be integrated into one processing unit, each module may exist physically separately, or two or more modules may be integrated into one unit. The above modules may be implemented in the form of hardware or hardware plus software functional units.

[0361] The above-mentioned integrated module implemented in the form of a software function module can be stored in a computer-readable storage medium. The above-mentioned software function module is stored in a storage medium, including a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to perform some steps of the methods of various embodiments of the present disclosure.

[0362] It should be understood that the above processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc. The steps of the method disclosed in the present disclosure may be directly embodied as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0363] The memory may include a high-speed RAM memory, and may also include a non-volatile storage NVM, such as at least one disk memory, and may also be a USB flash drive, a mobile hard disk, a read-only memory, a magnetic disk or an optical disk, etc.

[0364] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of the present disclosure is not limited to only one bus or one type of bus.

[0365] The above storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read only memory (EEPROM), erasable programmable read only memory (EPROM), programmable read only memory (PROM), ROM, magnetic storage, flash memory, magnetic disk or optical disk. The storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0366] An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an ASIC. Of course, the processor and the storage medium can also exist as discrete components in an electronic device or a main control device.

[0367] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0368] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them. Although the present disclosure has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A transport robot, characterized in that: include: A structural member, the structural member is configured to be installed on the side of the shelf and can move relative to the shelf along a first direction; a handling device, mounted on the structural member and capable of moving relative to the structural member along a second direction, wherein the second direction is perpendicular to the first direction and parallel to the height direction of the shelf; an identification device, mounted on the structural member and configured to identify an identification code on the shelf when the structural member moves along the first direction, so as to determine a real-time position of the structural member relative to the shelf according to the identification code; Wherein, the handling device is constructed to move to a target height along the second direction to reach a target storage location of the shelf when the real-time position of the structural member is consistent with a target position, and to perform picking and placing operations of goods between itself and the target storage location, and the target position is the position of the structural member corresponding to the target storage location.

2. The handling robot according to claim 1, characterized in that: When the structural member moves in the first direction to one of the columns of storage locations of the shelf, the identification device is configured to correspond to one of the identification codes.

3. The handling robot according to claim 2, characterized in that: The identification device is a camera device, the identification code is a two-dimensional code, and the two-dimensional code records the position information of the corresponding storage location column on the shelf; The camera device is configured to acquire image information of the two-dimensional code to determine position information corresponding to the two-dimensional code according to the image information.

4. The handling robot according to claim 1, characterized in that: The handling device and the identification device are located on opposite sides of the structural member.

5. The handling robot according to claim 4, characterized in that: The number of the structural members is two, and the handling device is installed on the two structural members and is located between the two structural members; The identification device is installed on any one of the two structural members.

6. The handling robot according to any one of claims 1 to 5, characterized in that: It also includes a first sensor group, the first sensor group includes a fine-tuning sensor, and the fine-tuning sensor is arranged at one end of the handling device in the direction of picking up and placing goods; The detection surface of the fine adjustment sensor faces the shelf and is configured to detect the deviation of the goods on the target storage location; The transport robot is configured to control the movement of the structural member in the first direction according to the detection data of the offset detection, so as to adjust the position of the transport device relative to the cargo, so that the transport device is aligned with the cargo.

7. The handling robot according to claim 6, characterized in that: The number of the fine-tuning sensors is two, and the two fine-tuning sensors are arranged at the same end of the handling device at intervals along a first direction, and the first direction is perpendicular to the picking and placing direction and the height direction of the structural member.

8. The handling robot according to claim 7, characterized in that: The transport robot is constructed to determine the triggering state of the two fine-tuning sensors according to the identification signals of the two fine-tuning sensors, and control the movement of the structural member along the first direction within a preset distance according to the triggering state of the two fine-tuning sensors, so that both of the two fine-tuning sensors are in an untriggered state, so that the transport device is aligned with the cargo; wherein the triggering state includes a triggered state or an untriggered state.

9. The handling robot according to claim 7, characterized in that: The transport device comprises a device body, the device body comprises a supporting platform, a first guide member and a second guide member, the supporting platform is used to support the goods, and the first guide member and the second guide member are distributed on both sides of the supporting platform; The two fine-tuning sensors include a first fine-tuning sensor and a second fine-tuning sensor. The first fine-tuning sensor is arranged at one end of the first guide member, and the second fine-tuning sensor is arranged at one end of the second guide member and is opposite to the first fine-tuning sensor.

