Robot

Abstract

The utility model provides a robot, and belongs to the technical field of warehouse logistics. The robot comprises a robot body used for ascending and descending relative to the goods shelf so as to take and place the material box on the goods shelf; the number of the detection assemblies is at least two, the at least two detection assemblies are arranged on the side, facing the goods shelf, of the robot body and the other opposite side of the robot body correspondingly, and the detection assemblies are in communication connection with the robot body; the detection assembly is configured to detect whether an obstacle exists in a preset range in the lifting direction of the robot body or not; and the robot body is configured to stop running and send an alarm prompt when the detection assembly detects an obstacle. The robot body can stop running in time when the detection assembly detects an obstacle, and collision with a material box or other obstacles accidentally protruding out of the goods shelf is avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of warehouse logistics, and particularly relates to a robot. BACKGROUND

[0002] In the prior art, a robot climbs on a shelf to a corresponding storage location to take and place a material box. However, the material box may protrude from the shelf due to shelf vibration or other reasons. Therefore, when the robot rises and falls on the shelf, the robot is prone to colliding with the material box protruding from the shelf, resulting in damage to the robot or the material box. CONTENT OF THE UTILITY MODEL

[0003] The present application provides a robot, which is used to solve the problem that the existing robot is prone to colliding with a material box when rising and falling on a shelf, resulting in damage to the robot or the material box.

[0004] The robot provided by the present application comprises:

[0005] A robot body, which is used to rise and fall relative to a shelf to take and place a material box on the shelf;

[0006] A detection assembly, which is provided in at least two, and the at least two detection assemblies are respectively arranged on one side and the opposite side of the robot body facing the shelf, and the detection assembly is in communication connection with the robot body;

[0007] The detection assembly is configured to detect whether there is an obstacle in a preset range of the rising and falling direction of the robot body;

[0008] The robot body is configured to stop running and send an alarm prompt when the detection assembly detects an obstacle.

[0009] In a possible implementation manner, the robot provided by the present application, the detection assembly comprises a first detection piece and a second detection piece, the detection end of the first detection piece faces upward, the detection end of the second detection piece faces downward, and the first detection piece and the second detection piece are respectively arranged on the upper part and the lower part of the robot body.

[0010] In a possible implementation manner, the robot provided by the present application, the first detection piece and the second detection piece located on the same side of the robot body are oppositely arranged or staggered along the rising and falling direction of the robot body.

[0011] In a possible implementation manner, the robot provided by the present application, the detection end of the first detection piece is flush with the upper end surface of the robot body;

[0012] And / or, the detection end of the second detection piece is flush with the lower end surface of the robot body.

[0013] In a possible implementation, the robot provided in the present application, the detection assembly further comprises at least one driving member, the driving member is arranged on the robot body, the driving member is correspondingly connected with the first detection member or the second detection member, and the driving member is used to drive the first detection member or the second detection member to rotate relative to the robot body, so as to adjust the orientation of the detection end.

[0014] In a possible implementation, the robot provided in the present application, the first detection member and / or the second detection member are used to rotate in a vertical plane relative to the robot body.

[0015] In a possible implementation, the robot provided in the present application, the first detection member and the second detection member are both ranging sensors.

[0016] The robot body is further configured to stop running and send an alarm prompt when the same first detection member or second detection member detects an obstacle twice in succession.

[0017] In a possible implementation, the robot provided in the present application, the preset field angle of view of the first detection member and the second detection member is greater than or equal to 3° and less than or equal to 5°.

[0018] In a possible implementation, the robot provided in the present application, the robot body comprises a fork, the fork is used to take and place a material box, and the detection assemblies are arranged on the outer side of the fork.

[0019] In a possible implementation, the robot provided in the present application, the number of the first detection members is at least four, the at least four first detection members are arranged at two ends of one side of the robot body facing the shelf and the opposite side respectively, and / or the number of the second detection members is at least four, the at least four second detection members are arranged at two ends of one side of the robot body facing the shelf and the opposite side respectively.

