Warehouse system and workstation

Abstract

This application provides a warehousing system and workstation, including: a mobile carrier configured to carry goods; a handling device configured to handle the mobile carrier to move it to a target area; a detection mechanism and a reference marker, the reference marker being located on one side of the movement path of the mobile carrier towards the target area, the reference marker being located within the detection area of ​​the detection mechanism, and the loading dock of the mobile carrier facing the detection area during the movement of the mobile carrier towards the target area; the detection mechanism is configured to detect whether at least a portion of the reference marker is obstructed, to determine whether the goods on the mobile carrier protrude from the mobile carrier, or to determine whether there is a deviation in the position of the mobile carrier, thereby enabling timely pushing of the goods back into the mobile carrier, or timely adjustment of the position of the mobile carrier to prevent the goods from falling or the mobile carrier from failing to work smoothly in the target area.

Description

Technical Field

[0001] This application belongs to the field of warehousing and logistics equipment technology, and particularly relates to warehousing systems and workstations. Background Technology

[0002] In warehousing and logistics, to improve work efficiency, save labor, and enhance safety, warehousing systems can include mobile carriers and automated handling equipment (AWTA). Mobile carriers can buffer items in batches, and AWTA moves these mobile carriers to improve the efficiency of a single item transfer. For example, when items need to be picked, the mobile carriers buffering the items to be picked can be moved to a picking workstation by AWTA. The picking workstation's loading and unloading equipment (such as robotic arms or robotic hands) removes the items to be picked from the mobile carriers, and then the picking is performed.

[0003] However, due to uneven ground, items can easily protrude from the mobile carrier during the movement of the automated handling equipment, and thus easily fall off the mobile carrier. Utility Model Content

[0004] This application provides a warehousing system and workstation that can detect items protruding from a movable carrier in a timely manner, allowing them to be pushed back into the movable carrier to prevent them from falling, or can detect positional deviations of the movable carrier in a timely manner, thereby adjusting the working status of the movable carrier or automated handling equipment.

[0005] One embodiment of this application provides a warehousing system, including:

[0006] A mobile vehicle configured to carry items;

[0007] The handling equipment is configured to handle mobile vehicles to move them to a target area.

[0008] The inspection agency and reference markers are located on one side of the moving path of the mobile vehicle towards the target area. The reference markers are located within the inspection area of ​​the inspection agency. During the movement of the mobile vehicle towards the target area, the cargo port of the mobile vehicle faces the inspection area.

[0009] The detection agency is configured to detect whether at least a portion of a reference marker is obscured in order to determine whether an item on a movable vehicle protrudes from the movable vehicle, or to determine whether there is a deviation in the pose of the movable vehicle.

[0010] Another embodiment of this application provides a workstation, including:

[0011] Loading and unloading equipment, with a docking area on one side, is configured to dock with a mobile vehicle located in the docking area to transfer goods between the mobile vehicle and the loading and unloading equipment;

[0012] The system includes an inspection mechanism and a reference marker, with the reference marker located on the movement path of the mobile vehicle towards the docking area and within the inspection area of ​​the inspection mechanism; during the movement of the mobile vehicle towards the docking area, the cargo port of the mobile vehicle faces the inspection area.

[0013] The detection agency is configured to detect whether at least a portion of a reference marker is obscured in order to determine whether an item on a movable vehicle protrudes from the movable vehicle, or to determine whether the movable vehicle is tilted.

[0014] The warehousing system and workstation provided in this application embodiment, by setting a detection mechanism and a reference mark beside the movement path of the mobile vehicle moving towards the target area, and by having the loading dock of the mobile vehicle facing the detection area during the movement of the mobile vehicle towards the target area, when an item on the mobile vehicle protrudes from the loading dock through the loading dock, at least a part of the item will enter the detection area of ​​the detection mechanism and block part of the reference mark. Thus, the detection mechanism can detect in real time whether at least a part of the reference mark is blocked, thereby determining whether the item on the mobile vehicle protrudes from the mobile vehicle, or whether the position of the mobile vehicle is skewed. For example, when a mobile carrier moves towards a target area under the transport of the handling equipment, it will pass by the detection mechanism and the reference mark. When the detection mechanism detects that at least part of the reference mark is blocked, it determines that the item on the mobile carrier is protruding from the loading dock or that the position of the mobile carrier has deviated. In this way, when the item protrudes from the mobile carrier, it can be pushed back into the mobile carrier in time to prevent the item from falling. Or, when the position of the mobile carrier deviates, the working state of the handling equipment can be adjusted in time so that the mobile carrier enters the target area in a preset position, thereby smoothly carrying out subsequent work. Attached Figure Description

[0015] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0016] Figure 1 This is a schematic diagram of a warehousing system provided in an embodiment of this application from a first-view perspective;

[0017] Figure 2 This is a schematic diagram of a warehousing system provided in an embodiment of this application from a second perspective.

[0018] Figure 3 This is a schematic diagram of a warehousing system provided in an embodiment of this application from a third-person perspective;

[0019] Figure 4 This is a schematic diagram of the movement path of a movable vehicle moving towards the docking area according to an embodiment of this application. Figure 1 ;

[0020] Figure 5 This is a schematic diagram of the movement path of a movable vehicle moving towards the docking area according to an embodiment of this application. Figure 2 ;

[0021] Figure 6 This is a schematic diagram of the movement path of a movable vehicle moving towards the docking area according to an embodiment of this application. Figure 3 ;

[0022] Figure 7 This is a schematic diagram of the movement path of a movable vehicle moving towards the docking area according to an embodiment of this application. Figure 4 ;

[0023] Figure 8 This is a schematic diagram of the structure of one of the detection mechanisms and reference marks provided in an embodiment of this application. Figure 1 ;

[0024] Figure 9 This is a schematic diagram of the structure of one of the detection mechanisms and reference marks provided in an embodiment of this application. Figure 2 ;

[0025] Figure 10a This is a schematic diagram of another detection mechanism and reference mark provided in an embodiment of this application. Figure 1 ;

[0026] Figure 10b This is a schematic diagram of another detection mechanism and reference mark provided in an embodiment of this application. Figure 2 ;

[0027] Figure 11 This is a schematic diagram of another detection mechanism and reference mark provided in an embodiment of this application;

[0028] Figure 12 This is a schematic diagram of the structure of the detection mechanism and positioning mechanism provided in one embodiment of this application. Figure 1 ;

[0029] Figure 13 This is a schematic diagram of the structure of the detection mechanism and positioning mechanism provided in one embodiment of this application. Figure 2 ;

[0030] Figure 14 This is a schematic diagram of another warehousing system provided in one embodiment of this application.

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

[0032] 10-Workstation; 20-Mobile vehicle; 30-Transportation equipment; 40-Dock equipment; 50-Running surface; 60-Limiting mechanism; 70-Target area;

[0033] 11-Loading and unloading equipment; 12-Connecting area; 13-Entry area; 14-Inspection mechanism; 15-Reference mark; 16-Working platform; 17-Positioning mechanism; 18-Mounting frame; 19-Positioning mark; 21-Cargo location; 21a-Cargo location opening;

[0034] 111--Pick-and-place mechanism; 112-Longitudinal beam; 113-Crossbeam; 141-Camera; 142-LiDAR; 143-Signal transmitting component; 151-Reference line; 152-Scanning surface; 153-Signal receiving component; 191-Visual mark; 192-Positioning surface; A-Working plane; B-Dating surface; C-Target plane. Detailed Implementation

[0035] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of this application.

[0036] It should be noted that many specific details are set forth in the following description in order to provide a full understanding of this application. However, this application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of this application is not limited to the specific embodiments disclosed below.

[0037] In the description of this application, it should be understood that the terms "upper," "lower," "horizontal," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. In this application, unless otherwise expressly specified and limited, the first feature being "upper" or "lower" than the second feature can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium.

[0038] In this application, unless otherwise expressly specified and limited, the terms "connected," "linked," and "fixed," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral unit; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. However, specifying a direct connection indicates that the two entities connected are not linked by an intermediate structure, but are simply connected to form a whole. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0039] In this application, the use of terms such as "first," "second," etc., is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features.

[0040] With the rapid development of e-commerce, it plays an increasingly important role in consumers' lives. In e-commerce, the storage and handling of goods plays a crucial role. To facilitate the storage and handling of goods, they are usually stored and handled in warehousing systems.

[0041] Figure 1 This is a first-view structural schematic diagram of a warehousing system provided in an embodiment of this application. Figure 2 This is a schematic diagram of a warehousing system provided in an embodiment of this application from a second-view perspective. Figure 3 This is a third-person view structural diagram of a warehousing system provided in an embodiment of this application. (Refer to...) Figures 1 to 3 As shown, to improve the efficiency of handling and picking goods, the warehousing system of this application embodiment includes a mobile carrier 20 and a handling device 30. The mobile carrier 20 is configured to carry goods. For example, the mobile carrier 20 can be a mobile shelf, and the mobile carrier 20 includes one or more storage locations 21 for carrying goods. For example, the mobile carrier 20 includes one or more rows of storage locations 21 arranged along the length direction, and each row of storage locations 21 includes one or more layers of storage locations 21 arranged along the height direction.

[0042] It should be noted that, referring to Figure 1 As shown, the length direction of the movable vehicle 20 can be referenced to the direction shown in x, the width direction can be referenced to the direction shown in y, and the height direction can be referenced to the direction shown in z.

[0043] In some examples, the movable carrier 20 may be provided with a storage location 21 along the width direction, that is, the movable carrier 20 is a single-row storage location 21, the storage location opening 21a of the single-row storage location 21 is located on one side of the movable carrier 20 and communicates with the storage location 21 to allow items to enter and exit the movable carrier 20.

[0044] In some examples, the movable carrier 20 may be provided with two or more storage locations 21 along the width direction. The two or more storage locations 21 may share a storage location opening 21a, that is, a storage location opening 21a is provided on one side of the movable carrier 20. The storage location opening 21a is used for the entry and exit of items on multiple storage locations 21 along the width direction. In other words, the movable carrier 20 is a multi-depth movable carrier 20.

[0045] In some examples, the movable carrier 20 may be provided with two storage locations 21 along its width, each storage location 21 having its own storage location opening 21a. That is, storage location openings 21a are provided on both sides of the movable carrier 20 along its width. One storage location opening 21a is connected to one of the two storage locations 21 to allow items to enter and exit that storage location 21, and the other storage location opening 21a is connected to the other storage location 21 to allow items to enter and exit that storage location 21. In this case, the movable carrier 20 is a back-to-back single-depth carrier.

[0046] Of course, in some examples, the movable vehicle 20 has cargo openings 21a on both sides, and the movable vehicle 20 is provided with two or more cargo positions 21 that communicate with each cargo opening 21a, so that the movable vehicle 20 is a back-to-back multi-deep vehicle.

[0047] By setting multiple storage locations 21 on the mobile carrier 20, the storage density of the mobile carrier 20 is increased, the number of items handled in a single operation is increased, and the handling efficiency of the warehousing system is improved.

[0048] It should be noted that items may include goods, containers containing goods such as bins, original boxes containing goods, parcels containing goods, single containers, etc. There are no restrictions on the type of items here.

