Detection device, workstation and warehousing system

Abstract

This application provides a detection device, a workstation, and a warehousing system. The detection device includes a detection mechanism and an adjustment mechanism. The detection mechanism is configured to emit a detection source to form a scanning surface on the end face of the vehicle's loading dock. Based on whether the scanning surface is obstructed, the detection mechanism determines whether an item on the vehicle protrudes from the end face of the loading dock and / or whether there is a positional deviation of the vehicle. The adjustment mechanism is configured to move the detection mechanism to a preset position. In the preset position, the scanning surface extends along the end face of the loading dock, and its projection on the end face covers at least a portion of the end face of the loading dock. There is a preset distance between the scanning surface and the end face of the loading dock. In the preset position, the detection mechanism can detect whether an item protrudes from the movable vehicle and push it back into the movable vehicle to prevent the item from falling, or detect a positional deviation of the movable vehicle and adjust the working state of the movable vehicle or automated handling equipment.

Description

Technical Field

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

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

[0003] However, due to uneven ground, items can easily protrude from the vehicle during the movement of the automated handling equipment, making them very easy to fall off. Utility Model Content

[0004] This application provides a detection device, workstation, and warehousing system. The detection mechanism can be adjusted to a preset position. In the preset position, the detection mechanism can detect in a timely manner whether there are any items protruding from the movable carrier, so that it can be pushed back into the movable carrier in a timely manner to prevent the items from falling. Alternatively, it can detect the positional deviation of the movable carrier in a timely manner, so as to adjust the working state of the movable carrier or the automatic handling equipment in a timely manner.

[0005] One embodiment of this application provides a detection device, including:

[0006] The detection mechanism is configured to emit a detection source to form a scanning surface on one side of the end face where the cargo port of the vehicle is located. Based on whether the scanning surface is blocked, the detection mechanism determines whether the item placed on the vehicle protrudes from the end face where the cargo port of the vehicle is located and / or whether there is a deviation in the position of the vehicle.

[0007] An adjustment mechanism, in conjunction with a detection mechanism, is configured to move the detection mechanism to place it in a preset position.

[0008] When the detection mechanism is in a preset position, the scanning surface extends along the end face of the cargo port of the vehicle, and the projection on the end face of the cargo port covers at least part of the end face of the cargo port, and there is a preset distance between the scanning surface and the end face of the cargo port.

[0009] Another embodiment of this application provides a workstation, including:

[0010] Loading and unloading equipment, with a docking area on one side, is configured to dock with a vehicle located in the docking area to transfer goods between the vehicle and the loading and unloading equipment;

[0011] The aforementioned detection device is arranged along a movement path from a designated position to a docking area and is located on at least one side of the movement path;

[0012] The detection device is configured to form a scanning surface on one side of the end face where the cargo bay is located, and to determine whether the items on the vehicle protrude from the vehicle or whether the vehicle's position is skewed based on whether the scanning surface is obstructed.

[0013] Another aspect of this application provides a warehousing system, including:

[0014] Vehicles, configured to carry goods;

[0015] The handling equipment is configured to move a vehicle to a target area.

[0016] The aforementioned detection device is located on one side of the movement path of the vehicle moving towards the target area; the detection device is configured to form a scanning surface on one side of the end face where the vehicle's cargo port is located, and determine whether the item protrudes from the end face where the vehicle's cargo port is located or whether there is a deviation in the vehicle's position based on whether the scanning surface is obstructed.

[0017] The detection device, workstation, and warehousing system provided in this application embodiment are configured with a detection device along a movement path of a movable carrier moving from a designated position to a receiving area, and the detection device is located on at least one side of the movement path. The detection device includes a detection mechanism and an adjustment mechanism. The adjustment mechanism is used to adjust the detection mechanism to a preset position. The detection mechanism in the preset position can extend to the end face of the cargo bay opening of the carrier, and its projection on the end face of the cargo bay opening covers at least a portion of the end face of the cargo bay opening. Thus, during the movement of the movable carrier to the receiving area, when an item on the movable carrier protrudes from the movable carrier through the cargo bay opening a, at least a portion of the item will obscure a portion of the scanning surface. In this way, the detection device can detect in real time whether at least part of the scanning surface is blocked, so as to determine whether the items on the mobile vehicle are protruding from the mobile vehicle. This allows the protruding items to be pushed back into the mobile vehicle in time to prevent the items from falling, or to prevent the protruding items from interfering with the docking equipment after the mobile vehicle enters the docking area, which could cause damage to the items or the docking equipment, or cause the docking equipment to malfunction. This can improve the docking safety and success rate between the mobile vehicle and the docking equipment.

[0018] Furthermore, the adjustment mechanism is used to adjust the detection mechanism to a preset position, enabling it to adapt to movable vehicles of different heights and positions. The detection mechanism in the preset position forms a scanning surface extending along the end face of the loading dock, ensuring that the end face of the loading dock is equidistant from the scanning surface. Thus, when an item protrudes beyond a preset distance from the end face of the loading dock, the detection mechanism can accurately detect the protruding item. Simultaneously, if the movable vehicle experiences a positional deviation, this deviation is more easily identified by the detection mechanism, thereby improving the detection accuracy for both protruding items and vehicle deviation. Attached Figure Description

[0019] 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:

[0020] Figure 1 This is a schematic diagram of a warehousing system provided in an embodiment of this application from a first-view perspective;

[0021] Figure 2 This is a schematic diagram of a warehousing system provided in an embodiment of this application from a second perspective.

[0022] Figure 3 This is a schematic diagram of a warehousing system provided in an embodiment of this application from a third-person perspective;

[0023] 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 ;

[0024] 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 ;

[0025] 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 ;

[0026] 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 ;

[0027] Figure 8a This is a schematic diagram of the structure of a detection device provided in one embodiment of this application. Figure 1 ;

[0028] Figure 8b This is a schematic diagram of the structure of one of the detection mechanisms and scanning surfaces provided in an embodiment of this application. Figure 1 ;

[0029] Figure 8c This is a schematic diagram of the structure of one of the detection mechanisms and scanning surfaces provided in an embodiment of this application. Figure 2 ;

[0030] Figure 8d This is a schematic diagram of the structure of one of the detection mechanisms and scanning surfaces provided in an embodiment of this application. Figure 3 ;

[0031] Figure 9a This is a schematic diagram of the structure of a detection device provided in an embodiment of this application. Figure 2 ;

[0032] Figure 9b This is a schematic diagram of the structure of a detection device provided in an embodiment of this application. Figure 3 ;

[0033] Figure 9c This is a schematic diagram of the structure of a mating component in a detection device provided in an embodiment of this application;

[0034] Figure 10a This is a schematic diagram of the structure of a workstation provided in one embodiment of this application. Figure 1 ;

[0035] Figure 10b This is a schematic diagram of the structure of a workstation provided in one embodiment of this application. Figure 2 .