[0020] The robot provided in the present application, by arranging at least two detection assemblies on one side of the robot body facing the shelf and the opposite side respectively, using the detection assemblies to detect a preset range of the lifting direction of the robot body, to detect whether there is an obstacle in the preset range, so that the robot body can stop running in time when the detection assemblies detect an obstacle, to avoid colliding with a material box or other obstacles protruding from the shelf. Wherein, the detection assemblies are arranged on one side of the robot body facing the shelf and the opposite side, so that whether there is an obstacle on one side of the robot body facing the shelf or the opposite side of the robot body, the detection assemblies can detect in time to stop running and send an alarm prompt. BRIEF DESCRIPTION OF DRAWINGS

[0021] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 The usage state of the robot provided in the embodiments of this application Figure 1 ;

[0023] Figure 2 The usage state of the robot provided in the embodiments of this application Figure 2 ;

[0024] Figure 3 for Figure 1 Schematic diagram of the robot Figure 1 ;

[0025] Figure 4 for Figure 1 Schematic diagram of the robot Figure 2 ;

[0026] Figure 5 for Figure 1 Schematic diagram of the robot Figure 3 ;

[0027] Figure 6 for Figure 1 Schematic diagram of the robot Figure 4 ;

[0028] Figure 7 for Figure 1 Schematic diagram of the robot Figure 5 ;

[0029] Figure 8 for Figure 3 A schematic diagram of the structure of the first testing component;

[0030] Figure 9 This is a flowchart illustrating the operation of the robot provided in an embodiment of this application.

[0031] Explanation of reference numerals in the attached figures:

[0032] 100 - Robot body; 110 - Forks; 120 - Drive assembly;

[0033] 200 - Detection component; 210 - First detection element; 220 - Second detection element; 230 - Drive component;

[0034] 300-shelf;

[0035] 400-material bin. DETAILED DESCRIPTION

[0036] In order to make the objectives, technical solutions and advantages of the present application clearer, the following will describe the technical solutions in the embodiments of the present application in detail with reference to the drawings in the preferred embodiments of the present application. In the drawings, identical or similar reference signs represent identical or similar components or components with identical or similar functions throughout. The described embodiments are part of the embodiments of the present application, rather than all the embodiments. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort fall within the scope of protection of the present application. The embodiments of the present application will be described in detail below with reference to the drawings.

[0037] In the description of the present application, it should be noted that unless specifically defined and limited, the terms "mounting", "connection", "connecting" should be interpreted in a broad sense and can be used interchangeably. For example, "connection" can be direct connection or indirect connection through an intermediate medium; it can be fixed connection (such as welding, etc. non-detachable fixed connection, and detachable fixed connection using a fixed structure such as a screw), or it can be sliding connection. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0038] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship described based on the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be configured and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0039] The terms "first", "second", "third" (if any) in the specification and claims of the present application and the above drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0040] In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or display that includes a series of steps or modules, and is not necessarily limited to those steps or modules clearly listed, but can include other steps or modules that are not clearly listed or inherent to the process, method, product or display.

[0041] As described in the background, the robot can vertically climb on the shelf to lift relative to the shelf to realize the carrying and accessing of the material box.

[0042] In the prior art, the robot comprises a driving assembly and a fork arranged on the driving assembly, the driving assembly can drive the fork to climb or descend relative to the shelf in the vertical direction, when the robot climbs to the height corresponding to the storage location, the fork performs the accessing operation of the material box by extending or retracting relative to the shelf.

[0043] However, when the material box is affected by the vibration of the shelf, or the material box is light and the shelf is inclined, the material box may protrude relative to the shelf.

[0044] Therefore, when the robot lifts on the shelf, the robot is prone to collide with the material box protruding from the shelf, thereby causing damage to the robot or the material box.

[0045] In order to overcome the defects in the prior art, the robot provided by the embodiments of the present application detects whether there is an obstacle in the preset range of the lifting direction of the robot body by arranging at least two detection assemblies on the side of the robot body facing the shelf and the opposite side, so that the robot body can stop running in time when the detection assembly detects an obstacle, avoiding collision with the material box or other obstacles protruding from the shelf. Wherein, the detection assembly is arranged on the side of the robot body facing the shelf and the opposite side, so that whether there is an obstacle on the side of the robot body facing the shelf or on the opposite side of the robot body, the obstacle can be detected in time to stop running quickly and send an alarm prompt.