[0049] The handling equipment 30 is configured to handle the mobile carrier 20 to change the position of the mobile carrier 20 within the warehousing system, for example, to move the mobile carrier 20 to the target area 70 of the warehousing system.

[0050] In some examples, the warehousing system may also include a docking device 40 that docks with a mobile carrier 20 to transfer items between the docking device 40 and the mobile carrier 20. The target area 70 includes a connection area 12 on one side of the docking device 40, and a handling device 30 can move the mobile carrier 20 from other areas of the warehousing system to the connection area 12 of the docking device 40 to dock with the mobile carrier 20, thereby transferring items between the docking device 40 and the mobile carrier 20.

[0051] It is understandable that the mobile vehicle 20 docks with the docking device 40 in the docking area 12. In other words, the docking device 40 can only successfully dock with the cargo position 21 on the mobile vehicle 20 when the mobile vehicle 20 is in the docking area 12, so as to realize the transfer of goods.

[0052] In some examples, the handling device 30 may be an Automated Guided Vehicle (AVG), such as a lifting handling robot, which can enter the bottom of the mobile carrier 20 and lift the mobile carrier 20 by raising the support structure of the lifting handling robot, so that the mobile carrier 20 is removed from the operating surface of the storage system (e.g., the ground, the raised platform surface), and then the lifting robot moves the mobile carrier 20 along the ground to dock with the docking device 40.

[0053] In other examples, the handling equipment 30 can also be a forklift, etc. The mobile carrier 20 can be moved by the forklift. The present application embodiment does not limit the structural type of the handling equipment 30, as long as it can ensure that the mobile carrier 20 can be moved smoothly to the docking area 12 of the docking equipment 40.

[0054] In some examples, the handling equipment 30 may also be a conveyor line for moving the movable carrier 20.

[0055] In some examples, the warehousing system may include workstation 10, and docking equipment 40 may be loading / unloading equipment 11 in workstation 10. Loading / unloading equipment 11 may remove items from mobile carrier 20 or place items in mobile carrier 20.

[0056] In some examples, workstation 10 may also include a work platform 16 located on one side of loading and unloading equipment 11, which is used for handling items by the operation object.

[0057] Reference Figure 1 As shown, the length direction of the loading and unloading equipment 11 can be referenced to the x-direction, the width direction can be referenced to the y-direction, and the height direction can be referenced to the z-direction. It should be noted that the loading and unloading equipment 11 takes the y-direction as its loading and unloading direction.

[0058] For example, the docking area 12 and the working platform 16 can be located on opposite sides of the loading / unloading equipment 11 along the loading / unloading direction. For instance, the docking area 12 can be located at the front of the loading / unloading equipment 11 along the loading / unloading direction, and the working platform 16 can be located at the rear of the loading / unloading equipment 11 along the loading / unloading direction. The loading / unloading equipment 11 separates the working platform 16 from the docking area 12, providing safety for operators or robotic arms on one side of the working platform 16. Of course, in some examples, it is not ruled out that the working platform 16 and the docking area 12 can be located on adjacent sides or the same side of the loading / unloading equipment 11.

[0059] The loading and unloading equipment 11 is configured to transfer items between the mobile carrier 20 and the work platform 16. For example, after the handling equipment 30 moves the mobile carrier 20 to the docking area 12 of the loading and unloading equipment 11, the loading and unloading equipment 11 can remove the items to be processed on the mobile carrier 20 and transfer them to the work platform 16 for the operator to process the items on the work platform 16.

[0060] For example, workstation 10 may include, but is not limited to, picking workstation 10, sorting workstation 10 or packing workstation 10. Accordingly, loading and unloading equipment 11 takes items out of mobile carrier 20 or places items in mobile carrier 20, which can realize the picking, sorting or packing of items.

[0061] In some examples, docking device 40 may be a conveyor line in workstation 10, and target area 70 may be a docking area on one side of the conveyor line. Handling device 30 may move movable carrier 20 to the docking area on one side of the conveyor line, where an operator or robotic arm may transfer items between movable carrier 20 and the conveyor line.

[0062] In some examples (not shown in the figures), the warehousing system may include a storage area with a fixed carrier for storing items. A pick-and-place device may be provided on one side of the fixed carrier, which can move along the storage location side of the fixed carrier to dock with any storage location of the fixed carrier, thereby removing items from any storage location of the fixed carrier and placing them in a movable location or storing items in any storage location of the fixed carrier.

[0063] In some examples, a passageway is provided on one side of the stationary vehicle, which can serve as a docking area for the pick-and-place device. The handling equipment 30 can move the movable vehicle 20 into the passageway and dock it with the pick-and-place device to transfer items between the movable vehicle 20 and the stationary vehicle via the pick-and-place device.

[0064] In some examples, a track is provided on the fixed carrier, and the pick-and-place device can travel along the track to move along the length of the fixed carrier. Exemplarily, the track can extend from one end of the fixed carrier along its length, allowing the pick-and-place device to run to that end of the fixed carrier along its length. In this example, the area at the end of the fixed carrier along its length can serve as the docking area for the pick-and-place device to dock with the movable carrier 20.

[0065] Understandably, in this example, docking device 40 is a pick-and-place device, and the end area of ​​the tunnel or fixed vehicle along the length direction can be used as the docking area of ​​the pick-and-place device.

[0066] In some examples, the pick-and-place device may include a lifting mechanism and a pick-and-place mechanism mounted on the lifting mechanism. The lifting mechanism may be suspended from a track on one side of the stationary carrier by a traveling component, such as drive wheels, and may travel along the track to move the pick-and-place mechanism along the length of the stationary carrier, thereby switching between different rows of storage locations on the stationary carrier. The pick-and-place mechanism may move up and down along the lifting mechanism so that it may move along the height of the stationary carrier, thereby switching between different levels of storage locations on the stationary carrier.

[0067] In some examples, the retrieval and placement devices in the storage area can also enable cargo handling between fixed and mobile vehicles.

[0068] In some examples, additional sorting equipment can be installed within the storage area. Temporary storage shelves can be provided in the storage area, located on one side of the sorting equipment. The other side of the sorting equipment can serve as a receiving area. Handling equipment can move movable vehicles 20 to the receiving area and dock with the sorting equipment to transfer items between the temporary storage shelves and the movable vehicles, thus completing the sorting operation. In this example, the target area is the receiving area on one side of the sorting equipment in the storage area, and the docking equipment is the sorting equipment itself.

[0069] In some examples, the tallying equipment can be a robotic arm or a loading and unloading device similar to a workstation; the structure of the tallying equipment is not limited here.

[0070] In some examples, workstation 10 or hub station is equipped with sorting equipment and temporary storage racks. The temporary storage racks are located on one side of the sorting equipment, and the other side of the sorting equipment can be a receiving area. Handling equipment can move movable vehicles 20 to the receiving area and dock with the sorting equipment to transfer items between the temporary storage racks and the movable vehicles, thus completing the sorting operation. In this example, the target area is the receiving area on one side of the sorting equipment in the workstation or hub station, and the docking equipment is the sorting equipment. The sorting equipment in workstation 10 can be the loading and unloading equipment 11 of workstation 10, or it can be an additionally installed sorting robotic arm, etc.

[0071] In actual operation, when the handling equipment 30 carries the movable carrier 20 on the operating surface 50 (e.g., the ground) of the storage system, the items may shake on the storage position 21 of the movable carrier 20 due to unevenness of the operating surface 50, vibration during the movement of the movable carrier 20, or the inertia of the movable carrier 20. In some cases, the items may even protrude from the storage position opening 21a of the movable carrier 20, which may cause the items to fall off the movable carrier 20.

[0072] In some examples, when the handling equipment 30 is a conveyor line, the position of the movable carrier 20 or the items on the movable carrier 20 may shake due to unevenness of the conveyor line, causing the items to bulge out of the movable carrier 20 or even fall off.

[0073] In some examples, during the movement of the transport equipment 30 carrying the movable carrier 20, the position of the movable carrier 20 on the transport equipment 30 may be deviated due to unevenness of the running surface 50. This may cause the movable carrier 20 to fall off the transport equipment 30, or the movable carrier 20 to be unable to carry out subsequent work smoothly after reaching the target area 70.

[0074] Among them, the deviation in the position of the movable carrier 20 on the handling equipment 30 includes the parallel movement of the movable carrier 20 or the tilting of the movable carrier 20.

[0075] In some examples, when the movable carrier 20 carrying an item arrives at the docking area 12 of the docking device 40, the item protruding from the movable carrier 20 or the movable carrier 20 with a misaligned position may interfere with the docking device 40, thereby damaging the item or the docking device 40 or affecting the normal movement of the docking device 40. Additionally, the movable carrier 20 with a misaligned position may be unable to dock properly with the docking device 40. (See reference...) Figure 1 As shown, the following docking device 40 is an example of the loading and unloading device 11 of the workstation 10. In some examples, the loading and unloading device 11 of the workstation 10 may include a crossbeam 113, a longitudinal beam 112 and a pick-and-place mechanism 111. The pick-and-place mechanism 111 is set on the longitudinal beam 112 and can move vertically along the longitudinal beam 112. The longitudinal beam 112 is slidably connected to the crossbeam 113, that is, the longitudinal beam 112 can move along the length direction of the crossbeam 113, thereby driving the pick-and-place mechanism 111 to move in the length direction.

[0076] In other words, the pick-and-place mechanism 111 can be positioned on the working plane of the workstation 10 via the longitudinal beam 112 and the transverse beam 113 (in some examples, this can be understood as the plane defined by the longitudinal beam 112 and the transverse beam 113, or, referring to...) Figure 2 and Figure 3The working plane can be the plane marked by the dashed line A (that is, the plane in which the loading and unloading equipment 11 moves toward the docking area 12) to dock with the movable carrier 20 parked on one side of the workstation 10. The picking and placing mechanism 111 transfers the target items on the movable carrier 20 to the workstation 10 for picking or packing, etc. Alternatively, the picking and placing mechanism 111 transfers the items on the working platform 16 to the movable carrier 20, and the movable carrier 20 is transported to the storage area by the handling equipment 30. The items on the movable carrier 20 can be transferred to the fixed carrier for storage by the picking and placing device in the storage area.

[0077] Of course, in some examples, the mobile vehicle 20 can also store items directly without having to transfer them to a stationary vehicle.

[0078] In some examples, the loading and unloading device 11 may include a robotic arm that drives the pick-and-place mechanism 111 to move freely within the working plane A; for example, driven by the robotic arm, it moves in the height and length directions, and the plane formed by the height and length directions of the pick-and-place mechanism 111 is the working plane A.

[0079] In some optional examples, the robotic arm can be fixedly mounted on workstation 10; or, in some examples, the robotic arm can also be fixedly mounted on the ground. Alternatively, in other examples, the robotic arm can be connected to the ground via components such as slide rails or tracks, i.e., the robotic arm can be mounted on a slide rail. Here, the fixing of the robotic arm to the ground can be a detachable fixed connection, and in some examples, it can also be a non-detachable fixed connection.

[0080] Reference Figure 2 As shown, the mobile carrier 20 typically has multiple storage locations 21, each of which may store different target items. For different target items, the pick-and-place mechanism 111 moves vertically along the longitudinal beam 112 or horizontally along the transverse beam 113 via the longitudinal beam 112. That is, the pick-and-place mechanism 111 can move at least within the working plane A of the workstation 10 and reach the storage location 21 where the target item is located, thereby retrieving the target item.