[0036] Explanation of reference numerals in the attached figures:

[0037] 10-Workstation; 11-Loading and unloading equipment; 12-Connecting area; 13-Entry area; 14-Detection mechanism; 16-Work platform; 17-Adjustment mechanism; 20-Carrier; 21-Cargo location; 21a-Cargo location opening; 30-Handling equipment; 40-Dating equipment; 50-Running surface; 70-Target area; 100-Detection device; 101-Support frame; 111-Pick-and-place mechanism; 112-Longitudinal beam; 113-Crossbeam; 141-Mating part; 141a-Mating hole; 152-Scanning surface;

[0038] 171-Position adjustment component; 1711-Position adjustment element; 172-Angle adjustment component; 1721-First angle adjustment element; 1722-Second angle adjustment element; 173-First mounting element; 176-Support base; 142-First plate; 143-Second plate; 144-Third plate; A-Working plane; B-Mating surface; H1-Preset distance; s1-First moving direction; s2-Second moving direction; s3-Third moving direction; s4-Fourth moving direction; s5-Fifth moving direction; s6-Sixth moving direction; T1-First direction; T2-Second direction; T3-Third direction; x-Length direction; y-Width direction; z-Height direction. Detailed Implementation

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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, in order to improve the efficiency of handling and picking goods, the warehousing system of this application embodiment includes a carrier 20 and a handling device 30.

[0046] The carrier 20 can be a fixed carrier or a mobile carrier. The carrier 20 is configured to carry goods. For example, the carrier 20 can be a fixed shelf or a mobile shelf, and the carrier 20 includes one or more storage locations 21 for carrying goods. For example, the 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.

[0047] It should be noted that, referring to Figure 1 As shown, the length direction of the 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.

[0048] In some examples, the vehicle 20 may be provided with a storage location 21 along the width direction, that is, the vehicle 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 vehicle 20 and communicates with the storage location 21 to allow items to enter and exit the vehicle 20.

[0049] In some examples, the vehicle 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 vehicle 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 vehicle 20 is a multi-depth vehicle 20.

[0050] In some examples, the vehicle 20 may be provided with two cargo positions 21 along the width direction. Each cargo position 21 has its own cargo position opening 21a. That is, cargo position openings 21a are provided on both sides of the vehicle 20 along the width direction. One cargo position opening 21a is connected to one of the two cargo positions 21 to allow items to enter and exit the cargo position 21. The other cargo position opening 21a is connected to the other cargo position 21 to allow items to enter and exit the cargo position 21. In this case, the vehicle 20 is a back-to-back single-depth vehicle.

[0051] Of course, in some examples, the vehicle 20 has cargo bays 21a on both sides, and the vehicle 20 is provided with two or more cargo bays 21 that communicate with each cargo bay 21a, so that the vehicle 20 is a back-to-back multi-deep vehicle.

[0052] By setting multiple storage locations 21 on the vehicle 20, the storage density of the vehicle 20 is increased, the number of items handled in a single operation is increased, and the handling efficiency of the warehousing system is improved.

[0053] 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.

[0054] Taking a mobile vehicle as an example, the handling equipment 30 is configured to handle the mobile vehicle 20 to change the position of the mobile vehicle 20 within the warehousing system. For example, the mobile vehicle 20 can be moved to the target area 70 of the warehousing system.

[0055] 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.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] In some examples, the handling equipment 30 may also be a conveyor line for moving the movable carrier 20.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] In some examples, the retrieval and placement devices in the storage area can also enable cargo handling between fixed and mobile vehicles.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] In some examples, for the fixed carrier 20, the items on the cargo positions may protrude from the end face of the cargo position opening of the carrier 20 because the loading and unloading device may interfere with the items on other cargo positions during the loading and unloading process of the items on the fixed carrier 20.

[0080] 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.

[0081] In some examples, when the movable carrier 20 carrying items arrives at the docking area 12 of the docking device 40, items 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 items or the docking device 40 or affecting the normal operation of the docking device 40. Additionally, a movable carrier 20 with a misaligned position may be unable to dock properly with the docking device 40.

[0082] 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.

[0083] 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 3 The 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.

[0084] Of course, in some examples, the mobile vehicle 20 can also store items directly without having to transfer them to a stationary vehicle.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] 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 3 and 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.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] 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.

[0094] 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.

[0095] 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.

[0096] 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.

[0097] 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.

[0098] 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.

[0099] 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.

[0100] 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 surface 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.

[0101] 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.

[0102] The detection device 100, workstation 10, and warehousing system provided in this application embodiment are arranged along the movement path of the movable carrier 20 from a designated position to the receiving area 12, and the detection device 100 is located on at least one side of the movement path. The detection device 100 includes a detection mechanism 14 and an adjustment mechanism 17. The adjustment mechanism 17 is used to adjust the detection mechanism 14 to a preset position. The detection mechanism 14 in the preset position can extend to the end face of the cargo bay 21 of the carrier, and its projection on the end face of the cargo bay 21 covers at least a portion of the end face of the cargo bay 21. Thus, during the movement of the movable carrier 20 to the receiving area 12, when an item on the movable carrier 20 protrudes from the movable carrier 20 through the cargo bay 21a, at least a portion of the item will obscure part of the scanning surface. In this way, the detection device 100 can detect in real time whether at least a portion of the scanning surface is obscured to determine whether an item on the movable carrier 20 protrudes from the movable carrier 20. For example, as the mobile carrier 20 moves towards the docking area 12 of the docking device 40 under the transport of the transport equipment 30, it will pass by the side of the detection device 100. When the scanning surface of the detection device 100 is partially blocked, it is determined that the item on the mobile carrier 20 protrudes from the mobile carrier 20 through the loading port 21a. In this way, the item can be pushed back into the mobile carrier 20 in time to avoid the item falling, or to avoid the protruding item interfering with the docking device 40 after the mobile carrier 20 enters the docking area 12, causing damage to the item or the docking device 40, or causing the docking device 40 to malfunction. This can improve the docking safety and success rate between the mobile carrier 20 and the docking device 40.

[0103] Furthermore, the adjustment mechanism 17 is used to adjust the detection mechanism 14 to a preset position, enabling the detection mechanism 14 to adapt to movable carriers 20 of different heights and positions. The detection mechanism 14, in the preset position, forms a scanning surface extending along the end face of the cargo bay 21, such that the end face of the cargo bay 21 is equidistant from the scanning surface. Thus, when an item protrudes beyond a preset distance from the end face of the cargo bay 21, the detection mechanism 14 can accurately detect the protruding item; simultaneously, if the movable carrier 20 experiences a positional deviation, this deviation is more easily identified by the detection mechanism 14, thereby improving the detection accuracy for protruding items and carrier deviation.

[0104] The following description, in conjunction with the accompanying drawings, details the structure of the detection device 100, storage system, and workstation 10 provided in the embodiments of this application.