[0046] The content of the present application will be described in detail below with reference to the drawings, so that those skilled in the art can understand the content of the present application more clearly and in detail.

[0047] Referring to Figures 1 to 3 The robot provided by the embodiments of the present application comprises:

[0048] The robot body 100 is used for lifting relative to the shelf 300 to take or place the material box 400 on the shelf 300;

[0049] The detection assembly 200 is arranged at least two, and the at least two detection assemblies 200 are arranged on the side of the robot body 100 facing the shelf 300 and the opposite side, and the detection assembly 200 is in communication connection with the robot body 100;

[0050] The detection assembly 200 is configured to detect whether there is an obstacle in the preset range of the lifting direction of the robot body 100;

[0051] The robot body 100 is configured to stop running when the detection assembly 200 detects an obstacle, and send an alarm prompt.

[0052] It can be understood that the robot body 100 can be lifted relative to the shelf 300. The robot body 100 can be connected with a lifting track on the shelf 300, and the robot body 100 as a whole is lifted along the lifting track by the climbing assembly, so as to realize the lifting of the robot body 100. Alternatively, the robot body 100 can be lifted relative to the shelf 300 by other means, which is not limited in the present application.

[0053] The detection assembly 200 is provided with at least two, and the at least two detection assemblies 200 are respectively arranged on opposite sides of the robot body 100. Through the detection assembly 200, obstacles in the preset range of the lifting direction of the robot body 100 can be detected. The obstacles can be the material box 400 protruding from the shelf 300, or other sundries accidentally entering the preset range of the robot body 100.

[0054] If the interval between each shelf 300 in the warehouse is large, the robot body 100 can only be oriented to one side of the shelf 300 when lifting, and the other side is kept at a large distance from the shelf 300. If the interval between the adjacent two shelves 300 matches the width of the robot body 100, the opposite sides of the robot body 100 are close to the shelves 300.

[0055] Therefore, the detection assembly 200 is arranged on the opposite sides of the robot body 100, so that when the robot body 100 is lifted relative to the shelf 300, whether an obstacle exists on one side or the other side of the robot body 100, it can be detected by the detection assembly 200. The detection assembly 200 is in communication connection with the robot body 100, so that the robot body 100 can stop running and send an alarm prompt in time after the detection assembly 200 detects the existence of an obstacle, so as to remind the operator to handle in time.

[0056] The robot provided by the embodiments of the present application can detect whether there is an obstacle in the preset range of the lifting direction of the robot body 100 by arranging at least two detection assemblies 200 on the side of the robot body 100 facing the shelf 300 and the opposite side, so that the robot body 100 can stop running in time when the detection assembly 200 detects an obstacle, thereby avoiding collision with the material box 400 or other obstacles protruding from the shelf 300. The detection assembly 200 is arranged on the side of the robot body 100 facing the shelf 300 and the opposite side, so that the robot body 100 can be detected in time when there is an obstacle on the side of the robot body 100 facing the shelf 300 or the opposite side, thereby stopping running quickly and sending an alarm prompt. The side of the robot body 100 facing the shelf 300 refers to the side of the robot body 100 facing the shelf when the robot takes or places goods on the shelf 300. If the opposite sides of the robot body 100 both face the shelf, any one side is the side of the robot body 100 facing the shelf 300, and the other side is the opposite side.

[0057] In some embodiments, referring to Figures 3 to 7 The detection assembly 200 includes a first detection member 210 and a second detection member 220. The detection end of the first detection member 210 faces upward, and the detection end of the second detection member 220 faces downward. The first detection member 210 and the second detection member 220 are arranged on the upper part and the lower part of the robot body 100, respectively.