[0081] In some examples, refer to Figure 3 As shown, the movable carrier 20 moves under the transport of the handling equipment 30, generally along... Figure 3 The movement path (indicated by the arrow) is used to move the movable vehicle 20.

[0082] Figure 4 This is a schematic diagram of the movement path of a movable vehicle moving towards the docking area according to an embodiment of this application. Figure 1 . Reference Figure 3 and Figure 4 As shown, in some examples, the conveying device 30 can move along... Figure 3and Figure 4 The movable carrier 20 is moved toward the workstation 10 (i.e., toward the loading / unloading equipment 11) in the direction shown in s1. After the movable carrier 20 has moved to a preset distance from the workstation 10, the handling equipment 30 can move the movable carrier 20 to the docking area 12 in the direction shown in s2. In the docking area 12, after the movable carrier 20 completes the docking with the loading / unloading equipment 11, it can exit the docking area 12 in the direction shown in s3.

[0083] Figure 5 This is a schematic diagram of the movement path of a movable vehicle moving towards the docking area according to an embodiment of this application. Figure 2 , Figure 6 This is a schematic diagram of the movement path of a movable vehicle moving towards the docking area according to an embodiment of this application. Figure 3 . Reference Figure 5 and Figure 6 As shown, in some examples, the transport device 30 can directly reach the first end of the workstation 10 from a distance along the direction shown in s2, and then move from the first end of the workstation 10 to the docking area 12.

[0084] Reference Figure 5 As shown, in this example, after the movable vehicle 20 completes the docking with the loading and unloading equipment 11 in the docking area 12, it can exit the docking area 12 in the direction shown by s3.

[0085] Reference Figure 6 As shown, in this example, after the movable vehicle 20 completes the docking with the loading and unloading equipment 11 in the docking area 12, it can exit the docking area 12 from the second end of the workstation 10 along the direction shown in s2. It can be understood that the first end and the second end of the workstation 10 are the two ends of the workstation 10 opposite each other along the length direction x.

[0086] Figure 7 This is a schematic diagram of the movement path of a movable vehicle moving towards the docking area according to an embodiment of this application. Figure 4 . Reference Figure 7As shown, in some examples, the handling equipment 30 can move to the docking area 12 of the loading / unloading equipment 11 in an "S" shaped movement path. For example, the handling equipment 30 can first move in the direction shown in s4 (e.g., parallel to the length direction of the workstation 10), then move a certain distance towards the workstation 10 in the direction shown in s5, then move a certain distance parallel to the length direction of the workstation 10 in the direction shown in s6, and then move the movable carrier 20 towards the workstation 10 in the direction shown in s3. After the movable carrier 20 has moved to a preset distance from the workstation 10, the handling equipment 30 can move the movable carrier 20 to the docking area 12 in the direction shown in s2. In the docking area 12, after the movable carrier 20 completes the docking with the loading / unloading equipment 11, it can exit the docking area 12 from the other end of the workstation 10 in the direction shown in s2.

[0087] This "S"-shaped path allows the handling equipment 30 to move flexibly in narrow or congested environments, avoiding collisions with workstations 10 or other equipment. Upon reaching the docking area 12, the handling equipment 30 can precisely dock with the movable carrier 20 for loading and unloading operations. This flexible movement path selection improves the overall efficiency and safety of the warehousing system.

[0088] This application embodiment does not restrict the direction of the movement path of the transport equipment 30 driving the movable carrier 20 to the docking area 12 of the workstation 10, as long as the movable carrier 20 can eventually reach the docking area 12 of the workstation 10.

[0089] In some examples, as the mobile carrier 20 moves along the moving path toward the docking area 12 under the drive of the handling equipment 30, the cargo opening 21a of the mobile carrier 20 can always face the loading and unloading equipment 11 of the workstation 10. When it is necessary to change the direction of the moving path of the handling equipment 30, the chassis of the handling equipment 30 does not need to turn. It is only necessary to rotate the wheel system on the chassis to change the forward direction, thereby improving the stability of the mobile carrier 20 on the handling equipment 30.

[0090] In the receiving area 12, a portion of the picking and placing mechanism 111 (e.g., suction cup, gripping fork, or telescopic fork) can be positioned along the longitudinal direction (i.e., the direction of picking up and returning items, see reference). Figure 1 (As shown in the y-direction) docks with the target item on the mobile vehicle 20, thereby transporting the target item to the work platform 16 of the workstation 10; or, the pick-and-place mechanism 111 moves the target item on the work platform 16 to the mobile vehicle 20.

[0091] After the cargo handling is completed, the handling equipment 30 moves the movable carrier 20 along... Figures 3 to 5 The direction shown in s3, or Figure 6 and Figure 7The mobile vehicle 20 can leave the docking area 12 in the direction shown in s2. For example, it can be moved to the waiting area in the storage system to wait for the next picking.

[0092] Understandable, Figure 1 and Figure 3 As shown, when the handling equipment 30 moves the movable carrier 20 to the receiving area 12, the pick-and-place mechanism 111 needs to move different target items from different storage positions 21 of the movable carrier 20. That is, the pick-and-place mechanism 111 needs to move within the working plane A constructed by the longitudinal beams 112 and the transverse beams 113. During the movement of the pick-and-place mechanism 111 within the working plane A, there should be no obstruction from any items; generally, a certain distance is required between the movable carrier 20 and the target items carried on the movable carrier 20 and the working plane A.

[0093] In other words, the handling equipment 30 needs to move the movable carrier 20 to a safe distance range in order to meet the normal handling of the target item by the pick-and-place mechanism 111, referring to... Figure 3 As shown, the plane indicated by dashed line B can be used to represent the end face (hereinafter referred to as docking face B) where the cargo port 21a of the movable carrier 20 is located. Figure 3 The distance range shown between A and B can be represented as the distance range that the movable vehicle 20 or the target item needs to maintain with the working plane A. It can be understood that when the movable vehicle 20 or the target item is in... Figure 3 When the distance is outside the range indicated by the two dashed lines, the distance between the movable carrier 20 or the target item and the working plane A is too large, which may cause the pick-and-place mechanism 111 to have difficulty docking with the target storage location 21 of the movable carrier 20, resulting in pick-up failure. Normally, when the distance between the movable carrier 20 or the target item and the working plane A is too large, the movable carrier 20 can be moved by a handling robot to bring it within a suitable distance from the working plane A.

[0094] In some examples, the target item on the movable carrier 20 may protrude from the end face (facing the working plane A) of the movable carrier 20 due to uneven ground. This may result in the target item being too close to the working plane A, or even intersecting with the working plane A; when the pick-up and place mechanism 111 moves within the working plane A, there is a risk of interference and collision with the target item, which may cause damage to the pick-up and place mechanism 111 or the target item.

[0095] The warehousing system and workstation 10 provided in this application embodiment, by setting a detection mechanism 14 and a reference mark 15 beside the movement path of the movable carrier 20 towards the receiving area 12, and by having the storage opening 21a of the movable carrier 20 face the detection area during the movement of the movable carrier 20 towards the receiving area 12, when an item on the movable carrier 20 protrudes from the movable carrier 20 through the storage opening 21a, at least a portion of the item will enter the detection area of ​​the detection mechanism 14 and partially obscure the reference mark 15. Thus, the detection mechanism 14 can detect in real time whether at least a portion of the reference mark 15 is obscured, thereby determining whether an item on the movable carrier 20 protrudes from the movable carrier 20. For example, it can... During the movement of the mobile carrier 20 towards the docking area 12 of the docking device 40 under the transport of the transport equipment 30, it will pass by the detection mechanism 14 and the reference mark 15. When the detection mechanism 14 detects that at least part of the reference mark 15 is blocked, it determines that the item on the mobile carrier 20 protrudes from the mobile carrier 20 through the loading port 21a. This allows the item to be pushed back into the mobile carrier 20 in time to prevent it from falling out, or to prevent the protruding item from interfering with the docking device 40 after the mobile carrier 20 enters the docking area 12, which could damage the item or the docking device 40, or cause the docking device 40 to malfunction. This improves the docking safety and success rate between the mobile carrier 20 and the docking device 40.

[0096] The structure of the warehousing system and workstation 10 provided in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0097] Figure 8 This is a schematic diagram of the structure of one of the detection mechanisms and reference marks provided in an embodiment of this application. Figure 1 , Figure 9 This is a schematic diagram of the structure of one of the detection mechanisms and reference marks provided in an embodiment of this application. Figure 2 . Reference Figures 1 to 9 As shown, in some examples, the warehousing system, such as the workstation, also includes a testing unit 14.

[0098] In some examples, the warehousing system, such as the workstation, also includes a reference marker 15, which is set on one side of the movement path of the mobile vehicle 20 toward the target area 70. The reference marker 15 is located within the detection area of ​​the detection mechanism 14, and the storage port 21a of the mobile vehicle 20 faces the detection area as the mobile vehicle 20 moves toward the receiving area 12.

[0099] The detection mechanism 14 of this application embodiment is configured to detect whether at least a portion of the reference mark 15 is obscured in order to determine whether an article on the movable carrier 20 protrudes from the movable carrier 20, or to determine whether the pose of the movable carrier 20 has deviated.

[0100] It should be noted that the movement path of the mobile vehicle 20 towards the docking area 12 can be understood as the projected area of ​​the mobile vehicle 20 on the operating surface 50 (e.g., the ground) during its movement. This can be understood as follows: by setting markers (e.g., QR codes or graphics) on the ground to pre-plan the path, the transport equipment 30 identifies the markers, allowing the mobile vehicle 20 to move along the pre-planned path. (Refer to...) Figures 4 to 7 The shaded area in the image represents the movement path of the movable vehicle (i.e., its projection area on the ground). One side of the movement path can be understood as one side of the projection area.

[0101] Reference Figure 3 As shown, in some examples, the loading port 21a of the movable carrier 20 is located on the docking surface B of the movable carrier 20. The loading port 21a of the movable carrier 20 facing the detection area of ​​the detection mechanism 14 means that the loading port 21a of the movable carrier 20 is located outside the detection area of ​​the detection mechanism 14 and is arranged side by side with the detection area in the direction of item entry and exit. In this way, when the item protrudes from the loading port 21a, the item can enter the detection area and block the reference mark 15.

[0102] In some examples, in the first direction, the detection mechanism 14 and the reference mark 15 are located on the side of the docking device 40 facing the docking area 12, and the distance between them and the docking device 40 in the direction of object retrieval of the docking device 40 is greater than or equal to zero.

[0103] The first direction is parallel to the running surface 50 of the movable carrier 20 and intersects with the loading and unloading direction of the docking device 40. For example, the first direction is the length direction of the docking device 40 (e.g., loading and unloading device 11). Figures 4 to 7 The direction indicated by s2 or x.

[0104] Reference Figure 3 and Figure 4 As shown, for example, when the movable carrier 20 moves along s1 to a preset distance from the working plane A of the docking device 40, and then moves along s2 to the docking area 12, the reference mark 15 can be set on one side of the end of the movement path shown in the direction of s1. For example, the detection mechanism 14 and the reference mark 15 can be set on the side of the working plane A of the loading and unloading device 11 facing the entry area 13 of the movable carrier 20.

