Method and system for inspecting objects stored in a three-dimensional warehouse - Patents.com

Abstract

The present disclosure relates to a method and system for inspecting objects stored in a three-dimensional warehouse, enabling the stored objects in the warehouse to be arranged in an orderly manner, and providing convenience for object pick-up operations, which are related to the field of logistics. The method includes the steps of controlling a shuttle to move to an inspection position under set conditions, calculating whether the attitude of the stored object corresponding to the inspection position has changed, and if the attitude of the stored object has changed, using the shuttle to remove the stored object and then returning the stored object to its original position. In the above technical solution, the inspection operation is performed on the stored object in the warehouse under set conditions, and when it is detected that the stored object is tilted, the tilted attitude of the stored object is corrected by removing the stored object and returning the stored object to its original position, so that the stored object is arranged in an orderly manner, thereby facilitating the subsequent object pick-up operation performed by the shuttle.

Description

[Technical field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application is based on and claims the benefit of priority from Chinese Application No. 202111196606.3, filed on October 14, 2021, the entire disclosure of which is incorporated herein by reference.

[0002] The present disclosure relates to the field of logistics, and in particular to a method and system for inspecting objects stored in a three-dimensional warehouse. [Background technology]

[0003] The 3D warehouse is used to store cargo. In the 3D warehouse, a shuttle is used to travel back and forth to pick up and place the cargo. The control logic for the shuttle to pick up and place the cargo is as follows: the host computer sends a command to pick up or place the cargo, and the shuttle travels to the set cargo location according to the received command and picks up or places the cargo.

[0004] In actual production, the vibrations generated during the process of shuttles running on rack rails and picking and placing cargo will cause the actual position of the cargo to deviate from the expected position. When the shuttles pick up cargo that is deviated from the expected position, they will result in bumping, hitting, or failing to pick up the cargo. When placing the cargo, the shuttles will be affected by nearby cargo that is deviated from its position. After such failures occur, the work must be terminated, requiring manual intervention, which will seriously affect production efficiency.

[0005] To solve this problem, the background art adds the task of adjusting the position of the shuttle before the cargo is picked up. The specific method is as follows: during production, the shuttle moves to a position for picking up the cargo according to the received command, and before picking up the cargo, it first determines whether the cargo is misaligned / tilted, and if the cargo is misaligned / tilted, the position of the shuttle is adjusted to correspond to the misaligned / tilted cargo. Then the shuttle delivers the cargo. Summary of the Invention [Means for solving the problem]

[0006] The inventors have found at least the following problems in the prior art: Some cargo in a warehouse is picked up and placed infrequently, and after being stored for a long time, the amount of deviation is too large, and the cargo is too close to or directly contacts other cargo, so that even if the shuttle adjusts its attitude, it cannot complete the pick-up and placement work, making it impossible to complete the pick-up and placement work.

[0007] According to some embodiments of the present disclosure, the present disclosure proposes a method and system for inspecting objects stored in a three-dimensional warehouse, enabling the stored objects in the warehouse to be arranged in an orderly manner, and providing convenience for object retrieval operations.

[0008] Some embodiments of the present disclosure provide a method for inspecting stored objects in a three-dimensional warehouse, the method comprising: controlling the shuttle to move to an inspection position under preset conditions; calculating whether the orientation of the stored object corresponding to the inspection location has changed; If the attitude of the stored object has been changed, the method includes the steps of retrieving the stored object using the shuttle and then returning the stored object to its original position.

[0009] In some embodiments, whether the attitude of the stored object corresponding to the inspection position has changed is determined by: calculating the amount of deviation and / or the angle of inclination of the stored object; determining whether the deviation and tilt angle exceed a set value; and determining that the attitude of the stored object has changed if the deviation or tilt angle exceeds a set value.