[0105] Figure 8a This is a schematic diagram of the structure of a detection device provided in one embodiment of this application. Figure 1 . Figure 8b This is a schematic diagram of the structure of one of the detection mechanisms and scanning surfaces provided in an embodiment of this application. Figure 1 , Figure 8cThis is a schematic diagram of the structure of one of the detection mechanisms and scanning surfaces provided in an embodiment of this application. Figure 2 . Reference Figures 1 to 8c As shown, in some examples, the detection device 100 includes a detection mechanism 14.

[0106] In this embodiment, the detection mechanism 14 is configured to emit a detection source to form a scanning surface 152 on one side of the end face where the cargo port 21 of the vehicle is located. Based on whether the scanning surface 152 is blocked, the detection mechanism 14 determines whether the item placed on the vehicle 20 (which can be understood as the movable vehicle 20 mentioned above) protrudes from the end face where the cargo port 21 of the vehicle is located and / or whether there is a deviation in the position of the vehicle 20.

[0107] In some examples, the detection unit 14 is equipped with a transmitter for transmitting the detection source.

[0108] In some examples, the detection source can be a laser or infrared light, etc. Correspondingly, the transmitting end includes, but is not limited to, one of the following: a laser, an infrared light source, an LED array, etc.

[0109] It should be noted that the detection source can be not only light, but also electricity, sound and other forms. This application embodiment does not limit the type of detection source.

[0110] Figure 8d This is a schematic diagram of the structure of one of the detection mechanisms and scanning surfaces provided in an embodiment of this application. Figure 3 .

[0111] Reference Figure 8d As shown, the emission angle range c of the emission detection source is displayed. In some examples, the size of the emission angle range c is 270 degrees, 260 degrees or other values. This application embodiment does not impose any limitations.

[0112] Reference Figure 3 As shown, in some examples, the loading bay 21 of the carrier is located on the docking surface B of the movable carrier 20. The loading bay 21 of the movable carrier 20 faces the scanning surface 152 of the detection mechanism 14 and is arranged side by side with the scanning surface 152 in the direction of item entry and exit. Thus, when at least a part of the item in the loading bay 21 protrudes, the item can at least partially block the scanning surface 152.

[0113] In some examples, when an item protrudes beyond the storage compartment 21 by a preset displacement, the degree to which the item covers the scanning surface 152 is manifested as the item blocking the scanning surface 152. The preset displacement can be configured by adjusting the distance between the scanning surface 152 and the end face of the storage compartment 21. For example, when the displacement of the item protruding beyond the storage compartment 21 is greater than or equal to the distance between the scanning surface 152 and the end face of the storage compartment 21 and the dimension of the scanning surface 152 along the loading / unloading direction of the docking device 40, the item will block the scanning surface 152. This embodiment does not limit this preset displacement.

[0114] In some examples, in the first direction, the detection mechanism 14 and the scanning surface 152 are located on the side of the docking device 40 facing the docking area 12, and the distance between the scanning surface 152 and the docking device 40 in the direction of retrieving and returning items from the docking device 40 is greater than or equal to 0. Different detection mechanisms 14 can be set at different distance thresholds from the docking surface B of the movable carrier 20, so that different detection purposes can be achieved through different detection mechanisms 14. For example, the distance between the scanning surface 152 of the first detection mechanism and the docking device 40 in the direction of retrieving and returning items is equal to 0; or greater than 0 and less than the first distance threshold. The first detection mechanism is used to detect whether the item exceeds the cargo position opening 21 of the carrier. The distance between the scanning surface 152 of the second detection mechanism 14 and the docking device 40 in the direction of retrieving and returning items is a preset distance threshold. The second detection mechanism 14 is used to detect whether the item exceeds the second distance threshold of the cargo position opening 21 of the carrier. The second distance threshold is greater than the first distance threshold. If it exceeds, an alarm is triggered.

[0115] The first direction is parallel to the running surface 50 of the movable carrier 20 and is consistent with the loading and unloading direction of the docking device 40. For example, the first direction can be the width direction of the docking device 40 (e.g., the loading and unloading device 11), see [reference needed]. Figures 4 to 7 The direction shown in y.

[0116] 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 scanning surface 152 can be set on one side of the end of the moving path shown in the direction of s1. For example, the detection mechanism 14 and the scanning surface 152 can be set on the side of the working plane A of the loading and unloading device 11 facing the movable carrier 20 entering the area 13.

[0117] 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 location of the entry zone 13 is related to path planning and warehouse space layout, meaning its position can be adjusted according to different warehouse space layouts and path plans. For example, ... Figure 10bAs shown, the entry area 13 and the connecting area 12 are arranged side by side along the length of the loading and unloading equipment 11.

[0118] Reference Figure 5 and Figure 6 As 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 scanning surface 152 can be set on the side of the movement path along the direction of s2 facing the workstation 10. For example, the detection mechanism 14 and the scanning surface 152 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 opening 21 of the mobile carrier 20 faces the scanning surface 152 of the detection mechanism 14 during the movement of the mobile carrier 20 towards the docking area 12 along the direction shown in s2.

[0119] 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 scanning surface 152 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 scanning surface 152 is blocked or 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 scanning surface 152 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.

[0120] Reference Figure 8c As shown, in some examples, the distance between the scanning surface 152 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 scanning surface 152 is blocked, the item protruding from the movable carrier 20 may not interfere with the loading and unloading device 11. The operator can be promptly reminded to push the item back into the movable carrier 20, greatly reducing the safety hazards caused by the protruding item.

[0121] Reference Figure 7As shown, for example, when the mobile carrier 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 scanning surface 152 can be set on one side of the projection area (the side facing the workstation 10) when the mobile carrier 20 moves in any direction of s3, s4, s5, s1 and s2. For example, it can be set on one side of the projection area when the mobile carrier 20 moves in the s3 direction.

[0122] By aligning the loading port 21a of the movable carrier 20 with the scanning surface 152 of the detection mechanism 14, the direction in which the item on the movable carrier 20 protrudes outward through the loading port 21a is in the direction of movement toward the scanning surface 152. In this way, when the item protrudes beyond the movable carrier 20 to a certain extent, it can partially block the scanning surface 152. Thus, when the detection mechanism 14 detects that at least part of the scanning surface 152 is blocked, it determines that the item protrudes beyond the movable carrier 20.

[0123] In some examples, when the pose of the movable carrier 20 on the handling device 30 deviates and the direction of the deviation is toward the scanning surface 152, at least a portion of the movable carrier 20 may block the scanning surface 152, 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 scanning surface 152 is blocked.

[0124] 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.

[0125] 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.

[0126] 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.

[0127] 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.

[0128] In some examples, when the overall weight of the movable vehicle 20 and the items is within a suitable range, the pose of the movable vehicle 20 can also be manually adjusted to adjust the pose of the movable vehicle 20 to the target pose.

[0129] It should be noted that the target pose of the mobile vehicle 20 refers to the pose in which the mobile vehicle 20 can operate smoothly in the target area 70.