[0105] The entry zone 13 refers to the area where the movable vehicle 20 is located when it moves along s1 to a preset distance from the working plane A of the docking equipment 40. The entry zone 13 and the docking zone 12 are arranged side by side along the length of the loading and unloading equipment 11.

[0106] Reference Figure 5 and Figure 6As shown, for example, when the mobile carrier 20 moves from a distance to the docking area 12 of the loading and unloading equipment 11 only along the direction shown in s2, the detection mechanism 14 and the reference mark 15 can be set on the side of the movement path along the direction of s2 towards the workstation 10. For example, the detection mechanism 14 and the reference mark 15 can be set at any position along the movement path along the direction of s2, that is, the detection mechanism 14 and the loading and unloading equipment 11 are arranged side by side along the direction shown in s2. For example, it can be set on the side of the loading and unloading equipment 11 along the length direction and at a position far away from the loading and unloading equipment 11, or it can be set at a position close to the loading and unloading equipment 11, as long as it is ensured that the cargo port 21 of the mobile carrier 20 faces the detection area of ​​the detection mechanism 14 during the movement of the mobile carrier 20 towards the docking area 12 along the direction shown in s2.

[0107] Reference Figure 3 As shown in the example above, in the direction of picking up and returning items (i.e., the y-direction) of the docking device 40, the distance between the reference mark 15 and the docking device 40 (e.g., the working plane A of the loading and unloading device 11) can be zero. This ensures that when the detection mechanism 14 detects that the reference mark 15 is obstructed, it can determine that the item protrudes from the movable carrier 20 and will interfere with the loading and unloading device 11. On the other hand, it also makes the spatial layout of the detection mechanism 14, the reference mark 15 and the loading and unloading device 11 more compact, thereby reducing the spatial size of the entire workstation 10 and reserving suitable space for other areas of the warehousing system to set up the movement path of other structures or handling equipment 30.

[0108] Figure 9 This is a schematic diagram of the structure of one of the detection mechanisms and reference marks provided in an embodiment of this application. Figure 2 . Reference Figure 9 As shown, in some examples, the distance between the reference mark 15 and the docking device 40 (e.g., the working plane A of the loading and unloading device 11) in the retrieval direction of the docking device 40 (i.e., the y-direction) can also be greater than zero. This provides a suitable safety distance for the movable carrier 20. For example, when the detection mechanism 14 detects that the reference mark 15 is blocked, the item protruding from the movable carrier 20 may not interfere with the loading and unloading device 11. This can promptly remind the operator to push the item back into the movable carrier 20, greatly reducing the safety hazards caused by the protruding item.

[0109] Reference Figure 7As shown, for example, when the mobile vehicle 20 moves toward the docking area 12 along the moving path directions of s4, s5, s6, s1 and s2, the detection mechanism 14 and the reference mark 15 can be set on one side of the projection area (the side facing the workstation 10) when the mobile vehicle 20 moves in any direction of s3, s4, s5, s1 and s2. For example, they can be set on one side of the projection area when the mobile vehicle 20 moves in the s3 direction.

[0110] It can be understood that the detection area of ​​the detection mechanism 14 refers to the spatial area that can be covered by the detection signal emitted by the detection mechanism 14. For example, the detection area of ​​the detection mechanism 14 can be the spatial area between the detection surface of the detection mechanism 14 and the reference mark 15.

[0111] By orienting the loading port 21a of the movable carrier 20 toward the detection area of ​​the detection mechanism 14, the direction in which the item on the movable carrier 20 protrudes outward through the loading port 21a is toward the direction of movement toward the detection area. In this way, when the item protrudes beyond the movable carrier 20 to a certain extent, it can enter the detection area of ​​the detection mechanism 14 and block the reference mark 15. Thus, when the detection mechanism 14 detects that at least part of the reference mark 15 is blocked, it determines that the item protrudes beyond the movable carrier 20.

[0112] In some examples, when the pose of the movable carrier 20 deviates on the handling device 30 and the direction of the deviation is toward the detection area, at least a portion of the movable carrier 20 may obscure the reference mark 15, thereby determining that the pose of the movable carrier 20 has deviated when the detection mechanism 14 detects that at least a portion of the reference mark 15 is obscured.

[0113] In this way, when an item protrudes from the movable carrier 20, it can be pushed back into the movable carrier 20 in time to prevent it from falling. For example, the item can be pushed back into the movable carrier 20 by a worker, or the anti-protrusion mechanism can be triggered to push the protruding item back into the movable carrier 20.

[0114] When the position of the movable vehicle 20 deviates, the position of the movable vehicle 20 or the working state of the handling equipment 30 can be adjusted in time so that the movable vehicle 20 enters the target area 70 in a preset position, thereby smoothly carrying out subsequent work. It can also prevent the movable vehicle 20 from falling off the handling equipment 30 due to the position deviation.

[0115] For example, when the movable carrier 20 tilts at an angle toward the loading dock 21a, the movement direction of the handling equipment 30 can be adjusted so that when the movable carrier 20 reaches the target area 70 (e.g., the docking area 12 of the docking equipment 40), the loading dock 21a is directly opposite the docking equipment 40, thereby enabling the docking equipment 40 to dock smoothly with the movable carrier 20.

[0116] For example, when the movable carrier 20 moves in the direction of the loading dock 21a, the displacement of the handling equipment 30 can be reduced, so that when the movable carrier 20 reaches the target area 70 (e.g., the docking area 12 of the docking equipment 40), the distance between the handling equipment 30 and the docking equipment 40 increases, thereby placing the loading dock 21a of the movable carrier 20 in a dockable position with the docking equipment 40, so that the docking equipment 40 and the movable carrier 20 can dock smoothly.

[0117] In some examples, when the overall weight of the movable vehicle 20 and the items is within a suitable range, the position of the movable vehicle 20 can also be manually adjusted to adjust the position of the movable vehicle 20 to a preset position.

[0118] It should be noted that the preset pose of the mobile vehicle 20 refers to the pose in which the mobile vehicle 20 can work smoothly in the target area 70.

[0119] In some examples, the detection mechanism 14 can be positioned above the reference mark 15, with the detection surface of the detection mechanism 14 facing downwards. This reduces the degree of contamination of the detection surface of the detection mechanism 14 by environmental stains such as dust, thereby improving the detection accuracy of the detection mechanism 14.

[0120] In some examples, the detection mechanism 14 and the reference mark 15 may be located on one side of the docking device 40 along the first direction (i.e., the direction shown in s1), for example, the reference mark 15. Figures 3 to 6 As shown, reference mark 15 and docking device 40 are arranged along the first direction.

[0121] During the process of the movable carrier 20 moving along the first direction to the docking area 12 via the reference mark 15, the distance between the movable carrier 20 and the reference mark 15 along the retrieval and return direction of the docking device 40 is less than or equal to the distance between the movable carrier 20 and the docking device 40.

[0122] Reference Figure 9 As shown, it can be understood that during the process of the movable vehicle 20 moving along the first direction to the docking area 12 via the reference mark 15, the distance between the movable vehicle 20 and the reference mark 15 (referred to as the first distance, H1) determines that when the length of the item protruding from the movable vehicle 20 is greater than or equal to H1, the item can be detected by the detection mechanism 14.

[0123] In some examples, the first distance can be zero, so that the item can be located in the detection area of ​​the detection mechanism 14 at any length protruding from the movable carrier 20, and the reference mark 15 can be blocked to improve the detection accuracy of the detection mechanism 14. This allows the detection mechanism 14 to detect the item in time when it protrudes a small length from the movable carrier 20, so that the item can be pushed back to the movable carrier 20 in time.

[0124] In some examples, the first distance can be greater than zero. In this way, the item can enter the detection area of ​​the detection mechanism 14 when it protrudes beyond the movable carrier 20 by a preset length greater than zero and obstructs the reference mark 15. This way, when the item protrudes beyond the movable carrier 20 by a small length and will not cause the item to fall or interfere with the loading and unloading equipment 11 of the workstation 10, the detection mechanism 14 will not be able to detect the protrusion and will not need to intervene in the item. Only when the item protrudes beyond the preset length of the movable carrier 20 and will cause the item to fall or interfere with the loading and unloading equipment 11 of the workstation 10, can the detection mechanism 14 detect the protrusion and intervene in the item, such as pushing the item back to the movable carrier 20. This can improve the efficiency of docking between the movable carrier 20 and the loading and unloading equipment 11 and the transfer of items.

[0125] Understandably, the aforementioned preset length (i.e., the first distance) depends on the distance between the mobile vehicle 20 and the loading / unloading equipment 11 when the mobile vehicle 20 is in the docking area 12, that is, the distance between the end face (dating surface B) where the cargo port 21a of the mobile vehicle 20 is located and the working plane A of the workstation 10 (hereinafter referred to as the second distance, see...). Figure 9 (As shown in H2). When the second distance is large, the preset length can be appropriately increased; when the distance between the docking surface B and the working plane A of the workstation 10 is small, the preset length can be appropriately decreased.

[0126] For example, the preset length (i.e., the first distance) can be equal to the second distance. Thus, when the detection mechanism 14 detects that at least part of the reference mark 15 is blocked, the item on the movable carrier 20 protrudes beyond the preset length of the movable carrier 20. This indicates that when the movable carrier 20 reaches the docking area 12, the item on the movable carrier 20 will extend to the working plane A of the workstation 10 and collide with the pick-and-place mechanism 111 of the loading and unloading equipment 11. This requires the item to be pushed back into the storage position 21 of the movable carrier 20 in a timely manner.

[0127] Of course, in order to improve the handling of the movable carrier 20 and the safety of the workstation 10, the preset length can be less than the second distance, so that when the item protrudes from the movable carrier 20 but has not yet reached the point of interfering with the working plane A, it can be detected in time by the detection mechanism 14, thereby reducing the detection accuracy requirements of the detection mechanism 14.

[0128] In addition, before the movable carrier 20 reaches the docking area 12, the whole unit moves slightly away from the reference mark 15 on the handling equipment 30, or the handling equipment 30 causes the movable carrier 20 to deviate away from the reference mark 15 in the movement path, but the length of the item protruding from the movable carrier 20 is greater than the preset length, for example, greater than or equal to the second distance, but the detection mechanism 14 has not yet detected that the reference mark 15 is blocked, so when the movable carrier 20 reaches the docking area 12, the item will interfere with the loading and unloading equipment 11.

[0129] By setting the preset length to be less than the second distance, a certain deviation space can be reserved for the slight tilt of the movable carrier 20. When the detection mechanism 14 does not detect that the reference mark 15 is blocked, it can also be ensured that the item will not interfere with the loading and unloading equipment 11 when the length protruding from the movable carrier 20 is greater than the preset length.

[0130] Once the preset length is determined, the setting position of the reference mark 15 can be determined, so that when the item protrudes beyond the preset length from the end face of the movable carrier 20, the reference mark 15 can be blocked and thus detected by the detection mechanism 14.