[0010] In some embodiments, the tilt angle of the stored object is: detecting a first distance between a first corner of the stored object corresponding to the inspection location and the shuttle, a second distance between a second corner of the stored object and the shuttle, and a third distance that the shuttle travels from a position corresponding to the first corner of the stored object to a position corresponding to the second corner of the stored object; calculating a tilt angle of the stored object based on the first distance, the second distance, and the third distance; It is calculated by:

[0011] In some embodiments, the amount of displacement of the stored object is: The calculation includes a step of calculating an amount of displacement of the stored object based on the coordinates of the shuttle in a coordinate system of the stored object to be inspected, the dimensions of the stored object, the tilt angle of the stored object, the first distance, and the second distance.

[0012] In some embodiments, the first corner is a corner of the stored object that faces the aisle in which the shuttle is located, and the first corner is the corner that the shuttle passes through for the first time.

[0013] In some embodiments, the second corner is a corner of the stored object that faces toward the aisle in which the shuttle is located, and the second corner is a corner through which the shuttle passes a second time.

[0014] In some embodiments, the same distance detection element is used to detect the first distance and the second distance.

[0015] In some embodiments, the distance detection element includes a laser ranging module.

[0016] In some embodiments, each side of the shuttle is provided with a distance sensing element, each distance sensing element configured to detect stored objects corresponding to an inspection location on one side of the aisle.

[0017] In some embodiments, the inspection locations are locations within an aisle and stored objects are located on at least one side of each inspection location.

[0018] In some embodiments, the number of storage objects disposed on each side of the inspection position is two or more, and whether the attitude of the plurality of storage objects disposed on one side of the inspection position has changed is determined by: If the attitude of the stored objects located on one side of the aisle has not changed, this is determined by the step of determining that the attitude of each stored object located on the side of the stored objects away from the aisle has not changed.

[0019] In some embodiments, a method for inspecting stored objects in a three dimensional warehouse comprises: removing stored objects disposed in a row when a position of the stored objects disposed on one side of the aisle changes; determining whether a position of a stored object located in a next row has changed; The method further includes repeating the above steps until all stored objects on one side of the aisle have been determined.

[0020] In some embodiments, a method for inspecting stored objects in a three dimensional warehouse comprises: using a shuttle to remove a stored object in the last row whose attitude has been determined to have changed and then returning the stored object to its original position to perform attitude correction of the stored object; and returning the stored objects arranged on one side of the aisle one by one to complete posture correction of all the stored objects on one side of the aisle.

[0021] In some embodiments, a method for inspecting stored objects in a three dimensional warehouse comprises: The method further includes the step of, after completing the attitude correction of all stored objects corresponding to the inspection position, traveling the shuttle to the next inspection position relative to the inspection position and performing attitude determination of the stored objects for all the inspection positions.

[0022] In some embodiments, the set condition is specifically when the shuttle does not receive a work command.

[0023] Some embodiments of the present disclosure also provide a system for inspecting objects stored in a three-dimensional warehouse, which includes Shuttle and A controller attached to the shuttle; a distance detection element mounted on the shuttle and communicatively connected to the controller for detecting a distance from the shuttle to a stored object to be inspected; a positioning element mounted on the shuttle to stop the shuttle at a set inspection position and communicatively connected to the controller; and a displacement detection element mounted to the shuttle and communicatively connected to the controller for detecting a third distance traveled by the shuttle.

[0024] In some embodiments, a distance sensing element is mounted on each side across the width of the shuttle.

[0025] According to the three-dimensional warehouse storage object inspection method provided in the above technical solution, an inspection operation is performed on the storage object in the warehouse under set conditions, and when it is detected that the storage object is tilted, the tilted attitude of the storage object is corrected by taking the storage object and returning it to its original position, so that the storage object is arranged in an orderly manner, thereby facilitating the subsequent object pick-up operation performed by the shuttle. Also, when performing the object pick-up operation, the shuttle does not need to stop to adjust the attitude of the storage object, nor does it need to adjust the attitude of the shuttle itself, thus greatly improving the object pick-up efficiency.