[0130] In some examples, the detection mechanism 14 can be positioned above the scanning surface 152, with the transmitting end of the detection mechanism 14 facing downwards. This can reduce 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.

[0131] In some examples, the detection mechanism 14 and the scanning surface 152 may be located on one side of the docking device 40 along the first direction (i.e., the direction shown in s1), for example, referring to Figures 3 to 6 As shown, the scanning surface 152 and the docking device 40 are arranged along the first direction.

[0132] During the process of the movable carrier 20 moving along the first direction through the scanning surface 152 to the docking area 12, the distance between the movable carrier 20 and the scanning surface 152 along the object retrieval direction of the docking device 40 is less than or equal to the distance between the movable carrier 20 and the docking device 40.

[0133] Reference Figure 8c As shown, it can be understood that during the process of the movable carrier 20 moving along the first direction through the scanning surface 152 to the docking area 12, the distance between the end face of the cargo port 21 of the movable carrier 20 and the scanning surface 152 (referred to as the first distance, H1) determines that when the length of the item protruding from the movable carrier 20 is greater than or equal to H1, the protruding item can be detected by the detection mechanism 14.

[0134] In some examples, the first distance can be zero. In this way, the item can be located on the side of the scanning surface 152 of the detection mechanism 14 when it protrudes from the movable carrier 20 by any length, and the scanning surface 152 can be blocked or blocked to improve the detection accuracy of the detection mechanism 14. When the item protrudes from the movable carrier 20 by a small length, it can be detected by the detection mechanism 14 in time, so that the item can be pushed back to the movable carrier 20 in time.

[0135] In some examples, the first distance can be greater than zero. In this way, the item can block the scanning surface 152 when it protrudes from the movable carrier 20 by a preset length greater than zero. This allows the detection mechanism 14 to not detect the protrusion of the item when it protrudes from the movable carrier 20 by a small length without causing the item to fall or interfere with the loading and unloading equipment 11 of the workstation 10. Thus, no intervention is required. Only when the item protrudes from the movable carrier 20 by a preset length, which would 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 improves the efficiency of docking between the movable carrier 20 and the loading and unloading equipment 11 and the transfer of items.

[0136] In some examples, the height and angle of the detection mechanism 14 can be flexibly adjusted according to actual needs to accommodate movable vehicles 20 of different sizes and types and the items they carry, thereby enhancing the versatility and practicality of the warehousing system.

[0137] Reference Figure 8a As shown, in order to adjust the height and angle of the detection mechanism 14, in some embodiments, the detection device 100 further includes an adjustment mechanism 17. The adjustment mechanism 17 cooperates with the detection mechanism 14 and is configured to drive the detection mechanism 14 to move so that the detection mechanism 14 is in a preset position. When the detection mechanism 14 is in the preset position, the scanning surface 152 extends along the end face of the cargo port 21a of the carrier, and its projection on the end face of the cargo port 21a covers at least a portion of the end face of the cargo port 21a. There is a preset distance H1 between the scanning surface 152 and the end face of the cargo port 21a.

[0138] It should be noted that the extension of the scanning surface 152 along the end face of the cargo bay 21a can be understood as the plane containing the scanning surface 152 being parallel or approximately parallel to the plane containing the aforementioned end face. This allows the scanning surface 152 to be equidistant from the end face of the cargo bay 21a. Thus, when the detection mechanism 14 detects that the scanning surface 152 is at least partially obstructed, it indicates that an item protrudes from the cargo bay 21a by at least a predetermined distance H1.

[0139] In some examples, the movement of the adjustment mechanism 17 driving the detection mechanism 14 includes, but is not limited to, one or more of the following: movement or rotation along the first direction T1 and rotation along the second direction T2, to achieve pose adjustment of the detection mechanism 14.

[0140] It should be noted that the rotation of the detection mechanism 14 along the first direction T1 can be understood as the detection mechanism 14 rotating around an axis perpendicular to the first direction T1 to adjust the swing angle of the detection mechanism in the plane containing the first direction T1. The rotation of the detection mechanism 14 along the second direction T2 can be understood as the detection mechanism 14 rotating around an axis perpendicular to the second direction T2 to adjust the pitch angle of the detection mechanism in the plane containing the second direction T2.

[0141] In some embodiments, the adjustment mechanism 17 includes a position adjustment component 171, which cooperates with the detection mechanism 14 to move the detection mechanism 14 along a first direction T1, such that the distance between the scanning surface 152 formed by the detection mechanism 14 and the end face where the storage port 21a is located is a preset distance H1. Thus, for movable carriers 20 with different widths, the position adjustment component 171 can adjust the distance between the end face where the storage port 21a is located and the scanning surface 152 to the preset distance H1. This ensures that when the movable carrier 21 moves to the scanning surface 152 side of the detection mechanism 14, the detection mechanism 14 detects whether the scanning surface 152 is at least partially obscured or blocked, confirming whether any item protrudes from the end face where the storage port 21a is located by at least a preset distance H1.

[0142] In some examples, the position adjustment component 171 can be a linear drive structure, an electric cylinder, or other structure that can drive the detection mechanism 14 to move linearly. The specific type of position adjustment component 171 is not limited in the embodiments of this application.

[0143] Among them, the first direction T1 can be referenced Figure 1 y direction in .

[0144] In some examples, the position adjustment assembly 171 includes a position adjustment member 1711, and a mating member 141 is provided on the detection mechanism 14. The position adjustment member 1711 cooperates with the mating member 141 to selectively push or pull the mating member 141, so that the detection mechanism 14 selectively translates towards or away from the end face of the loading dock 21a of the carrier. In this way, the distance between the scanning surface 152 of the detection mechanism 14 and the end face of the loading dock 21a is adjusted to a preset distance H1.

[0145] In some embodiments, the position adjustment member 1711 can be an electromagnet coil, and the mating member 141 can be a magnetic member, which is disposed on the detection mechanism 14. When the electromagnet coil is energized, the magnetic interaction between the electromagnet coil and the magnetic member allows the magnetic member to move towards or away from the electromagnet coil. Accordingly, in the first direction T1, the magnetic member is located between the electromagnet coil and the detection mechanism 14, and the scanning surface 152 of the detection mechanism 14 is located on the side of the magnetic member away from the electromagnet coil. Therefore, when the magnetic member moves towards the electromagnet coil, it causes the detection mechanism to translate away from the end face of the storage port 21a, thereby increasing the distance between the scanning surface 152 and the end face of the storage port 21a. When the magnetic member moves away from the electromagnet coil, it causes the detection mechanism to translate towards the end face of the storage port 21a, thereby decreasing the distance between the scanning surface 152 and the end face of the storage port 21a.

[0146] In some embodiments, the position adjusting member 1711 and the mating member 141 may also be configured as a lead screw and nut, a gear and a rack, etc. The present application embodiment does not limit the combination type of the position adjusting member 1711 and the mating member 141.