[0131] Among them, the width of the movable carrier 20 when it is carried on the handling equipment 30 is a fixed parameter. After the movement path is determined, the length and width of the projection area of ​​the movable carrier 20 on the movement path are also determined. Then the edge of the projection area is a fixed parameter. Thus, when the reference mark 15 is set on one side of a certain movement path, the first distance can be understood as the distance between the edge of the projection area corresponding to that movement path and the reference mark 15. Therefore, when setting the reference mark 15, the setting position of the reference mark 15 can be determined based on the width and preset length of the movable carrier 20 when it is carried on the handling equipment 30.

[0132] For example, when reference mark 15 is set on one side of the movement path shown in s2, the distance between reference mark 15 and the projection area of ​​the movable vehicle 20 moving in the direction shown in s1 is equal to a preset length.

[0133] In some examples, for the docking safety between the movable carrier 20 and the docking device 40, the first distance can be less than or equal to the distance between the reference mark 15 and the working plane A. For example, when the first distance is less than the distance between the reference mark 15 and the working plane A, if the item protrudes beyond the movable carrier 20 by the first distance, it may obscure the reference mark 15 and be detected by the detection mechanism 14. Since the distance between the reference mark 15 and the working plane A is greater than the first distance, the item can be detected in time at a safe distance from the working plane A, and thus the item can be pushed back to the movable carrier 20 in time. In addition, a certain deviation space can be reserved for the slight tilt of the movable carrier 20. When the detection mechanism 14 does not detect that the reference mark 15 is obscured, it can also be ensured that even if the length of the item protruding beyond the movable carrier 20 is greater than the first distance, it will not interfere with the loading and unloading device 11.

[0134] The following example illustrates the process of detecting protrusions of items on the mobile vehicle 20, taking the example of the mobile vehicle 20 moving towards the docking area 12 along the movement paths s4, s5, s6, s1, and s2, with the detection mechanism 14 and reference mark 15 positioned on one side of the projection area when the mobile vehicle 20 moves in the s4 direction:

[0135] During the movement of the movable carrier 20 in the direction shown in s4 under the transport of the transport equipment 30, it will pass by the detection mechanism 14 and the reference mark 15, with the loading port 21a of the movable carrier 20 facing the detection area of ​​the detection mechanism 14. When the detection mechanism 14 detects that at least part of the reference mark 15 is blocked, it determines that the item on the movable carrier 20 is protruding from the movable carrier 20 through the loading port 21a. In this way, the item can be pushed back into the movable carrier 20 in time. For example, when the reference mark 15 is detected to be at least partially blocked, the transport equipment 30 can pause its movement or issue an alarm signal to remind the operator to push the item back into the movable carrier 20 in time to avoid the item falling, or to prevent the protruding item from interfering with the docking equipment 40 after the movable carrier 20 enters the docking area 12, causing damage to the item or the docking equipment 40, or causing the docking equipment 40 to malfunction. This can improve the docking safety and success rate between the movable carrier 20 and the docking equipment 40.

[0136] Understandably, as long as the testing agency 14 detects that the reference mark 15 is damaged, regardless of the extent of the damage to the reference mark 15, it can be determined that the reference mark 15 is obscured by an object protruding from the movable vehicle 20.

[0137] In some examples, multiple detection units 14 can be provided, and correspondingly, multiple reference markers 15 can be provided. For example, reference... Figure 5As shown, when the mobile vehicle can move from both ends of the workstation 10 to the docking area 12 along the moving path shown in s2, two detection mechanisms 14 can be provided, and correspondingly, two reference marks 15 can be provided. For example, a detection mechanism 14 and a reference mark 15 can be provided at the first end of the workstation 10 along the length direction to detect the mobile vehicle 20 entering the docking area 12 from the first end of the workstation 10 along the s2 direction. A detection mechanism 14 and a reference mark 15 can also be provided at the second end of the workstation 10 along the length direction to detect the mobile vehicle 20 entering the docking area 12 from the second end of the workstation 10 along the s2 direction.

[0138] In some examples, multiple detection units 14 may also be spaced apart along the extension direction of one of the movement paths to detect object protrusions multiple times along the movement path of the movable vehicle 20. For example, see reference Figure 7 As shown, when the movement path of the movable vehicle 20 is an "S" shaped structure, a detection mechanism 14 and a reference mark 15 can be set on one side of the movement path in the s4 direction, so that when the movable vehicle 20 travels through the movement path segment shown in s4, the detection mechanism 14 can detect the protrusion of the items on the movable vehicle 20. Additionally, a detection mechanism 14 and a reference mark 15 can be set on one side of the movement path in the s2 direction, so that when the movable vehicle 20 travels through the movement path segment shown in s2, the detection mechanism 14 can detect the protrusion of the items on the movable vehicle 20.

[0139] In some examples, the detection mechanism 14 can be in a continuous detection state while the handling equipment 30 moves the mobile carrier 20, so as to ensure that the detection mechanism 14 can detect in a timely manner whether there are protruding items in each transported mobile carrier 20.

[0140] In other examples, the detection mechanism 14 can be in a detection state when the movable carrier 20 moves to the movement path segment corresponding to the reference mark 15. For example, if the reference mark 15 is located on one side of the movement path shown in s2, when the movable carrier 20 moves to the movement path segment shown in s2, the handling device 30 can send an activation signal to the detection mechanism 14, and the detection mechanism 14 can start acquiring information about the reference mark 15 based on the activation signal to determine whether the reference mark 15 is obstructed.

[0141] Of course, a position detector can also be set on the movement path shown in s2. When the position detector detects the movable vehicle 20, it sends an activation signal to the detection mechanism 14. The detection mechanism 14 starts to acquire information about the reference mark 15 based on the activation signal to determine whether the reference mark 15 is obscured.

[0142] In some examples, once the movable carrier 20 moves to one side of the detection mechanism 14, it can pause its movement and wait for a preset time until the detection mechanism 14 completes its detection before resuming its movement. The preset waiting time can be determined based on the mechanism parameters of the detection mechanism 14 itself, and is not limited here.

[0143] In other examples, the movable vehicle 20 does not need to stop when it moves to the side of the detection mechanism 14, and continues to move. The detection mechanism 14 detects the occlusion of the reference mark 15 during the movement of the movable vehicle 20, so as to improve the working efficiency of the movable vehicle 20.

[0144] Considering that protruding items may be located on different layers of the same column in the movable vehicle 20, the detection process can be carried out in multiple rounds until all protruding items are pushed back and no longer obstruct the view.

[0145] For example, the inspection agency 14 performs a first inspection on a movable carrier 20. If it detects an item protruding from a certain column, it pushes that column of items back. Then, the inspection agency 14 continues to perform a second inspection on the movable carrier 20. If it detects an item protruding from the same column, it pushes that column of items back. Then, the inspection agency 14 continues to perform a third inspection on the movable carrier 20. When no item protrusion is detected, the movable carrier 20 can move to the target area 70 (e.g., the connecting area 12). In this way, it can be ensured that the protrusion of items in each layer of the movable carrier 20 is detected and promptly pushed back into the movable carrier 20.

[0146] The installation height of the detection mechanism 14 and the reference mark 15 relative to the movable vehicle 20 can be set according to actual needs.

[0147] Reference Figure 8 As shown, in some examples, the detection mechanism 14 can be set higher than or level with the top of the top shelf 21 of the target movable carrier 20, and the reference mark 15 can be lower than or level with the bottom of the lowest shelf 21 in the target movable carrier 20. In this way, when the movable carrier 20 passes one side of the detection area driven by the handling equipment 30, the detection mechanism 14 can detect any items protruding from the movable carrier 20 along the entire height direction. This enables comprehensive detection of the movable carrier 20 and effectively prevents safety hazards caused by items protruding from the movable carrier 20 at any height.

[0148] It should be noted that the target mobile vehicle 20 refers to the mobile vehicle 20 located on the handling equipment 30.

[0149] The top of the top shelf 21 of the target mobile vehicle 20 refers to the top of the space in the top shelf 21 of the target mobile vehicle 20 that can accommodate items, for example, the top of the items when items are placed on the top shelf 21.

[0150] Additionally, the bottom of the lowest level cargo space 21 of the target mobile vehicle 20 refers to the bottom of the space in the lowest level cargo space 21 of the target mobile vehicle 20 that can accommodate items, for example, the bottom of the items when items are placed on the lowest level cargo space 21.

[0151] For example, the detection unit 14 may be positioned above the topmost storage location 21 of the target mobile vehicle 20, and the reference marker 15 may be positioned on the operating surface 50 of the storage system (e.g., the ground).

[0152] In some examples, the detection mechanism 14 can be positioned above the topmost shelf 21 of the target movable vehicle 20, and the reference marker 15 can be positioned above the bottom of the lowest shelf 21 of the target movable vehicle 20, for example, in the middle region of the target movable vehicle 20. This allows the detection mechanism 14 to accurately detect protrusions of items high up in the target movable vehicle 20. For example, a support can be installed on the ground, and the reference marker 15 can be placed on the support so that the reference marker 15 is located in the middle region of the target movable vehicle 20. This also reduces the distance between the detection mechanism 14 and the reference marker 15, thereby increasing the detection sensitivity of the detection mechanism 14 to the reference marker 15, and thus enabling accurate detection of protrusions of items in the upper region of the target movable vehicle 20.

[0153] In addition, the height of the inspection agency 14 can be flexibly adjusted according to actual needs to accommodate mobile vehicles 20 of different sizes and types and the items they carry, further enhancing the versatility and practicality of the warehousing system.

[0154] In some examples, the length of the reference mark 15 may be greater than or equal to the length of the movable vehicle 20. In this way, when any item protrudes from the movable vehicle 20, it can block the reference mark 15 and be detected by the detection agency 14, thereby increasing the detection range.

[0155] Furthermore, when the movable carrier 20 is in continuous motion during the detection process of the detection mechanism 14, by setting the length of the reference mark 15 to be greater than or equal to the length of the movable carrier 20, it can be ensured that the detection mechanism 14 can effectively monitor the protrusion of items in the same column of the movable carrier 20 for a fixed period of time as the movable carrier 20 moves along one side of the reference mark 15, until the items in that column pass the reference mark 15. That is, the detection time for protrusion of items on the movable carrier 20 can be increased even when the movable carrier 20 is in continuous motion. This design not only improves the safety of the warehousing system but also effectively reduces the operational risks caused by protruding items, providing a more reliable guarantee for warehousing operations.

[0156] It should be noted that the above-mentioned fixed duration is the time it takes for the movable vehicle 20 to move from one end of the reference mark 15 to the other end of the reference mark 15.

[0157] In other examples, the length of reference marker 15 may also be shorter than the length of the movable vehicle 20 to save on the setup cost of reference marker 15.

[0158] In this application embodiment, the detection mechanism 14 can be configured in various ways, and correspondingly, the reference mark 15 can also be configured in various ways. This application embodiment does not limit the configuration of the detection mechanism 14 and the reference mark 15. As long as the detection mechanism 14 can detect that the reference mark 15 is blocked, the situation of the item protruding from the movable carrier 20 can be determined. Several configurations of the detection mechanism 14 are listed below.