[0058] It can be understood that, referring to Figure 3 and Figure 4 The detection end of the first detection member 210 faces upward, and the detection end of the second detection member 220 faces downward, so that the detection assembly 200 can comprehensively detect the preset range of the upward and downward directions of the robot body 100, thereby avoiding missing obstacles appearing above or below and improving the integrity and reliability of the detection assembly 200. The first detection member 210 and the second detection member 220 can be selectively turned on according to the lifting direction of the robot body 100. For example, when the robot body 100 rises, the first detection member 210 is turned on to detect only the space above the robot body 100. When the robot body 100 descends, the second detection member 220 is turned on to detect only the space below the robot body 100. The first detection member 210 and the second detection member 220 can also be turned on together, so that the robot body 100 can detect the space above and below regardless of the lifting direction. The present application does not limit this.

[0059] In specific implementation, the first detection element 210 and the second detection element 220 can be respectively set on the upper and lower parts of the robot body 100. For example, the first detection element 210 can be set on the upper part of the robot body 100 and the second detection element 220 can be set on the lower part of the robot body 100. Alternatively, the first detection element 210 can be set on the lower part of the robot body 100 and the second detection element 220 can be set on the upper part of the robot body 100, so that the robot body 100 can detect the existence of obstacles in a timely manner from different directions, avoid collision between the robot body 100 and obstacles, and ensure the safety of the robot body 100's lifting and lowering.

[0060] Or, refer to Figure 5 As shown, the first detection element 210 and the second detection element 220 can also be disposed on the upper part of the robot body 100, or refer to Figure 6 As shown, the first detection element 210 and the second detection element 220 are both located at the lower part of the robot body 100. This allows the first detection element 210 and the second detection element 220 to be concentrated in a unified position on the robot body 100. This enables the detection component 200 to focus only on obstacles above or below the robot body 100 when the robot body 100 is in certain specific working environments, thereby improving the detection efficiency of the detection component 200 and reducing unnecessary interference.

[0061] Furthermore, refer to Figure 3 and Figure 4 As shown, when the first detection element 210 and the second detection element 220 are respectively disposed on the upper and lower parts of the robot body 100, the first detection element 210 and the second detection element 220 located on the same side of the robot body 100 are disposed opposite to each other or staggered along the lifting direction of the robot body 100.

[0062] Understandably, when the first detection element 210 is located on the upper part of the robot body 100 and the second detection element 220 is located on the lower part of the robot body 100, refer to Figure 4 As shown, the first detection element 210 and the second detection element 220 can be arranged opposite each other along the lifting direction of the robot body 100, so that the detection ends of the first detection element 210 and the second detection element 220 are opposite to each other. At this time, the detection component 200 can more accurately cover different areas of the robot body 100 during the lifting process, reduce the detection blind spots of the robot body 100 in the lifting direction, and avoid the overlap of the detection areas of the first detection element 210 and the second detection element 220, thus saving computing power.

[0063] Furthermore, in the above circumstances, refer to Figure 3As shown, the first detection member 210 and the second detection member 220 can also be staggered along the lifting direction of the robot body 100 to further expand the detection range of the detection members and avoid detection omissions at certain angles or positions.

[0064] In the case where the first detection member 210 is located at the lower part of the robot body 100 and the second detection member 220 is located at the upper part of the robot body 100, the first detection member 210 and the second detection member 220 need to be staggered along the lifting direction of the robot body 100 to avoid the detection ends of the first detection member 210 and the second detection member 220 from being opposite to each other and to prevent mutual interference. In addition, staggered arrangement can compensate for possible detection dead angles through different detection angles and ranges, so that the detection assembly 200 can more effectively detect obstacles.

[0065] Further, referring to Figures 3 to 8 As shown, when the first detection member 210 is arranged at the upper part of the robot body 100, the detection end of the first detection member 210 is flush with the upper end surface of the robot body 100.

[0066] and / or, when the second detection member 220 is arranged at the lower part of the robot body 100, the detection end of the second detection member 220 is flush with the lower end surface of the robot body 100.