10. The handling robot according to claim 9, characterized in that: The bottom of the transport device has a mounting platform, the supporting platform, the first guide member and the second guide member are mounted on the top surface of the mounting platform, and the top surface of the mounting platform forms the inner bottom surface of the transport device.

11. The handling robot according to claim 6, characterized in that: The first sensor group further includes a position sensor, which is disposed on a mounting platform at the bottom of the transport device and is located at an edge of the mounting platform in the direction of picking up and placing goods; The position sensor has a detection surface away from a plane where the mounting platform is located and is configured to determine whether the cargo exceeds an edge of the handling device, wherein the cargo is within the handling device.

12. The handling robot according to claim 11, characterized in that: The transport robot is configured to determine whether the position sensor is triggered according to an identification signal of the position sensor, and to determine that the cargo exceeds an edge of the transport device when the position sensor is triggered.

13. The transport robot according to claim 6, characterized in that: The first sensor group further includes a storage location identification sensor, which is tiltedly disposed on the mounting platform of the transport device so that the detection surface of the storage location identification sensor faces the shelf at a preset angle; The storage location identification sensor is configured to detect whether the target storage location has the goods.

14. The handling robot according to claim 13, characterized in that: The transport robot is configured to determine whether the storage location identification sensor is triggered based on an identification signal of the storage location identification sensor, and determine that the goods are present in the target storage location when the storage location identification sensor is triggered within a preset time.

15. The handling robot according to claim 6, characterized in that: The first sensor group further includes a cargo identification sensor, the bottom of the handling device has a mounting platform, the mounting platform is a mounting frame, the middle area of ​​the mounting frame has a fixed beam, and the cargo identification sensor is arranged at one end of the fixed beam; The detection surface of the cargo identification sensor faces the cargo in the transport device, and the cargo identification sensor is configured to detect whether the cargo is in the transport device.

16. The transport robot according to claim 6, characterized in that: The transport device is configured to be able to perform the picking and placing operations at both ends of the picking and placing direction; The handling device further comprises a second sensor group, the second sensor group having the same structure as the first sensor group; The second sensor group and the first sensor group are symmetrically arranged at two ends of the transport device in the direction of picking up and placing goods.

17. The handling robot according to any one of claims 1 to 5, characterized in that: The transport device comprises a device body and a transport assembly, wherein the transport assembly comprises a mechanical arm and a hooking member, wherein the mechanical arm is arranged on two opposite sides of the device body, and the mechanical arm is arranged to move along the picking and placing direction of the transport device, and can rotate relative to the device body; The hooking member is arranged at the middle part of the mechanical arm and is configured to be able to hook the goods to perform the picking and placing operation; The handling device further comprises an in-place detection member, which is arranged at the middle part of the mechanical arm, and when the hooking member hooks the goods, the detection surface of the in-place detection member faces the end surface of the goods; The in-position detection member is configured to detect whether the hooking member is in position to determine whether the hooking member can perform a hooking operation.

18. The handling robot according to claim 17, characterized in that: The transport robot is configured to determine whether the in-place detection member is triggered according to an identification signal of the in-place detection member, and when the in-place detection member is triggered, determine that the hooking member is in place and aligned with the to-be-hooked portion of the goods.

19. A storage system, characterized in that: The invention comprises a shelf and a transport robot, wherein the transport robot comprises a structure, a transport device, and an identification device, wherein the structure is installed at the side of the shelf and can move relative to the shelf along a first direction; the transport device is installed on the structure and can move relative to the structure along a second direction, wherein the second direction is perpendicular to the first direction and parallel to the height direction of the shelf; the identification device is installed on the structure, and the transport robot is configured to be installed at the side of the shelf and can move relative to the shelf along the first direction, wherein the first direction is perpendicular to the height direction of the structure of the transport robot; The shelf is provided with a plurality of identification codes at intervals in the first direction. The shelf is provided with a plurality of storage locations, one of the storage locations is provided between adjacent identification codes, and the plurality of storage locations includes a target storage location.

20. The storage system according to claim 19, characterized in that: The shelf has storage layers, the number of the storage layers is N, N is greater than or equal to 2, and the N storage layers are stacked along a second direction; the second direction is perpendicular to the first direction; A plurality of the identification codes are arranged at intervals on any one of the storage layers in the first direction.

21. The storage system according to claim 20, characterized in that: The shelf has two guide rails arranged opposite to each other in the second direction, the two guide rails are respectively installed on the sides of any two storage layers, and the length direction of the guide rails is parallel to the first direction; The identification code is arranged on a side of any one of the guide rails facing the transport robot.

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