[0159] In some examples, the detection unit 14 includes an image acquisition device, and the reference marker 15 is located on the operating surface 50 of the movable vehicle 20. For example, the reference marker 15 can be affixed to the ground to simplify its installation. The image acquisition device is configured to acquire images of the reference marker 15 and determine whether the reference marker 15 is obscured by protruding objects on the movable vehicle 20 based on the degree of image loss.

[0160] Setting the detection mechanism 14 as an image acquisition device simplifies the structural setup of the reference mark 15. For example, the reference mark 15 can be directly set on the running surface 50 of the movable carrier 20, simplifying its installation structure. Furthermore, the reference mark 15 can be of any shape, texture, or color; for instance, its shape can be a line, surface, or other structure, allowing for flexible setup. The image acquisition device also employs mature and accurate image recognition and processing algorithms, thereby improving the detection accuracy of protruding objects.

[0161] In addition, image acquisition devices, such as cameras, can operate in low light, dust, and humid environments, thereby improving the environmental adaptability of the inspection agency 14. In particular, the image acquisition devices are more adaptable to various complex environments within the logistics and warehousing system.

[0162] For example, the image acquisition device may include, but is not limited to, a camera, an infrared thermal imager, a multispectral camera, etc.

[0163] Reference Figure 8 and Figure 9 As shown, for example, the image acquisition device includes a camera 141, the reference mark 15 can be a reference line 151, the physical characteristics of the reference mark 15 include the image information of the reference line 151, and the camera 141 is configured to acquire the image information of the reference line 151 to determine whether the reference line 151 is obscured by a protruding object on the movable vehicle 20 based on the degree of missing image information.

[0164] For example, camera 141 can compare the image information of the collected reference line 151 with the image information of the pre-made complete reference line 151 for graphic continuity. When the comparison shows that the graphic is not continuous, it means that the reference line 151 is blocked by a protruding object on the movable carrier 20. At this time, the warehousing system can issue an alarm or execute a preset processing procedure, such as suspending logistics operations or triggering the anti-protrusion mechanism to push the protruding object back into the storage location 21 to avoid the protruding object from interfering with or damaging the logistics operations.

[0165] Furthermore, by assessing the degree of missing image information, parameters such as the size and location of protruding parts of the item can be estimated, providing more detailed information support for subsequent logistics processing. This image-based detection method not only improves the accuracy and efficiency of detection but also significantly simplifies the setup and maintenance costs of the detection facility 14.

[0166] In some examples, the target plane of the image acquisition device (refer to...) Figure 8 As shown in C, the light beam emitted by the image acquisition device can be incident on the surface of the reference mark 15 in the normal direction, thereby minimizing the light loss caused by the oblique incident light onto the reference mark 15, improving the accuracy of determining the loss degree of the reference mark 15, and thus improving the detection accuracy of the camera 141 for the protrusion of the object.

[0167] In some examples, the image acquisition device can emit multiple target planes C parallel to the y-direction to acquire image information of various locations on the reference mark 15 along the y-direction. By acquiring image information at different locations along the y-direction, the size of the protruding part of the object can be determined.

[0168] In some examples, multiple reference markers 15 can be set parallel to each other along the y-direction. The number of reference markers 15 corresponds to the number and position of the target planes C. The size of the protruding part of the object can be determined by the image information of the corresponding reference markers 15 collected from different target planes C.

[0169] In some examples, an image acquisition device can emit multiple target planes C parallel to each other along the y-direction.

[0170] In other examples, multiple image acquisition devices can be arranged along the y-direction, with each image acquisition device emitting a target plane.

[0171] Furthermore, the target plane of the image acquisition device is perpendicular to the reference mark 15. When the reference mark 15 is parallel to the end face of the cargo opening 21a of the movable carrier 20, the target plane of the image acquisition device is parallel to the end face of the cargo opening 21a of the movable carrier 20. This ensures that the size of the protruding portion of each layer of items detected by the image acquisition device is greater than or equal to H1.

[0172] By aligning the target plane of the image acquisition device perpendicular to the reference mark 15, and the reference mark 15 parallel to the end face of the cargo bay 21a of the movable carrier 20, problems arising from the target plane not being perpendicular to the reference mark 15 can be avoided. For example, the problem of an item protruding only slightly (e.g., less than H1) but being detected by the image acquisition device can be avoided; the risk of an item protruding only slightly (e.g., greater than H1) but not being detected by the image acquisition device can also be avoided.

[0173] The aforementioned setup improves the accuracy and reliability of item management in the warehousing system. This vertical setup ensures that the detection signal emitted from the target plane directly illuminates protruding items on the movable carrier 20, thereby accurately detecting the protrusion of the items. Simultaneously, this setup also helps improve the stability and accuracy of the detection signal, further enhancing the safety and operational efficiency of the warehousing system.

[0174] For example, the target plane of camera 141 is perpendicular to reference line 151, so that the size of the protruding portion of each layer of the object detected by camera 141 is greater than or equal to H1. This avoids the problem of an object with a small protrusion length (e.g., less than H1) being detected by camera 141, or an object with a large protrusion length (e.g., greater than H1) not being detected by camera 141. It is understood that the emission target surface of detection mechanism 14 includes the target plane in this example.

[0175] Reference Figure 9As shown, in some examples, the reference line 151 is parallel to the working plane A of the docking device 40, that is, the distance between any position of the reference line 151 along the length direction and the working plane A is equal. In this way, when the detection mechanism 14 detects that the reference line 151 is blocked, the protruding length of the item blocking any position of the reference line 151 is greater than or equal to H1, ensuring that the distance between the protruding item and the working plane A is within a controllable range. This allows the reference line 151 to continue to serve as a detection reference when the movable carrier 20 moves in a direction parallel to the working plane A of the docking device 40 (e.g., the direction shown in s2), ensuring the consistency and stability of the detection.

[0176] Furthermore, the design of the reference line 151 can be flexibly adjusted to adapt to mobile carriers 20 of different sizes and shapes, as well as different logistics operation needs. For example, parameters such as the length, width, and color of the reference line 151 can be customized according to actual needs to improve the accuracy and applicability of detection. Simultaneously, the placement of the reference line 151 can be optimized according to the layout of the warehousing system and the logistics operation process to ensure the effectiveness and efficiency of detection. In this embodiment, through real-time monitoring of the reference line 151 by the camera 141, the warehousing system can promptly detect and handle protruding items on the mobile carrier 20, effectively avoiding safety hazards and losses in logistics operations.

[0177] In some examples, the image acquisition device may also be equipped with lighting equipment, such as LED light strips or ring lights, to ensure clear image acquisition of reference marker 15 even in low-light conditions. The position and brightness of the lighting equipment can be adjusted according to the actual working environment to achieve optimal image acquisition results.

[0178] In some examples, reference numeral 15 may be a reflective element affixed to the running surface 50. For example, the reflective element may include, but is not limited to, reflective strips / sheets, microprism reflectors, laser-etched reflective patterns, adaptive reflective materials, etc.

[0179] For example, reflectors can be made of glass microspheres (such as VHB reflective film) or aluminum-based reflectors, with a silver or gold coating on the surface. Adaptive reflective materials can be electrochromic layers, photosensitive coatings, etc., applied to the ground.

[0180] By setting the reference mark 15 as a reflective element, the reflectivity of the reflective element to the detection beam is increased, thereby improving the recognition accuracy of the detection mechanism 14 of the physical features of the reference mark 15, such as the image, and thus improving the accuracy of the judgment on whether the reference mark 15 is occluded.

[0181] Figure 10a This is a schematic diagram of another detection mechanism and reference mark provided in an embodiment of this application. Figure 1 , Figure 10bThis is a schematic diagram of another detection mechanism and reference mark provided in an embodiment of this application. Figure 2 . Reference Figure 10a and Figure 10b As shown, in some examples, the detection mechanism 14 includes a lidar 142, and the reference mark 15 includes a scanning surface 152 formed by the lidar 142 above the operating surface 50 of the movable vehicle 20. The lidar 142 is configured to emit a laser beam toward the detection area to form the scanning surface 152 and to determine, based on the received laser beam, whether at least a portion of the scanning surface 152 is obstructed by a protruding object on the movable vehicle 20.

[0182] For example, the lidar 142 can emit a series of parallel or angled laser beams that form a scanning surface 152 above the ground. When an object on the movable vehicle 20 protrudes and partially blocks the scanning surface 152, the corresponding laser beam is reflected back to the lidar 142 through the surface of the protruding object. By detecting and calculating the time difference between the emitted and received beams, the lidar 142 determines the degree and location of the obstruction of the scanning surface 152, thereby determining that an object protrudes from the movable vehicle 20 and the position of the protruding object in the height direction.

[0183] For example, the larger the absolute value of the time difference between emitting and receiving the beam, the lower the position of the protruding object; the smaller the absolute value of the time difference between emitting and receiving the beam, the higher the position of the protruding object. This can accurately indicate the approximate height of the protruding object to the operator, making it easier to push the protruding object back accurately and quickly.

[0184] Similar to camera 141, lidar 142 can also compare detected occlusion information with preset thresholds or models to determine whether an alarm needs to be triggered or a preset processing procedure needs to be executed. This lidar 142-based detection method also offers advantages such as high precision, high efficiency, and low maintenance costs. Furthermore, lidar 142 is not limited by lighting conditions and can operate stably in various lighting environments, further improving the reliability and flexibility of item management in the warehouse system. In some advanced applications, the warehouse system can also combine the detection data from camera 141 and lidar 142 for multimodal information fusion to improve detection accuracy and robustness. For example, by using image information from camera 141 and distance information from lidar 142, three-dimensional reconstruction and precise positioning of protruding items can be achieved, providing stronger support for the automated and intelligent management of the warehouse system.

[0185] Reference Figure 10a As shown, the lidar 142 can travel along the length of the movable vehicle 20 (refer to...). Figure 10aA laser beam is emitted in the x-direction toward one side of the docking surface B of the movable vehicle 20 to form a vertical scanning surface 152 above the ground.

[0186] It is understood that the scanning angle of the lidar 142 can reach about 270°. Therefore, in this example, the lidar 142 can be set below the top of the movable carrier 20 and scan from one side to the other along the length of the movable carrier 20. The scanning surface 152 can cover each layer of the cargo bay 21a of the movable carrier 20.

[0187] By setting the lidar 142 below the top of the movable carrier 20 to emit a laser beam along the length of the movable carrier 20, the assembly stability of the lidar 142 can be improved, reducing or avoiding the situation where the lidar 142 is set too high and shakes, thereby affecting the position and angle of the scanning surface 152, and improving the detection accuracy of the lidar 142 for protruding objects.

[0188] Reference Figure 10b As shown, the lidar 142 can be positioned above the top of the movable vehicle 20 and emits a laser beam from top to bottom along the height direction to form a scanning surface 152 on the docking surface B side of the movable vehicle 20.

[0189] In other examples, the lidar 142 may be positioned below the bottom of the movable vehicle 20, for example, directly on the ground, and emit a laser beam from bottom to top to form a scanning surface 152 on the docking surface B side of the movable vehicle 20.

[0190] This application embodiment does not restrict the location of the lidar 142 or the direction of the emitted laser beam, as long as the formed scanning surface 152 is located on the docking surface B side of the movable carrier 20.