[0067] It can be understood that making the detection end of the first detection member 210 flush with the upper end surface of the robot body 100 can ensure that the detection range of the first detection member 210 is not blocked by the robot body 100 and the first detection member 210 does not protrude from the upper end surface of the robot body 100 and thus lacks physical protection. In this way, the detection of the first detection member 210 can more accurately detect whether there is an obstacle in the space region immediately above the robot body 100, improve the detection coverage of the first detection member 210 on the upper environment, and improve the safety of the robot body 100 during the lifting process. Similarly, making the detection end of the second detection member 220 flush with the lower end surface of the robot body 100 can help to comprehensively detect the space below the robot body 100 and timely discover obstacles that may affect the lowering action or cause collision.

[0068] In this way, the detection ability of the robot on obstacles within a preset range during the entire lifting process is enhanced, and the safety and stability of the operation are further improved.

[0069] In some embodiments, referring to Figure 1 , Figure 3 and Figure 8As shown, the detection assembly 200 further comprises at least one driving member 230, which is arranged on the robot body 100 and is correspondingly connected with the first detection member 210 or the second detection member 220, and is used to drive the first detection member 210 or the second detection member 220 to rotate relative to the robot body 100, so as to adjust the orientation of the detection end.

[0070] In this way, the first detection member 210 or the second detection member 220 can rotate relative to the robot body 100, the detection range of the first detection member 210 and the second detection member 220 is increased, the detection is more targeted and effective, and the versatility and flexibility of the detection assembly 200 are improved.

[0071] For example, the driving member 230 can be a driving motor arranged on the robot body 100 and connected with a rotating shaft, and the first detection member 210 or the second detection member 220 is correspondingly arranged on the rotating shaft.

[0072] Further, referring to Figures 3 to 8 The first detection member 210 and / or the second detection member 220 are used to rotate in a vertical plane relative to the robot body 100.

[0073] It can be understood that, by driving at least one of the first detection member 210 and the second detection member 220 to rotate in the vertical plane under the driving of the driving member 230, the pitch angle of the detection end of the first detection member 210 and the second detection member 220 can be more flexible, and the complex and changeable working environment can be better adapted to, and the working efficiency and safety of the robot are improved.

[0074] For example, the driving member 230 can drive the corresponding first detection member 210 or the second detection member 220 to rotate around the Y direction and in the X-Z plane, or to rotate around the X direction and in the Y-Z plane, which is not limited in the present application.

[0075] In specific implementation, the first detection member 210 and the second detection member 220 are both ranging sensors;

[0076] The robot body 100 is further configured to stop running and send an alarm prompt when the same first detection member 210 or second detection member 220 detects an obstacle twice in succession.

[0077] The ranging sensor can emit laser, ultrasonic wave or infrared ray to the target direction, receive the reflected signal, calculate the distance between the emitting point and the reflecting point based on the time of flight method, so that the ranging sensor can perceive the existence and position of the obstacle by measuring the change of the distance, and the perception of the change of the surrounding environment is more accurate and real-time. When the detection assembly 200 is used, the detection assembly can timely detect the obstacle in the range, and provide important information for the safe operation of the robot.

[0078] In order to prevent the detection assembly 200 from misdetecting the obstacle, for example, an article passing through the detection range for a short time is mistaken for an obstacle, the same first detection member 210 or second detection member 220 can be set to stop the operation of the robot body 100 only when the obstacle is detected twice within a certain detection period, thereby improving the reliability of the detection of the first detection member 210 or the second detection member 220.

[0079] In addition, as shown in Figure 1 , the preset field angle a of the first detection member 210 and the second detection member 220 is greater than or equal to 3° and less than or equal to 5°.

[0080] The smaller preset field angle a can make the detection range of the first detection member 210 and the second detection member 220 more accurate and the detection operation more delicate, so as to ensure the accuracy and pertinence of the detection. At the same time, it can also avoid the problem that the detection range is too large due to the too large preset field angle a, and some articles outside the lifting path range of the robot body 100 are mistaken for obstacles, which affects the normal and smooth lifting of the robot body 100. For example, the preset field angle can be 3°, 4° or 5°, which is not limited in the present application.

[0081] In addition, as shown in Figures 1 to 7 , the robot body 100 comprises a fork 110, and the fork 110 is used for picking and placing the container 400. The detection assembly 200 is arranged on the outer side of the fork 110.