[0026] The drawings illustrated in this specification are used to facilitate a further understanding of the present disclosure and form a part of this application, and the exemplary embodiments of the present disclosure and the description thereof are intended to explain the present disclosure without unduly limiting it. [Brief description of the drawings]

[0027] [Figure 1] FIG. 1 is a structural diagram of a system for inspecting objects stored in a three-dimensional warehouse provided in some embodiments of the present disclosure. [Diagram 2] A schematic diagram showing the relative positions of a shuttle and a stored object when a method for inspecting objects stored in a three-dimensional warehouse provided in some embodiments of the present disclosure is performed. [Diagram 3] A schematic diagram showing determining the amount of deviation and tilt angle of a stored object when a method for inspecting objects stored in a three-dimensional warehouse provided in some embodiments of the present disclosure is performed. [Figure 4] FIG. 4 is an enlarged view of M in FIG. [Diagram 5] 1 is a flow diagram of a method for inspecting objects stored in a three-dimensional warehouse provided in some embodiments of the present disclosure. [Figure 6] 13 is a flow diagram of determining whether the attitude of a stored object has changed. [Figure 7] 1 is a flow chart of calculating the offset and tilt angle. [Figure 8] 13 is a schematic diagram showing the amount of deviation of a stored object. FIG.

[0028] Reference numerals: 1: shuttle, 2: distance detection element, 3: positioning element, 4: controller, 5: displacement detection element. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0029] The technical solutions provided in the present disclosure are described in more detail below in conjunction with FIGS.

[0030] A large amount of storage objects A are stored in a warehouse. The storage objects A are, for example, cargo, pallets, or other containers. For ease of explanation, pallets A are used hereinafter as an example of storage objects. These technical solutions are also applicable to pallets or other containers as long as these storage objects A have a clear shape and placing order. These storage objects in the warehouse are placed in rows. Between two adjacent rows of storage objects A, an aisle S is provided for the shuttle 1 to travel. The shuttle 1 travels for the purpose of picking up the storage objects A placed at a specific inspection position according to a command, or placing the received storage objects A at an inspection position in the warehouse. In the technical solutions in some embodiments of the present disclosure, the control logic of the shuttle 1 in the warehouse is modified, and the work of the shuttle 1 is divided into two categories. The first category is related to the working time for the shuttle 1. In this working time, the shuttle 1 performs normal work, i.e., the shuttle 1 performs the work of placing and picking objects according to the received order information. The second category is related to the non-working time for the shuttle 1. During the non-working time, the shuttle 1 does not receive sequence information regarding picking and placing objects. During the non-working time, the shuttle 1 is in an idle state. This non-working time may be a non-operating time at night or a free time between two sequences. In the technical solutions in some embodiments of the present disclosure, an inspection operation is added to the shuttle 1 during the non-working time. In particular, when the shuttle 1 does not receive a command, i.e., when the shuttle 1 is in a standby or idle state, the shuttle 1 automatically moves in the warehouse and performs an inspection operation of the stored objects present in the warehouse. If it is found that the attitude of the stored object has changed, the attitude of the stored object A is corrected by picking up the stored object and returning the stored object A to its original position. Since the accuracy of the operation of placing the stored object by the shuttle 1 is very high, the accurate positioning of the stored object A whose attitude has changed is achieved very accurately by the picking and placing operations of the shuttle 1, reducing or even avoiding the situation in which the stored object is excessively tilted or excessively shifted, and there is no need to provide additional equipment for correcting the attitude of the stored object.

[0031] The inspection operation of the shuttle 1 is performed during non-working time periods, i.e., when the shuttle 1 does not perform the operations of picking up and placing objects, and thus does not affect the efficiency of the operations of placing and picking up stored objects in the entire warehouse. Furthermore, since the posture of the stored objects in the warehouse is inspected and adjusted, the shuttle 1 does not need to stop and adjust its posture to accommodate tilted or misaligned stored objects when performing the operations (placing and picking up stored objects), nor does it need to adjust the posture of the stored objects in other ways. Furthermore, the operation of picking up stored objects by the shuttle 1 is very continuous, and the object picking efficiency is very high. Technical solutions in some embodiments of the present disclosure are described in detail below.