[0191] In some examples, as the mobile vehicle 20 moves toward the docking area 12, the scanning surface 152 is parallel to the surface where the cargo opening 21a of the mobile vehicle 20 is located. This ensures that if the protruding part of an item at any height of the mobile vehicle 20 is greater than or equal to H1, it can block the scanning surface 152 and be detected by the lidar 142, thus avoiding the problem caused by the scanning surface 152 being tilted to the surface where the cargo opening 21a of the mobile vehicle 20 is located.

[0192] For example, if the scanning surface 152 is parallel to the surface where the storage slot 21a of the movable carrier 20 is located, it can avoid the problem that an item protruding a short length can be detected by the lidar 142, and it can also avoid the problem that an item protruding a long length can not be detected by the lidar 142. That is, the above setting can improve the accuracy and reliability of item management in the warehousing system.

[0193] Figure 11 This is a schematic diagram of another detection mechanism and reference mark provided in an embodiment of this application. (Refer to...) Figure 11 As shown, in some examples, the detection mechanism 14 includes a signal transmitting component 143, and the reference numeral 15 includes a plurality of signal receiving components 153 arranged along the length of the movable carrier 20. For example, when the movable carrier 20 moves toward the docking area 12 in the direction shown in s2, the plurality of signal receiving components 153 can be arranged on one side of the loading and unloading equipment 11 in the direction shown in s2, so that the movable carrier 20 can pass over each signal receiving component 153 as it moves toward the docking area 12 in the direction shown in s2.

[0194] The signal transmitting component 143 is configured to transmit a detection signal, and the signal receiving component 153 is configured to receive the detection signal. When at least one signal receiving component 153 fails to receive the detection signal, it is determined that the signal receiving component 153 is blocked by a protruding object on the movable vehicle 20.

[0195] For example, the signal transmitting component 143 can be a wireless signal transmitter, such as an radio frequency transmitter or an infrared transmitter, while the signal receiving component 153 can be a corresponding wireless signal receiver. When the detection signal emitted by the signal transmitting component 143 is blocked by a protruding object, causing at least one signal receiving component 153 to be unable to receive the signal, the storage system can determine that an object is protruding and take appropriate measures. This wireless signal-based detection method has the advantages of simple installation and high flexibility, and is suitable for various complex storage environments.

[0196] In some embodiments, to improve the accuracy and stability of detection, the warehousing system can also employ a strategy that combines multiple detection methods. For example, multiple means such as camera 141, lidar 142, and wireless signal detection can be used simultaneously to monitor items on the mobile carrier 20 from all angles. By integrating multiple detection data, the warehousing system can achieve accurate identification, positioning, and tracking of protruding items, providing stronger technical support for the automation and intelligence of logistics operations.

[0197] Figure 12 This is a schematic diagram of the structure of the detection mechanism and positioning mechanism provided in one embodiment of this application. Figure 1 . Reference Figure 12 As shown, in some examples, the storage system, such as workstation 10, may also include a positioning mechanism 17, which is configured to form a positioning mark 19 on or above the operating surface 50, and the detection mechanism 14 determines the installation position and angle based on the positioning mark 19 and the positioning mechanism 17.

[0198] In some examples, the positioning mark 19 includes a visible mark 191 formed by the positioning mechanism 17 on the operating surface 50. For example, a reference mark 15 is set on the operating surface 50, such as the ground, and the positioning mechanism 17 forms a visible mark 191 on the operating surface 50. By controlling the relative position between the visible mark 191 and the reference mark 15, the installation position and installation angle of the detection mechanism 14 relative to the positioning mechanism 17 are determined.

[0199] For example, by adjusting the angle and position of the positioning mechanism 17 so that the visible mark 191 formed on the ground coincides with or is parallel to the reference mark 15, the operator can use the positioning mechanism 17 as an installation reference to quickly and accurately determine the specific installation position and angle of the detection mechanism 14, thereby ensuring that the detection signal of the detection mechanism 14 can accurately cover the reference mark 15 and effectively avoid missed detection or false detection.

[0200] For example, in this example, the reference mark 15 may be a structure such as a reference line 151 set on the operating surface 50, or a scanning surface 152 formed by the lidar 142 above the operating surface 50.

[0201] For example, when the visible mark 191 coincides with the reference mark 15, and the center of the visible mark 191 coincides with the center of the reference mark 15, the detection mechanism 14 can be set at a position that overlaps with the positioning mechanism 17 in the height direction. For example, the detection mechanism 14 can be set on top of the positioning mechanism 17, with the detection surface of the detection mechanism 14 parallel to the positioning surface of the positioning mechanism 17, and ensuring that the positioning mechanism 17 does not obstruct the detection surface of the detection mechanism 14.

[0202] Reference Figure 12 As shown, when the visible mark 191 is located on one side of the reference mark 15 along the y-direction, for example, the left side, and is parallel to the reference mark 15, the detection mechanism 14 can be set on the right side of the positioning mechanism 17 along the y-direction. The detection surface of the detection mechanism 14 is parallel to the positioning surface of the positioning mechanism 17 and can be at the same height as the positioning mechanism 17.

[0203] It should be noted that the detection surface of the detection mechanism 14 refers to the surface of the detection mechanism 14 used to capture the reference mark 15, and the positioning surface of the positioning mechanism 17 refers to the emitting surface of the positioning mechanism 17 used to form the visible mark 191.

[0204] Figure 13 This is a schematic diagram of the structure of the detection mechanism and positioning mechanism provided in one embodiment of this application. Figure 2 . Reference Figure 13As shown, in some examples, the positioning mark 19 includes a positioning surface 192 formed by the positioning mechanism 17 above the running surface 50, and the installation angle of the detection mechanism 14 is determined based on the angle between the positioning surface 192 and the running surface 50 and the installation angle of the positioning mechanism 17.

[0205] For example, by adjusting the installation angle of the positioning mechanism 17 so that the positioning surface 192 is perpendicular to the running surface 50, the operator can use the positioning mechanism 17 as an installation reference to quickly and accurately determine the installation angle of the detection mechanism 14 relative to the running surface 15, so that when the detection mechanism 14 is an image acquisition device (e.g., camera 141), the target plane C of the camera 141 is perpendicular to the reference mark 15.

[0206] Alternatively, in some examples, when the detection mechanism 14 is a lidar 142, the scanning surface 152 formed by the lidar 142 can be perpendicular to the running surface 50, so that during the movement of the movable vehicle 20 to the docking area 12, the scanning surface 152 can be parallel to the surface where the cargo port 21a of the movable vehicle 20 is located (i.e., the docking surface B).

[0207] Understandable, Figure 13 The illustration shows an example of a lidar 142 positioned above the top of the movable vehicle 20 to emit a laser beam from top to bottom (see reference). Figure 10b In the diagram, the positioning mechanism 17 is calibrated, that is, in this example, the positioning mechanism 17, for example, is a laser emitting a laser beam from top to bottom.

[0208] In an example where the lidar 142 is positioned below the top of the movable vehicle 20 to emit a laser beam along the length of the movable vehicle 20, the positioning mechanism 17, for example, a laser emits a laser beam (not shown) along the length of the movable vehicle 20 (i.e., the x-direction).

[0209] In some examples, the positioning mechanism 17 can also be integrated with the control system of the warehousing system to achieve automated installation position calibration and angle adjustment. Thus, during the operation of the warehousing system, even if the position or angle of the detection mechanism 14 deviates slightly due to changes in the external environment or equipment wear, the control system can promptly detect and automatically adjust the positioning mechanism 17, ensuring that the detection mechanism 14 remains in optimal working condition. This intelligent adjustment mechanism not only improves the operational efficiency and accuracy of the warehousing system but also reduces the frequency and difficulty of manual intervention, providing strong support for the automation and intelligence of warehousing logistics.

[0210] In some examples, the positioning mechanism 17 may include a visual indicator such as an LED light or a laser. For example, the positioning mechanism 17 includes a laser configured to project multiple laser dots or laser lines onto the operating surface 50, and the detection mechanism 14 determines the installation position or angle based on the positional relationship between the laser dots or laser lines and the reference mark 15. The laser dots or laser lines are configured as visual marks 191.

[0211] In some examples, the laser can also be configured to form a laser scanning surface above the operating surface 50, which is configured as the positioning surface 192. Thus, the mounting angle of the detection mechanism 14 can be determined based on the angle between the laser scanning surface and the operating surface 50 and the mounting angle of the positioning mechanism 17. By setting the positioning mechanism 17 as a laser, the position and direction of the laser point or laser line, or the position and angle of the laser scanning surface, can be precisely controlled, thereby further improving the accuracy of the mounting position and angle of the detection mechanism 14.

[0212] In addition, laser pointers offer advantages such as good directionality, high brightness, and good monochromaticity, clearly displaying the visible mark 191 even in complex lighting environments, ensuring operators can accurately install the device according to the mark 191. Furthermore, the laser's long projection distance meets the requirements for long-distance positioning of the detection mechanism 14 in large-scale warehousing systems. In some embodiments, the laser can also be equipped with adjustable spot size and brightness to adapt to different working environments and installation needs.

[0213] In some examples, when the detection mechanism 14 is a lidar 142, the positioning mechanism 17 is not required to calibrate the position. The lidar 142 directly emits a laser beam. By observing the position and angle of the laser beam, the installation height and angle of the lidar 142 are adjusted until the scanning surface 152 formed by the laser beam is located on the docking surface B of the movable carrier 20 and can completely cover the cargo positions 21a of each layer of the movable carrier 20.

[0214] Reference Figure 1 and Figure 12 As shown, in some examples, the storage system, such as workstation 10, may also include a mounting frame 18, on which the detection mechanism 14 is mounted.

[0215] For example, the mounting bracket 18 can be fixed to the frame of the equipment of the workstation 10, such as the loading and unloading equipment 11, so that the detection mechanism 14 is disposed on the loading and unloading equipment 11. For example, when the movable carrier 20 moves toward the docking area 12 in the direction shown in s2, the mounting bracket 18 can be disposed on the frame of the loading and unloading equipment 11, and the mounting bracket 18 can extend out of the frame in a first direction, so that the detection mechanism 14 is disposed on one side of the loading and unloading equipment 11 in the first direction.

[0216] In some examples, the mounting bracket 18 is detachably mounted on the running surface 50 of the handling equipment 30. This allows for flexible placement of the inspection mechanism 14 in the workstation 10 or other areas, adapting to different movement paths and warehousing system layouts, thus improving the usability of the inspection mechanism 14.

[0217] Figure 14 This is a schematic diagram of another warehousing system provided in one embodiment of this application. (Refer to...) Figure 14 As shown, in some examples, a limiting mechanism 60 is provided on the movement path of the movable carrier 31 toward the docking area 22. When the detection mechanism 14 detects that an item protrudes from the movable carrier 20, the limiting mechanism 60 can restrict the item outside the working plane A to prevent the item from interfering with the pick-up and put-down mechanism 111 within the working plane A.

[0218] Understandably, in this example, the limiting mechanism 60 is the same as the anti-protrusion mechanism mentioned above.