[0147] Figure 9a This is a schematic diagram of the structure of a detection device provided in an embodiment of this application. Figure 2 ; Figure 9b This is a schematic diagram of the structure of a detection device provided in an embodiment of this application. Figure 3 ; Figure 9c This is a schematic diagram of the structure of a mating component in a detection device provided in an embodiment of this application.

[0148] Reference Figures 9a to 9c As shown, in some other embodiments, a mating hole 141a is formed on the mating member 141; a position adjusting member 1711 passes through the mating hole 141a and is configured to move along the mating hole 141a in a first direction T1 to selectively push or pull the mating member 141.

[0149] In some examples, the position adjusting member 1711 has an external thread along the first direction T1, and the mating hole 141a has an internal thread along the first direction T1. The position adjusting member 1711 passes through the mating hole 141a, allowing the internal and external threads to drive each other. Thus, when the position adjusting member 1711 is driven to rotate along its axis, the mating member 141 moves back and forth along the axis of the position adjusting member 1711 under the driving force of the internal and external threads, thereby driving the detection mechanism 14 to move back and forth along the axis of the position adjusting member 1711. The axis of the position adjusting member 1711 is parallel to the first direction T1.

[0150] For example, the position adjustment element 1711 can be a screw, such as an internal hex screw or other types of screws.

[0151] In some specific embodiments, the adjusting mechanism 17 further includes a support base 176, through which the position adjusting member 1711 passes and is rotatable along its axis. By rotating the position adjusting member 1711 along its axis, the mating member 141 moves back and forth along its axis under the transmission action of the internal and external threads. Thus, the support base 176 can position the position adjusting member 1711 along the first direction T1, preventing it from moving along the first direction T1, thereby improving the performance of using the position adjusting member 1711 to drive the mating member 141.

[0152] In other examples, the position adjustment member 1711 passes through and is fixedly connected to the mating hole 141a. By pulling or pushing the position adjustment member 1711, the mating member 141 is moved back and forth along the first direction T1. In this case, the position adjustment member 1711 can be fixed in position by the chuck, preventing the position adjustment member 1711 and the mating member 141 from moving around in the first direction T1 and affecting the accuracy of the preset distance H1. Specifically, the chuck can tighten or expand radially along the position adjustment member 1711. When the position adjustment member 1711 is pushed and pulled to achieve a preset distance H1 between the scanning surface 152 and the end face of the loading port 21a, the chuck is tightened radially along the position adjustment member 1711 to clamp the position adjustment member 1711, so that the position adjustment member 1711, the mating member 141, and the detection mechanism 14 are stably located in this position.

[0153] It should be noted that the position adjustment component 171 can be an automatic adjustment mechanism or a manual adjustment mechanism. It is understood that the corresponding operation can be achieved through electric drive, hydraulic drive, pneumatic drive, or operator operation of the position adjustment component 1711; this embodiment of the application does not impose any limitations on this.

[0154] Reference Figure 9b As shown, in some embodiments, the adjustment mechanism 17 includes an angle adjustment component 172, which cooperates with the detection mechanism 14 to drive the detection mechanism 14 to rotate, so that the scanning surface 152 formed by the detection mechanism 14 and the end face where the cargo position port 21a of the carrier 20 is located are within a preset angle range.

[0155] The rotation of the detection mechanism 14 can include rotation along a first direction T1 or rotation along a second direction. When the detection mechanism 14 rotates along the first direction T1, the horizontal angle formed between the scanning surface 152 and the end face of the storage port 21a in a plane defined by the length and width directions changes. When the detection mechanism 14 rotates along the second direction T2, the pitch angle formed between the scanning surface 152 and the end face of the storage port 21a in a plane defined by the width and height directions changes. Accordingly, the detection mechanism 14 is rotated by the angle adjustment component 172 to adjust the horizontal and pitch angles so that they are within a preset angle range. In this way, movable carriers 20 of different sizes can cooperate with the detection mechanism 14 to detect whether there are any items protruding from the end face of the storage port 21a of the movable carrier 20 using the scanning surface 152 formed by the detection mechanism 14.

[0156] In some examples, the preset range of the horizontal angle can be 0 degrees or 180 degrees. The preset range of the pitch angle can be 0 degrees or 180 degrees. In this way, the scanning surface 152 and the end face where the loading dock 21a is located can be parallel to each other, achieving the purpose of equidistant setting between them.

[0157] In other examples, the preset angle range for the horizontal and vertical angles can be from 0 degrees to a first preset angle or from a second preset angle to 180 degrees, where the first and second preset angles are complementary. This reduces the requirement for equidistant positioning between the scanning surface 152 and the end face where the loading dock 21a is located, lowers the adjustment precision, and improves ease of operation.

[0158] In some embodiments, the angle adjustment component 172 includes a first angle adjustment member 1721, which is connected to the detection mechanism 14 to drive the detection mechanism 14 to rotate along the second direction T2, thereby adjusting the pitch angle (the angle between the detection mechanism 14 and the direction of gravity) of the detection mechanism 14, so that the pitch angle between the scanning surface 152 formed by the detection mechanism 14 and the end face where the cargo position port 21a of the carrier 20 is located is within a preset pitch angle range; wherein, the second direction T2 is set at an angle to the first direction T1.

[0159] In some embodiments, the first angle adjustment member 1721 can be a torsion spring damping structure, a worm gear structure, or other structures capable of pitching.

[0160] In some embodiments, the first angle adjustment member 1721 includes a first transmission member and a second transmission member. The first transmission member is connected to the second transmission member, and the second transmission member is connected to the detection mechanism 14. The first transmission member is configured to drive the second transmission member to rotate along the second direction T2, so as to drive the detection mechanism 14 to rotate along the second direction T2 and be at different pitch angles.

[0161] In some embodiments, the first transmission component can be a rotary motor, and the second transmission component can be an output flange. The output flange is drivenly connected to the output shaft of the rotary motor, and the output flange is connected to the detection mechanism; the output shaft of the rotary motor rotates along the second direction T2, thereby driving the output flange and the detection mechanism to rotate synchronously along the second direction T2.

[0162] In other embodiments, a first tooth is formed on the first transmission member and a second tooth is formed on the second transmission member, the first tooth meshing with the second tooth so that the first transmission member drives the second transmission member to rotate in a second direction.

[0163] The first transmission component can be a worm gear with a first tooth; the second transmission component can be a worm wheel with a second tooth. The worm wheel is connected to the detection mechanism 14, enabling the detection mechanism 14 to rotate synchronously with the worm wheel. Thus, by driving the worm gear to rotate around its own axis (parallel to the first direction T1), the meshing action of the worm gear and the worm wheel drives the worm wheel to rotate along the second direction T2. ​​The detection mechanism 14 rotates along the second direction T2 with the worm wheel, thereby placing the detection mechanism 14 at different pitch angles.