[0032] 1 to 5, some embodiments of the present disclosure provide a method for inspecting objects stored in a three-dimensional warehouse, the method including the following steps:

[0033] Step S100: Controlling the shuttle 1 to move to an inspection position under set conditions. In some embodiments, the set conditions are specifically when the shuttle 1 does not receive a work command. This inspection method is performed in the gap between the time when the shuttle performs work, i.e. when the work of picking objects and placing cargo is not being performed, and therefore does not occupy the operating time of the shuttle 1. Moreover, the existing shuttle 1 in the warehouse is utilized for the inspection, and no additional inspection equipment is required.

[0034] The shuttle 1 itself has guiding and positioning functions. These functions also have a role to play in the inspection process. The shuttle 1 utilizes its guiding and positioning functions to implement placing and picking up the stored object A. The shuttle 1 picks up the stored object A and carries it to the car body, and places it in place as needed, unless an extreme situation occurs in which the attitude of the stored object is too oblique / the stored object is too close to another stored object A. The position of the stored object A is accurate through the picking and placing operations. The specific working process of the shuttle 1 storing / picking up the stored object A is the normal operating function of the shuttle 1 and is not described here.

[0035] In the warehouse, a large number of aisles S are provided. The number of aisles inspected by each shuttle 1 is set according to the number of idle shuttles 1 and the idle frequency of each shuttle 1. For example, if a shuttle 1 is a standby shuttle 1 and has a high idle frequency, a long inspection operation time is set for that shuttle 1. Since the inspection operation is performed for each shuttle 1 during the idle time of the shuttle 1, the shuttle 1 does not need to complete the inspection operation of the set number of stored objects A in each inspection operation, nor does it need to complete the inspection of all stored objects A in the aisle S in each inspection. If the shuttle 1 is idle for a long time, the inspection time of the shuttle 1 is correspondingly long, and if the shuttle 1 is idle for a short time, the inspection time of the shuttle 1 is correspondingly short.

[0036] One or more rows of stored objects A are provided on each side of the aisle S. For example, in the top view shown in FIG. 2, one row of stored objects A is provided on one side of the aisle S, and two rows of stored objects A are provided on the other side of the aisle S. For ease of explanation, an XY coordinate system is set in FIG. 2, where X indicates the length direction of the aisle S and is also the direction of movement of the shuttle 1. The direction Y is the direction of the depth where the stored objects A are placed. Each aisle S is divided into a number of inspection positions, each corresponding to an X value in the XY coordinate system. Based on the Y value in the XY coordinate system, the positions corresponding to the X value are divided into a number of cargo positions, and the stored objects A are placed in each cargo position. For example, in FIG. 2, the positions where the shuttle 1 is placed correspond to the three stored objects A1, A2, and A1. Here, in order to make it easier to distinguish the inspection positions, the positions where the shuttle 1 is placed refer to the X-axis positions to which the distance detection element 2 mounted on the shuttle 1 is directed. The inspection positions are the positions where patrols are performed in the aisle S to detect the attitude of the stored objects. The inspection positions are the same as the working positions when the shuttle 1 performs normal operations of picking up objects and placing cargo. In some embodiments, a storage object A is placed on at least one side of each inspection position. It should be noted that the schematic top view of the warehouse presented in FIG. 2 is only intended to illustrate the technical solutions in some embodiments of the present disclosure, and is not intended to be limiting. In practical situations, multiple rows of storage objects A may be provided on each side of the aisle S.