[0219] In some examples, the limiting mechanism 60 may be a protrusion or post disposed on the moving path of the movable carrier 20. It is understood that the distance between the protrusion or post and the working plane A is within the range of the distance that the pick-and-place mechanism 111 engages with the movable carrier 20 and transfers the target item. For example, refer to... Figure 14 As shown in the embodiment of this application, the limiting mechanism 60 can be set in the area between the docking surface B and the working plane A. In addition, the side of the limiting mechanism 60 facing the movable carrier 20 protrudes from the working plane. In this way, when the movable carrier 20 moves to the loading and unloading equipment 11, the limiting mechanism 60 can contact the target item on the movable carrier 20, thereby limiting the target item outside the working plane.

[0220] It is understood that the distance between the movable carrier 20 and the working surface can typically be controlled by the handling equipment 30. For example, in some examples, location markers (in some examples, QR codes) can be set on the movement path of the handling equipment 30 (usually the ground). The handling equipment 30 adjusts the distance between the movable carrier 20 and the working surface by recognizing the location markers, so that the distance between the movable carrier 20 and the working surface is within the picking distance range of the picking and placing mechanism 111, and does not affect the movement of the picking and placing mechanism 111 within the working surface.

[0221] It is understandable that in some examples, the limiting mechanism 60 may also be set in an empty location in the warehouse, such as at the edge of the warehouse; the handling equipment 30 may first move the movable carrier 20 to the limiting mechanism 60, and push the target item (e.g., a material box) protruding from the movable carrier 20 into the movable carrier 20 through the limiting mechanism 60, and then move the movable carrier 20 to the receiving area 12 through the handling equipment 30, and handle and transfer the target item on the movable carrier 20 in the receiving area 12.

[0222] In other alternative examples, the limiting mechanism 60 may also be located on one side of the loading and unloading equipment 11, for example, on the outer side of the working plane of the loading and unloading equipment 11, see reference. Figure 14 As shown, for example, in the conveying equipment 30 pairs of movable carriers 20 along Figure 3 When the movable carrier 20 moves along the path indicated by the hollow arrow, the limiting mechanism 60 located outside the loading and unloading equipment 11 comes into contact with the target item on the movable carrier 20, thereby limiting the target item outside the working plane.

[0223] In other examples of embodiments of this application, the limiting mechanism 60 may also contact the side of the movable carrier 20 facing the working plane. That is, in some examples, the limiting mechanism 60 may also confine the movable carrier 20 outside the working plane.

[0224] It is readily understood that, based on the several embodiments provided in this application, those skilled in the art can combine, split, or reorganize the embodiments of this application to obtain other embodiments, none of which exceed the protection scope of this application.

[0225] The above detailed embodiments further illustrate the purpose, technical solution, and beneficial effects of the embodiments of this application. It should be understood that the above are merely specific embodiments of the embodiments of this application and are not intended to limit the protection scope of the embodiments of this application. Any modifications, equivalent substitutions, improvements, etc., made on the basis of the technical solutions of the embodiments of this application should be included within the protection scope of the embodiments of this application.

Claims

1. A warehousing system, characterized in that, include: The mobile vehicle (20) is configured to carry items; The handling equipment (30) is configured to handle the movable vehicle (20) to transport the movable vehicle (20) to the target area (70). The detection mechanism (14) and the reference mark (15) are located on one side of the movement path of the mobile vehicle (20) moving toward the target area (70). The reference mark (15) is located within the detection area of ​​the detection mechanism (14). During the movement of the mobile vehicle (20) toward the target area (70), the cargo port (21a) of the mobile vehicle (20) faces the detection area. The detection mechanism (14) is configured to detect whether at least a portion of the reference mark (15) is obscured in order to determine whether an item on the movable vehicle (20) protrudes from the movable vehicle (20) or to determine whether there is a deviation in the pose of the movable vehicle (20).

2. The warehousing system according to claim 1, characterized in that, The detection mechanism (14) is higher than or level with the top of the top shelf on the target mobile carrier (20), and the reference mark (15) is lower than or level with the bottom of the lowest shelf on the target mobile carrier (20); wherein the target mobile carrier (20) is the mobile carrier (20) located on the handling equipment (30).

3. The warehousing system according to claim 1, characterized in that, The detection mechanism (14) includes an image acquisition device, and the reference mark (15) is located on the running surface (50) of the movable vehicle (20); The image acquisition device is configured to acquire the physical characteristics of the reference mark (15) and determine whether the reference mark (15) is occluded based on the physical characteristics.

4. The warehousing system according to claim 3, characterized in that, The image acquisition device includes a camera (141), and the reference mark (15) includes a reference line (151). The physical characteristics of the reference mark (15) include the image information of the reference line (151), and the camera (141) is configured to acquire the image information of the reference line (151) to determine whether the reference line (151) is occluded based on the degree of missing image information.

5. The warehousing system according to claim 3, characterized in that, The target plane (C) of the image acquisition device is perpendicular to the reference mark (15).

6. The warehousing system according to claim 3, characterized in that, The reference mark (15) is a reflective element affixed to the running surface (50).

7. The warehousing system according to claim 1, characterized in that, The detection mechanism (14) includes a lidar (142), and the reference mark (15) includes a scanning surface (152) formed by the lidar (142) above the running surface (50) of the mobile vehicle (20). The lidar (142) is configured to emit a laser beam toward the detection area to form the scanning surface (152), and to determine whether at least a portion of the scanning surface (152) is obstructed based on the received laser beam. During the movement of the mobile vehicle (20) toward the target area (70), the scanning surface (152) is parallel to the surface where the cargo bay (21a) of the mobile vehicle (20) is located.

8. The warehousing system according to claim 1, characterized in that, The detection mechanism (14) includes a signal transmitting component (143), and the reference mark (15) includes a plurality of signal receiving components (153), which are arranged along the length of the movable vehicle (20). The signal transmitting component (143) is configured to transmit a detection signal, the signal receiving component (153) is configured to receive the detection signal, and when at least one of the signal receiving components (153) fails to receive the detection signal, it is determined that the signal receiving component (153) is blocked.

9. The warehousing system according to claim 1, characterized in that, The warehousing system also includes a docking device (40), the target area (70) includes a docking area (12) of the docking device (40), and the mobile vehicle (20) is configured to dock with the docking device (40) in the docking area (12); The reference mark (15) is located on the side of the docking device (40) facing the docking area (12), and the distance between the reference mark (15) and the docking device (40) in the direction of the docking device (40) taking and returning objects is greater than or equal to zero.

10. The warehousing system according to claim 9, characterized in that, The reference mark (15) is located on one side of the docking device (40) along a first direction; wherein the first direction is parallel to the running surface (50) of the movable carrier (20) and intersects with the object retrieval direction of the docking device (40); During the process of the movable vehicle (20) moving along the first direction to the docking area (12) via the reference mark (15), the distance between the movable vehicle (20) and the reference mark (15) along the retrieval direction is less than or equal to the distance between the movable vehicle (20) and the docking device (40).

11. The warehousing system according to claim 9, characterized in that, The reference mark (15) is parallel to the working plane (A) of the docking device (40); wherein the working plane (A) is the surface of the docking device (40) facing the docking area (12).

12. The warehousing system according to any one of claims 1-11, characterized in that, It also includes a positioning mechanism (17) configured to send a positioning mark (19) to the operating surface (50) of the movable vehicle (20) or above the operating surface (50), and the detection mechanism (14) determines the installation position and angle based on the positioning mark (19) and the positioning mechanism (17).

13. The warehousing system according to claim 12, characterized in that, The positioning mark (19) includes a visible mark (191) formed by the positioning mechanism (17) on the running surface (50). By controlling the relative position between the visible mark (191) and the reference mark (15), the installation position and installation angle of the detection mechanism (14) relative to the positioning mechanism (17) are determined.

14. The warehousing system according to claim 13, characterized in that, The positioning mechanism (17) includes a laser configured to project laser dots or laser lines onto the running surface (50), wherein the laser dots or laser lines are configured as visible marks (191) in the positioning marks (19).

15. The warehousing system according to any one of claims 1-11, 13, and 14, characterized in that, It also includes a workstation, the target area (70) including a docking area (12) of loading and unloading equipment (11) in the workstation, the loading and unloading equipment (11) being configured to remove items from the mobile vehicle (20) or place items on the mobile vehicle (20). The docking equipment (40) of the warehousing system includes the loading and unloading equipment (11).

16. A workstation, characterized in that, include: Loading and unloading equipment (11) having a docking area (12) on one side, the loading and unloading equipment (11) being configured to dock with a mobile vehicle (20) located in the docking area (12) to transfer articles between the mobile vehicle (20) and the loading and unloading equipment (11); The mobile vehicle (20) has a detection mechanism (14) and a reference mark (15), wherein the reference mark (15) is located on one side of the movement path of the mobile vehicle (20) towards the docking area (12), and the reference mark (15) is located within the detection area of ​​the detection mechanism (14); during the movement of the mobile vehicle (20) towards the docking area (12), the cargo port (21a) of the mobile vehicle (20) faces the detection area; The detection mechanism (14) is configured to detect whether at least a portion of the reference mark (15) is obscured in order to determine whether an item on the movable vehicle (20) protrudes from the movable vehicle (20) or to determine whether the pose of the movable vehicle (20) is skewed.

17. The workstation according to claim 16, characterized in that, The reference mark (15) is located on the side of the loading and unloading equipment (11) facing the docking area (12), and the distance between the reference mark (15) and the loading and unloading equipment (11) in the direction of picking up and returning the goods is greater than or equal to zero.

18. The workstation according to claim 17, characterized in that, The reference mark (15) is located on one side of the loading and unloading equipment (11) along the first direction; During the process of the mobile vehicle (20) moving along the first direction past the reference mark (15) to the docking area (12), the distance between the mobile vehicle (20) and the reference mark (15) is less than the distance between the reference mark (15) and the loading and unloading equipment (11); The first direction is parallel to the running surface (50) of the movable vehicle (20) and intersects with the loading and unloading equipment (11) in the direction of picking up and returning objects.

19. The workstation according to claim 16, characterized in that, The detection mechanism (14) includes an image acquisition device, and the reference mark (15) is located on the running surface (50) of the movable vehicle (20); The image acquisition device is configured to acquire the physical characteristics of the reference mark (15) and determine, based on the physical characteristics, whether the reference mark (15) is obscured by a protruding object on the movable vehicle (20).

20. The workstation according to claim 16, characterized in that, The detection mechanism (14) includes a lidar (142), and the reference mark (15) includes a scanning surface (152) formed by the lidar (142) above the running surface (50) of the mobile vehicle (20). The lidar (142) is configured to emit a laser beam toward the detection area to form the scanning surface (152), and to determine, based on the received laser beam, whether at least a portion of the scanning surface (152) is obstructed by an object protruding from the movable vehicle (20). During the movement of the mobile vehicle (20) toward the docking area (12), the scanning surface (152) is parallel to the surface where the cargo bay (21a) of the mobile vehicle (20) is located.

21. The workstation according to claim 16, characterized in that, The detection mechanism (14) includes a signal transmitting component (143), and the reference mark (15) includes a plurality of signal receiving components (153), which are arranged along the length of the movable vehicle (20). The signal transmitting component (143) is configured to transmit a detection signal, the signal receiving component (153) is configured to receive the detection signal, and when at least one of the signal receiving components (153) fails to receive the detection signal, it is determined that the signal receiving component (153) is blocked by a protruding object on the movable vehicle (20).

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