[0082] The detection assembly 200 is arranged on the outer side of the fork 110, which can facilitate the detection assembly 200 to perceive the surrounding environment in real time during the action of picking and placing the container 400 by the fork 110. For example, when the fork 110 approaches the shelf 300 or the container 400, the detection assembly 200 can timely detect whether there is any other object to block, thereby improving the efficiency and accuracy of picking and placing the container 400.

[0083] From the perspective of the detection assembly 200 itself, being located outside the forks 110 can obtain a wider detection range, better cover the space area involved in the operation of the forks 110, avoid detection dead angles caused by being blocked by the forks 110 itself or other components, thus more comprehensively and effectively monitor the changes in the surrounding environment, and guarantee the safety and stability of the entire taking and placing of the material box 400.

[0084] In some embodiments, the number of the first detection pieces 210 is at least four, and the at least four first detection pieces 210 are respectively arranged at both ends of one side and the opposite side of the robot body 100 facing the shelf, and / or the number of the second detection pieces 220 is at least four, and the at least four second detection pieces 220 are respectively arranged at both ends of one side and the opposite side of the robot body 100 facing the shelf. In this way, the detection surface of the robot can be more comprehensive, and the detection can be more accurate, thereby reducing the possibility of collision between the robot and the material box 400.

[0085] In some embodiments, as shown in Figures 1 to 7 , the robot provided by the embodiments of the present application further comprises a driving assembly 120, the forks 110 are arranged on the driving assembly 120, and the driving assembly 120 is configured to drive the robot body 100 to ascend and descend relative to the shelf 300.

[0086] The at least one detection assembly 200 is arranged on the driving assembly 120.

[0087] It can be understood that, by arranging the driving assembly 120, the lifting control of the forks 110 is realized, and the height position of the forks 110 can be adjusted according to different storage and taking and placing requirements of the material box 400, thereby improving the efficiency of the taking and placing operation of the material box 400. The driving assembly 120 can be a shelf climbing device, which can be connected to the shelf 300 and move up and down along the track on the shelf 300 to drive the forks 110 to ascend and descend, or the driving assembly 120 can also be a lifting device, which can directly drive the forks 110 to ascend and descend relative to other structures of the robot body 100, and the present application does not limit this.

[0088] Arranging the at least one detection assembly 200 on the driving assembly 120 facilitates the detection assembly 200 to detect the obstacles in the lifting range of the forks 110 in real time, makes the installation position of the detection assembly 200 more flexible, and the detection range wider, so as to further guarantee the reliability of the detection of the detection assembly 200 and improve the safety during the lifting of the robot, and guarantee the integrity of the robot and the material box 400.

[0089] The lifting process of the robot provided by the embodiments of the present application will be described below in combination with Figure 1 , Figure 2 and Figure 9 .

[0090] Wherein, the maximum lifting speed of the robot body 100 is 1 m / s, the acceleration and deceleration of the robot body 100 is 0.5 m / s 2 , the braking distance of the robot body 100 is 1 m, and there is a 0.1 m gap between the forks 110 and the shelves 300 when the robot is lifting, considering that the robot needs to stop after detecting obstacles in two consecutive detection cycles, and the detection signal has a certain delay, the preset field angle a of the first detection member 210 and the second detection member 220 can be set to 4° according to the above parameters, and the detection distance of the first detection member 210 and the second detection member 220 is 1.5 m.

[0091] When the shelves are assembled and arranged, an installation space for fire pipes is usually reserved between the top of the shelves 300 and the ceiling. In order to avoid the robot misjudging the ceiling and fire pipes and other facilities as obstacles during the lifting process, the robot needs to be set not to detect when it is only 1.5 m away from the ceiling. Similarly, the robot can also be set not to detect when it is 1.5 m away from the ground when it is descending.

[0092] In addition, in order to avoid stopping detection when the robot takes or puts the highest layer of bins 400 or the lowest layer of bins 400, and has not confirmed whether there is an object at the highest layer or the bottom layer of the shelves 300, it is also necessary to limit the height of the shelves 300. For example, the shelves 300 can be allowed to be arranged with a maximum of one layer within 1.5 m from the ceiling, and the shelves 300 can be allowed to be arranged with a maximum of one layer within 1.5 m from the ground.