[0037] The movement command for the shuttle 1 comes from the controller 4 of the shuttle 1 itself. The controller 4 is configured to determine whether there is a work command for the shuttle 1 in the current time period, such as 10 minutes or 20 minutes. If there is no work command, the shuttle 1 performs the inspection work, and the shuttle 1 moves to the inspection position randomly or based on a set sequence. The shuttle 1 randomly selects an aisle S to start the inspection work. Alternatively, the shuttle 1 selects an aisle S based on a set sequence to perform the inspection work. The set sequence is, for example, to select the aisle S closest to the position where the shuttle 1 is currently located to start the inspection work. To perform the inspection work in this way, the shuttle 1 needs to move a short distance to the inspection position in the shortest time. Alternatively, based on the arrangement sequence of the aisles S, the inspection work is started from the first aisle S, or the inspection work is started from the last aisle S. Alternatively, the inspection sequence is determined based on the frequency of use of each aisle S. In particular, for example, the inspection operation is started from the aisle S where putting and picking operations are most frequent, which allows the stored objects A in the aisle S to be arranged in a more orderly manner and ensures that subsequent putting and picking operations of the stored objects A in the aisle S are smoother. Alternatively, the inspection operation is started from the aisle S where putting and picking operations are least frequent, which can ensure that interference with other shuttles 1 performing operations or other mutual influences are less likely to occur during the inspection operation.

[0038] For aisles S with different frequencies of put and pick operations, the frequency of inspection operations performed there is not the same. For aisles S where put and pick operations are frequent, the number of inspections is high. For aisles S where the frequency of put and pick operations is very low, the inspection operations are performed infrequently.

[0039] For stored objects A in different cargo locations in the same aisle S, the frequency of the inspection operation is set according to the frequency of placing and picking up the stored objects A in the cargo locations. For stored objects A in cargo locations where the placing and picking operations are frequent, the placing and picking operations of the shuttle 1 are greatly affected when the stored objects A in the cargo locations are tilted. Therefore, the inspection operations on the stored objects A in these cargo locations are increased to improve the reliability of the shuttle 1's operation of picking up regular items. An inspection cycle is set for stored objects A in cargo locations where the placing and picking operations are infrequent. For example, if the stored objects A in those locations are stored / picked up once a week, the period of the previous week is set as the inspection time. In this way, the inspection workload of the shuttle 1 is reduced and the inspection efficiency of the shuttle 1 is maximized.

[0040] The shuttle 1 performing the inspection work is the shuttle 1 for the non-working time period. In this way, no additional inspection equipment is needed in the warehouse, and the use of the existing equipment in the warehouse is maximized, so that the inspection work is accomplished without adding vehicles in the warehouse, thus greatly increasing the probability of placing the stored objects in the warehouse in an orderly manner, and increasing the working efficiency of the shuttle 1 in the working time, and obviously improving the efficiency of placing and picking up objects in the warehouse.

[0041] Step S200: Calculate whether the posture of the stored object A corresponding to the inspection position has changed.

[0042] As described above, there are stored objects A on both sides of the inspection position. The inspection sequence of the stored objects A is, for example, one-by-one inspection. For example, using the orientation shown in FIG. 2 as an example, the stored objects A shown below the aisle S in FIG. 2 are first inspected for changes in posture, and then the stored objects A shown above the aisle S in FIG. 2 are inspected for changes in posture.

[0043] A change in orientation means that the stored object is in a different orientation than it was initially placed in when shuttle 1 performs the inspection. Situations in which the orientation has changed include situations in which the stored object has been translated or rotated, or both translated and rotated.

[0044] There are various ways to determine whether the attitude of the stored object A has changed. One is the determination by using a photograph. For example, a photograph of the stored object A to be determined is taken by using an image inspection element such as a camera, and the photograph is analyzed and calculated to determine whether the attitude of the stored object A has changed. The other is the determination by distance detection. The stored object A is a regular-shaped cuboid or cube-shaped stored object, and when the stored object A is placed in an orderly manner, the side of the stored object A facing the aisle S is parallel to the length direction of the aisle S. Based on detecting the distance from multiple points on the side of the stored object A to the aisle S, the attitude of the stored object A is obtained by calculation, thereby implementing the determination of whether the attitude of the stored object A has changed.