[0164] In some embodiments, the angle adjustment component 172 includes a second angle adjustment member 1722, which cooperates with the detection mechanism 14 to drive the detection mechanism 14 to rotate along the first direction T1, thereby adjusting the horizontal angle of the detection mechanism so that the horizontal angle between the scanning surface 152 formed by the detection mechanism 14 and the end face where the cargo position port 21a of the carrier is located is within a preset horizontal angle range.

[0165] In some embodiments, the second angle adjustment member 1722 can be a torsion spring damping structure, a worm gear structure, or other structure capable of horizontal swinging.

[0166] In some embodiments, the second angle adjustment member 1722 includes a third transmission member and a fourth transmission member; the third transmission member is connected to the fourth transmission member, the fourth transmission member is connected to the detection mechanism 14, and the third transmission member is configured to drive the fourth transmission member to rotate along the first direction T1, so as to drive the detection mechanism 14 to rotate along the first direction T1.

[0167] In some embodiments, the third transmission component can be a rotary motor, and the fourth transmission component can be an output flange. The output flange is driven to the output shaft of the rotary motor, and the output flange is connected to the detection mechanism; the output shaft of the rotary motor rotates along the first direction T1, thereby driving the output flange and the detection mechanism 14 to rotate synchronously along the first direction T1.

[0168] In other embodiments, a third tooth is formed on the third transmission member and a fourth tooth is formed on the fourth transmission member. The third tooth and the fourth tooth mesh with each other so that the third transmission member drives the fourth transmission member to rotate along the first direction T1.

[0169] The third transmission component can be a worm gear with a third tooth; the fourth transmission component can be a worm wheel with a fourth tooth. The worm wheel is connected to the detection mechanism 14, enabling the detection mechanism 14 to rotate synchronously with the worm wheel. Thus, by driving the worm gear to rotate around its own axis, and utilizing the meshing action of the worm and the worm wheel, the worm wheel is driven to rotate along the first direction T2. ​​The detection mechanism 14 rotates along the first direction T2 along with the worm wheel, thereby placing the detection mechanism 14 at different horizontal angles.

[0170] Here, the axial direction of the worm itself can be determined according to the moving direction of the movable carrier 20. This embodiment of the application does not limit the arrangement of the worm.

[0171] Reference Figure 9b As shown, in some embodiments, the adjustment mechanism 17 further includes a first mounting member 173, an angle adjustment component 172 disposed on the first mounting member 173, and the angle adjustment component 172 is configured to drive the detection mechanism 14 to rotate relative to the first mounting member 173; the first mounting member 173 cooperates with the position adjustment component 171 through a mating member 141, and the position adjustment component is configured to drive the first mounting member 173 to move along a first direction T1 through the mating member 141, so as to drive the detection mechanism 14 to move.

[0172] In the above scheme, when it is necessary to adjust the position of the detection mechanism 14 in the first direction T1, the position of the mating part 141 in the first direction T1 is adjusted by the position adjustment component. Since the mating part 141 is connected to the detection mechanism 14 through the first mounting part 173, the first mounting part 173 and the detection mechanism 14 move with the mating part 141 in the first direction T1. Correspondingly, the angle adjustment component 172 is provided on the first mounting part 173, and the angle adjustment component 172 moves with the first mounting part 173 in the first direction T1. In this way, the positions of the detection mechanism 14, the angle adjustment component 172, and the first mounting part 173 in the first direction T1 can be adjusted together by the cooperation of the position adjustment component 1711 and the mating part 141.

[0173] When it is necessary to adjust the horizontal or pitch angle of the detection mechanism 14, the angle adjustment component 172 drives the detection mechanism 14 to rotate around the first mounting member 173 to be at different horizontal or pitch angles.

[0174] In some embodiments, the angle adjustment component 172 is located inside the first mounting member 173, and the inner contour of the first mounting member 173 matches the outer contour of the angle adjustment component 172, so that the angle adjustment component 172 can move inside the first mounting member, and the first mounting member can drive the angle adjustment component 172 to move when it moves.

[0175] In some embodiments, the detection mechanism 14 has a guide surface formed on the side facing the first mounting member 173. For example, the guide surface can be a curved guide surface (not shown) or a planar guide surface. When the guide surface is a curved guide surface, it contacts the first mounting member 173 during the rotation of the detection mechanism 14 relative to the first mounting member 173. In this way, the detection mechanism 14 and the first mounting member 173 are more compact, reducing the size of the detection device 100 along the width direction of the carrier 20.

[0176] In some embodiments, when the guide surface is an arc-shaped guide surface, the side of the first mounting member 173 facing the arc-shaped guide surface also has an arc-shaped surface. The arc-shaped surface and the arc-shaped guide surface are in spherical contact, which makes the detection mechanism 14 rotate more smoothly. In addition, the contact area between the first mounting member 173 and the detection mechanism 14 is large, which increases the structural stability.

[0177] Reference Figure 9a As shown, in some embodiments, the detection device 100 further includes a support frame 101, and the detection mechanism 14 and the adjustment mechanism 17 are disposed on the support frame 101; the adjustment mechanism 17 is configured to drive the detection mechanism 14 to move relative to the support frame 101 so that the detection mechanism 14 is in a preset position.

[0178] In some embodiments, the mating member 141 is slidably connected to the support frame 101 along the first direction T1, so that the detection mechanism 14 can move along the first direction T1 with the mating member 141.

[0179] In some embodiments, the detection device 100 includes a raised-and-groove structure (not shown), with the raised portion disposed in one of the support frame 101 and the mating member 141, and the groove disposed in the other of the support frame 101 and the mating member 141.

[0180] In one embodiment, the support frame 101 has a groove extending in the first direction T1 on one side for mounting the mating member 141, and the mating member 141 has a protrusion on the side for mounting the support frame 101. The protrusion is embedded in the groove and can move along the extension direction of the groove, thereby enabling the detection mechanism 14 to move in the first direction T1. Alternatively, the support frame 101 has a protrusion extending in the first direction T1 on one side for mounting the mating member 141, and the mating member 141 has a groove on the side for mounting the support frame 101. The groove engages with the protrusion, allowing the mating member 141 to move in the first direction T1 under the guidance of the protrusion, thereby enabling the detection mechanism 14 to move in the first direction T1.

[0181] It should be noted that the above-mentioned groove protrusion structure is an example of the sliding structure between the support frame 101 and the mating part 141. The embodiments of this application do not limit the sliding structure between the support frame 101 and the mating part 141.

[0182] In some embodiments, the dimension of the support frame 101 along the height direction can be determined according to the actual situation. When there is no interference between the loading and unloading equipment 11 and the support frame 101, the dimension of the support frame 101 along the height direction can be set higher; when the support frame 101 is close to the loading and unloading equipment 11, the dimension of the support frame 101 along the height direction can be set lower, so as to avoid interference between the picking and placing mechanism 111 on the loading and unloading equipment 11 and the detection device 100.