[0093] In this way, as shown in Figure 9 , the robot starts to lift relative to the shelves 300, and in the lifting process, the detection assembly 200 detects in real time, and the robot body 100 can confirm whether the detection assembly 200 is triggered;

[0094] When a suspected obstacle appears in the preset range of the lifting direction of the robot, the detection assembly 200 is triggered once, and the suspected obstacle continues to exist, and the detection assembly 200 is continuously triggered twice, then the robot body 100 can confirm that there is an obstacle (such as a bin 400 protruding from the shelves 300) in the preset range. At this time, the robot body 100 will brake to stop running and send an alarm prompt;

[0095] When a suspected obstacle appears in the preset range of the lifting direction of the robot, the detection assembly 200 is triggered only once, and the suspected obstacle exits the detection range of the detection assembly 200, and the robot body 100 continues to lift until it reaches the target position;

[0096] And, in the lifting process of the robot body 100, if the target position of the robot body 100 is the highest layer or the bottom layer of the shelf 300, in order to prevent the detection assembly 200 from mistakenly considering the ground, the ceiling or the fire pipe and other facilities as obstacles, it is also necessary to confirm whether the robot body 100 is 1.5m away from the limit position (ceiling or ground), and the detection assembly 200 will stop detecting until the robot body 100 is lifted to the target position when the robot body 100 is lifted to 1.5m away from the limit position;

[0097] If the target position of the robot body 100 is not the highest layer or the bottom layer of the shelf 300, the robot body 100 can not need to confirm whether the robot body 100 is 1.5m away from the limit position during the lifting process, and only needs to detect whether there is an obstacle until the robot body 100 is lifted to the target position. Alternatively, it can also be confirmed whether it is 1.5m away from the limit position at the same time, which improves the safety of the robot lifting, and the present application does not limit this.

[0098] Finally, it should be pointed out that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A robot, characterized in that, The application relates to a robot body used for lifting relative to a shelf to take and place a material box on the shelf. The detection assembly is arranged on at least two sides of the robot body facing the shelf and opposite to the shelf, and is in communication connection with the robot body. The detection assembly is configured to detect whether an obstacle exists in a preset range of the lifting direction of the robot body. The robot body is configured to stop running and send an alarm prompt when the detection assembly detects the obstacle. The first detection member and the second detection member are arranged on the upper part and the lower part of the robot body, respectively.

2. The robot of claim 1, wherein, The first detection member and the second detection member on the same side of the robot body are oppositely arranged or staggered along the lifting direction of the robot body.

3. The robot of claim 2, wherein, The detection end of the first detection member is flush with the upper end surface of the robot body.

4. The robot of claim 2, wherein, The detection end of the second detection member is flush with the lower end surface of the robot body. The detection assembly further comprises at least one driving member arranged on the robot body, the driving member is in corresponding connection with the first detection member or the second detection member, and the driving member is used for driving the first detection member or the second detection member to rotate relative to the robot body to adjust the direction of the detection end.

5. The robot of claim 2, wherein, The first detection member and / or the second detection member are used for rotating in a vertical plane relative to the robot body.

6. The robot of claim 5, wherein, The first detection member and the second detection member are both distance measuring sensors.

7. The robot according to any of claims 2-6, characterized in that, The robot body is further configured to stop running and send an alarm prompt when the same first detection member or second detection member detects the obstacle for two times continuously. The preset field angle of the first detection member and the second detection member is greater than or equal to 3 DEG and less than or equal to 5 DEG.

8. The robot of claim 7, wherein, The robot body comprises a fork used for taking and placing the material box, and the detection assembly is arranged on the outer side of the fork.

9. The robot according to any of claims 1-6, characterized in that, The number of the first detection members is at least four, and the at least four first detection members are arranged at two ends of the side of the robot body facing the shelf and the opposite side, respectively.

10. The robot of claim 2, wherein, The number of the second detection members is at least four, and the at least four second detection members are arranged at two ends of the side of the robot body facing the shelf and the opposite side, respectively.

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