[0045] Referring to FIG. 6, in some embodiments, step S200 is implemented by using, inter alia, the following steps.

[0046] Step S201: Calculating the displacement (Δx, Δy) and / or tilt angle θ of the stored object.

[0047] 3 and 4, the offset is the amount by which the stored object is offset from its original coordinate values ​​in the direction x and direction y with respect to its original state. The tilt angle θ is the angle by which the stored object is rotated with respect to its original state. The original state is a parameter that corresponds to the correct orientation of the stored object when it was first placed in the cargo arrangement.

[0048] In the plan views illustrated in FIG. 2 and FIG. 3, in order to clearly depict the storage object A (the storage object illustrated in the figures is cargo) located in the XY plane, a local coordinate system, i.e., an xy coordinate system, is defined for each storage object A. The origin m of the local coordinate system coincides with the reference point (e.g., center of gravity) of the storage object A. The x coordinate axis is parallel to the short side of the storage object A and is fixed, and the y coordinate axis is parallel to the long side of the storage object A and is fixed. Here, the short side of the storage object A is perpendicular to the long side of the storage object A. The coordinates (x, y) of the origin m of the local coordinate system in the global coordinate system XY indicate the position of the storage object A. The included angle θ between the x axis (or y axis) of the local coordinate system and the X axis (or Y axis) of the global coordinate system indicates the angle (orientation) of the storage object A. A complete description of the position and orientation of the storage object A in the plane can be given by using the coordinates (x, y) and the included angle θ. When there is a change in coordinates (x, y), the amount of deviation is the amount of change between the coordinates of the origin m before and after the change, i.e. (Δx, Δy). When there is a change in the included angle θ, the tilt angle is the amount of change between the included angle before and after the change, i.e. Δθ. The change in the position and / or attitude of the stored object can be only a change in position (x, y) without a change in the included angle θ, i.e., translation, or a change in the included angle θ without a change in position (x, y), i.e., rotation, or both.

[0049] Here, the amount of deviation (Δx, Δy) and the tilt angle θ are calculated by measuring Δy1, Δy2, and Δx1 in conjunction with the position information and dimensional parameters of the shuttle itself.

[0050] Referring to FIG. 7, in some embodiments, the tilt angle and offset of a stored object are calculated by the following steps.

[0051] Step S2011. Detecting a first distance Δy1 between a first corner P1 of the stored object A corresponding to an inspection position and the shuttle 1, a second distance Δy2 between a second corner P2 of the stored object A and the shuttle 1, and a third distance Δx1 that the shuttle 1 travels from a position corresponding to the first corner P1 of the stored object A to a position corresponding to the second corner P2 of the stored object.

[0052] In some embodiments, the first corner P1 is a corner of the stored object facing the aisle S in which the shuttle 1 is located, and the first corner P1 is the corner through which the shuttle 1 passes for the first time.

[0053] In some embodiments, the second corner P2 is a corner of the stored object facing the aisle S in which the shuttle 1 is located, and the second corner P2 is a corner through which the shuttle 1 passes for the second time.

[0054] The measurement of the third distance Δx 1 is in particular implemented by using a displacement detection element 5 on the shuttle 1 .

[0055] Step S2012. Calculating a tilt angle θ of the stored object A based on the first distance, the second distance, and the third distance.

[0056] The inclination angle θ of the stored object A is given by equation (1).