[0183] Reference Figure 9c As shown, in some embodiments, the mating component 141 includes a first plate 142, a second plate 143, and a third plate 144 connected to the first plate 142 and the second plate 143. The first plate 142 is used to connect to the support frame 101, and the second plate 143 is used to connect to the detection mechanism 14. The third plate 144 connects the first plate 142 and the second plate 143, acting as a rib to strengthen the structural stability between the first plate 142 and the second plate 143.

[0184] Figure 10a This is a schematic diagram of the structure of a workstation provided in one embodiment of this application. Figure 1 ; Figure 10b This is a schematic diagram of the structure of a workstation provided in one embodiment of this application. Figure 2 .

[0185] Reference Figure 10a and Figure 10b As shown, based on the same concept, this application embodiment also provides a workstation 10, including a loading and unloading device 11 and a detection device 100. The loading and unloading device 11 has a docking area 12 on one side. The loading and unloading device 11 is configured to dock with a carrier 20 located in the docking area 12 to transfer items between the carrier 20 and the loading and unloading device 11. The detection device 100 is arranged along a movement path from a designated position to the docking area 12 and is located on at least one side of the movement path. The detection device 100 is configured to form a scanning surface 152 on one side of the end face where the carrier's cargo port 21a is located, and to determine whether the items on the carrier 20 protrude from the carrier 20 or whether the position of the carrier 20 is skewed based on whether the scanning surface 152 is blocked or blocked.

[0186] It should be noted that the workstation 10 is conceived in relation to the aforementioned detection device 100, and has the same technical effects as the aforementioned detection device 100. Technical features and implementation methods not described in this embodiment can be referred to the technical solution of the aforementioned detection device 100, and will not be repeated here.

[0187] In some embodiments, an entry area 13 is formed on one side of the loading / unloading equipment 11. The entry area 13 is arranged side by side with the connecting area 12, and the entry area 13 is located on the movement path of the carrier 20 moving towards the connecting area 12. The detection device 100 is located on the side of the entry area 13 closer to the loading / unloading equipment 11, and the distance between the scanning surface 152 formed by the detection device 100 and the loading / unloading equipment 11 is greater than zero. In this way, the scanning surface 152 can be avoided from being blocked when the picking and placing mechanism 111 on the loading / unloading equipment 11 moves, ensuring the accuracy of the detection mechanism 14 in confirming whether there is an item protruding from the loading dock 21a by judging whether the scanning surface 152 is partially blocked.

[0188] Based on the same concept, this application also provides a warehousing system, including a carrier 20 (which can be understood as the movable carrier 20 mentioned above), a handling device 30, and a detection device 100. The carrier 20 is configured to carry items. The handling device 30 is configured to handle the carrier 20 to move it to a target area 70. The detection device 100 is located on one side of the movement path of the carrier 20 towards the target area 70. The detection device 100 is configured to form a scanning surface 152 on one side of the end face where the carrier's storage port 21a is located, and determine whether the item protrudes from the end face where the carrier's storage port 21a is located or whether there is a deviation in the position of the carrier 20 based on whether the scanning surface 152 is obstructed.

[0189] It should be noted that this warehousing system is conceived in relation to the aforementioned workstation 10, and has the same technical effects as the aforementioned workstation 10. Technical features and implementation methods not described in this embodiment can be referred to the technical solution of the aforementioned workstation 10, and will not be repeated here.

[0190] The warehousing system includes workstation 10, and target area 70 is the connection area 12 for loading and unloading equipment in the workstation.

[0191] In some embodiments, an entry area 13 is formed on one side of the loading and unloading equipment 11. The entry area 13 is arranged side by side with the connecting area 12. The entry area 13 is located on the moving path of the vehicle 20 moving towards the connecting area 12. The detection device 100 is located on the side of the entry area 13 close to the loading and unloading equipment 11, and the distance between the scanning surface 152 formed by the detection device 100 and the loading and unloading equipment 11 is greater than zero.

[0192] Reference Figure 10a and Figure 10bAs shown in the figure, in this embodiment of the application, the warehousing system includes multiple workstations 10; in at least one pair of adjacent workstations 10, the entry area 13 of one workstation 10 is adjacent to the connection area 12 of the other workstation 10, and the detection device 100 of one workstation 10 is disposed at the adjacent location, avoiding the activity area of ​​the loading and unloading equipment 11 of the other workstation 10; thereby avoiding the loading and unloading equipment 11 from affecting the position of the detection mechanism 14 when it moves in the activity area, thus affecting the detection accuracy.

[0193] The active area of ​​the loading and unloading equipment 11 can be understood as the movement area of ​​the picking and placing mechanism 111 in the loading and unloading equipment 11.

[0194] In some implementations, the detection device 100 of one workstation 10 is lower than the activity area of ​​the loading and unloading equipment 11 of the other workstation 10; so that when the loading and unloading equipment 11 moves to its lowest point in the height direction, it will not interfere with the detection device 100, thereby ensuring detection accuracy.

[0195] For example, if the loading and unloading mechanism 111 of the loading and unloading equipment 11 is at the zero position and its height above the ground is the zero position height, then the height of the detection device 100 can be lower than this zero position height. It should be noted that the zero position height can be adjusted according to the actual type of loading and unloading equipment 11 and the working requirements, and is not limited here.

[0196] In other embodiments, the detection device 100 may be positioned offset from the movement area of ​​the pick-and-place mechanism 111 in the horizontal direction (e.g., the x-direction) to avoid interference with the pick-and-place mechanism 111.

[0197] 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.

[0198] 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 detection device, characterized in that, include: The detection mechanism (14) is configured to emit a detection source to form a scanning surface (152) on one side of the end face where the cargo position (21) of the carrier (20) is located. The detection mechanism (14) determines whether the item placed on the carrier (20) protrudes from the end face where the cargo position (21) of the carrier (20) is located and / or whether there is a deviation in the pose of the carrier (20) based on whether the scanning surface (152) is blocked. An adjustment mechanism (17) cooperates with the detection mechanism (14), and the adjustment mechanism (17) is configured to drive the detection mechanism (14) to move so that the detection mechanism (14) is in a preset position. When the detection mechanism (14) is in a preset position, the scanning surface (152) extends along the end face of the cargo position (21) of the carrier (20), and the projection on the end face of the cargo position (21) covers at least part of the end face of the cargo position (21). There is a preset distance between the scanning surface (152) and the end face of the cargo position (21).

2. The detection device according to claim 1, characterized in that, The adjustment mechanism (17) includes: The position adjustment component (171) cooperates with the detection mechanism (14) to drive the detection mechanism (14) to move along the first direction, so that the distance between the scanning surface (152) formed by the detection mechanism (14) and the end face where the cargo position (21) is located is a preset distance.

3. The detection device according to claim 2, characterized in that, The position adjustment assembly (171) includes a position adjustment component (1711), and the detection mechanism (14) is provided with a mating component (141). The position adjustment member (1711) cooperates with the mating member (141) to selectively push or pull the mating member (141) so that the detection mechanism (14) selectively moves toward the end face of the cargo position (21) opening that is closer to or farther away from the carrier (20).

4. The detection device according to claim 3, characterized in that, The mating part (141) has a mating hole (141a). The position adjustment member (1711) passes through the mating hole (141a) and is configured to move along the mating hole (141a) in the first direction to selectively push or pull the mating member (141).

5. The detection device according to any one of claims 1-4, characterized in that, The adjustment mechanism (17) includes: An angle adjustment component (172) cooperates with the detection mechanism (14) to drive the detection mechanism (14) to rotate, so that the scanning surface (152) formed by the detection mechanism (14) and the end face of the cargo position (21) of the carrier (20) are within a preset angle range.

6. The detection device according to claim 5, characterized in that, The angle adjustment component (172) includes a first angle adjustment member (1721), which is connected to the detection mechanism (14) to drive the detection mechanism (14) to rotate along the second direction, thereby adjusting the pitch angle of the detection mechanism (14) so ​​that the pitch angle between the scanning surface (152) formed by the detection mechanism (14) and the end face of the cargo position (21) of the carrier (20) is within a preset pitch angle range; wherein, the second direction is set at an angle to the first direction.

7. The detection device according to claim 6, characterized in that, The first angle adjustment component (1721) includes a first transmission component and a second transmission component; The first transmission member is connected to the second transmission member, and the second transmission member is connected to the detection mechanism (14). The first transmission member is configured to drive the second transmission member to rotate in the second direction, so as to drive the detection mechanism (14) to rotate in the second direction.

8. The detection device according to claim 7, characterized in that, The first transmission member has a first tooth, and the second transmission member has a second tooth. The first tooth meshes with the second tooth so that the first transmission member drives the second transmission member to rotate in a second direction.

9. The detection device according to claim 5, characterized in that, The angle adjustment component (172) includes a second angle adjustment member (1722), which cooperates with the detection mechanism (14) to drive the detection mechanism (14) to rotate in a first direction, thereby adjusting the horizontal angle of the detection mechanism (14) so ​​that the horizontal angle between the scanning surface (152) formed by the detection mechanism (14) and the end face of the cargo position (21) of the carrier (20) is within a preset horizontal angle range.

10. The detection device according to claim 9, characterized in that, The second angle adjustment member (1722) includes a third transmission member and a fourth transmission member; The third transmission member is connected to the fourth transmission member, and the fourth transmission member is connected to the detection mechanism (14). The third transmission member is configured to drive the fourth transmission member to rotate in the first direction, so as to drive the detection mechanism (14) to rotate in the first direction.

11. The detection device according to claim 10, characterized in that, The third transmission member has a third tooth, and the fourth transmission member has a fourth tooth. The third tooth meshes with the fourth tooth so that the third transmission member drives the fourth transmission member to rotate in the first direction.

12. The detection device according to claim 5, characterized in that, The adjustment mechanism (17) further includes a first mounting member (173), the angle adjustment component (172) is disposed on the first mounting member (173), and the angle adjustment component (172) is configured to drive the detection mechanism (14) to rotate relative to the first mounting member (173); The first mounting member (173) cooperates with the position adjustment component (171) of the adjustment mechanism (17) via a mating member (141). The position adjustment component (171) is configured to drive the first mounting member (173) to move along a first direction via the mating member (141) so as to drive the detection mechanism (14) to move.

13. The detection device according to claim 12, characterized in that, The detection mechanism (14) has a guide surface on the side facing the first mounting member (173) so that the guide surface contacts the first mounting member (173) during the rotation of the detection mechanism (14) relative to the first mounting member (173).

14. The detection device according to any one of claims 1-4, characterized in that, The detection device (100) further includes a support frame (101), and the detection mechanism (14) and the adjustment mechanism (17) are disposed on the support frame (101); The adjustment mechanism (17) is configured to drive the detection mechanism (14) to move relative to the support frame (101) so that the detection mechanism (14) is in the preset position.

15. 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 vehicle (20) located in the docking area (12) to transfer articles between the vehicle (20) and the loading and unloading equipment (11); The detection device (100) as described in any one of claims 1-14 is arranged along a movement path from a designated position to the docking area (12) and is located on at least one side of the movement path; The detection device (100) is configured to form a scanning surface (152) on one side of the end face where the cargo position (21) of the carrier (20) is located, and to determine whether the item on the carrier (20) protrudes from the carrier (20) or whether the position of the carrier (20) is skewed based on whether the scanning surface (152) is obstructed.

16. The workstation according to claim 15, characterized in that, An entry area (13) is also formed on one side of the loading and unloading equipment (11). The entry area (13) is arranged side by side with the connecting area (12). The entry area (13) is located on the moving path of the vehicle (20) towards the connecting area (12). The detection device (100) is located on the side of the entry area (13) close to the loading and unloading equipment (11), and the distance between the scanning surface (152) formed by the detection device (100) and the loading and unloading equipment (11) is greater than zero.

17. A warehousing system, characterized in that, include: The vehicle (20) is configured to carry items; The transport equipment (30) is configured to transport the vehicle (20) to the target area (70). The detection device (100) as described in any one of claims 1-14 is located on one side of the movement path of the vehicle (20) moving toward the target area (70); the detection device (100) is configured to form a scanning surface (152) on one side of the end face where the cargo position (21) of the vehicle (20) is located, and to determine whether an item protrudes from the end face where the cargo position (21) of the vehicle (20) is located or whether there is a deviation in the position of the vehicle (20) based on whether the scanning surface (152) is obstructed.

18. The warehousing system according to claim 17, characterized in that, The warehousing system includes a workstation (10), and the target area (70) is the connection area (12) of the loading and unloading equipment (11) in the workstation (10).

19. The warehousing system according to claim 18, characterized in that, An entry area (13) is also formed on one side of the loading and unloading equipment (11). The entry area (13) is arranged side by side with the connecting area (12). The entry area (13) is located on the moving path of the vehicle (20) towards the connecting area (12). The detection device (100) is located on the side of the entry area (13) close to the loading and unloading equipment (11), and the distance between the scanning surface (152) formed by the detection device (100) and the loading and unloading equipment (11) is greater than zero.

20. The warehousing system according to claim 19, characterized in that, The warehousing system includes multiple workstations (10). In at least one pair of adjacent workstations (10), the entry area (13) of one of the workstations (10) is adjacent to the connection area (12) of the other workstation (10), and the detection of the one of the workstations (10) is located at the adjacent location and is set away from the activity area of ​​the loading and unloading equipment (11) of the other workstation (10).

21. The warehousing system according to claim 20, characterized in that, The detection device (100) of one of the workstations (10) is below the activity area of ​​the loading and unloading equipment (11) of the other workstation (10).

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