[0057]

number

[0058] It can be calculated by using:

[0059] Step S2013: Calculating the displacement (Δx, Δy) of the stored object A based on the first distance Δy1, the second distance Δy2, the third distance Δx1, the inclination angle θ, the length dimension h, and the width dimension b of the stored object A. The displacement (Δx, Δy) is calculated based on the following formula (2):

[0060]

number

[0061] It is calculated by:

[0062] Referring to Figure 8, in the formula, x1 and y1 are the coordinates of the laser ranging module on shuttle 1 in the xoy coordinate system, which coincides with the center of gravity of the stored object A to be inspected, and (x1, y1-Δy1) is the coordinate of the first corner P1 point of the stored object A in the xoy coordinate system.

[0063] After the deviation amount of the stored object A is calculated according to formula (2), if either Δx or Δy exceeds a set value, it is determined that the stored object A has deviation, and then needs to be corrected by the pick-up and putting operations of the shuttle 1. Here, the set values ​​of the deviation amounts along the directions x and y are set or are the same, respectively.

[0064] In some embodiments, each side of the shuttle 1 is provided with a distance detection element 2, and each distance detection element 2 is configured to detect a stored object A corresponding to an inspection position on one side of the aisle S. The distance detection element 2 is, for example, a laser distance measurement module. In practical applications, the specific detection process is as follows:

[0065] The shuttle 1 moves in the passage S in the length direction of the passage S, i.e., in the direction X. The laser ranging module transmits a laser signal in the direction of the stored object A1. After the laser is irradiated on the stored object A1, it is reflected by the stored object A1, and the laser ranging module receives the laser signal of the laser reflected from the stored object A1. Based on the time when the laser signal is received and the propagation speed of the laser itself, the distance between the laser ranging module and the stored object A1 is calculated. The processor receives the distance value and compares it with a system preset value. The difference between the distance value and the preset value is defined as an error value. If the error value is within the range of the preset error value E1, the shuttle 1 continues to run. After the laser ranging module measures the distance from each of the two corners of the stored object to the laser ranging module, the measurement is completed, and at that time, the laser ranging module has moved together with the shuttle 1 to a position where it cannot receive a reflected signal from the stored object. If the check finds that the calculated error value exceeds the preset error value E1 in the process of measuring the distance from the two corners of the stored object to the laser ranging module by the laser ranging module, the shuttle 1 will stop. The deviation amount and tilt angle of the stored object can be calculated by using the calculation method described above together with the values ​​measured by the laser ranging module.

[0066] The distances Δy1 and Δy2 between the laser ranging module and the stored object A1 can be obtained in the process from when the laser ranging module starts to receive a reflected signal within the preset error E1 range to when it stops receiving the signal. By using the displacement detection element 5 provided on the shuttle 1, the travel distance of the shuttle 1, i.e., the distance Δx1 between the left end and the right end of the surface of the stored object A1 close to the shuttle 1, is calculated as shown in FIG. 3. At that time, the stored object A1 may be in a normal position and angle, or may be shifted parallel, or may be shifted in a rotational direction, or may be shifted both parallel and rotational. The amount of shift of the stored object A1 is determined in conjunction with the state of the positioning sensor and the value from the displacement detection element 5.

[0067] Step S202: Determine whether the deviation amount and the tilt angle exceed a set value.

[0068] Step S203: When either the deviation amount or the tilt angle θ exceeds a set value, generating a determination result that the attitude of the stored object has changed.

[0069] Step S300: if the attitude of the stored object has changed, use shuttle 1 to remove stored object A, and then return stored object A to its original position, and implement correction of the attitude of stored object A.

[0070] The posture of the stored object A is determined according to the calculation formula of the deviation amount and the tilt angle, and when the determination result is that the posture of the stored object A has been changed, the shuttle 1 takes away the stored object A and then returns the stored object A to its original position, which is used to implement the correction of the position of the stored object A. When the shuttle 1 puts down the stored object A, the stored object A is returned to its original position with high accuracy. Therefore, since the correction of the posture of the stored object A is automatically implemented, the shuttle 1 takes up the stored object A very smoothly in the subsequent normal work.

[0071] In some embodiments, the number of storage objects A arranged on each side of the inspection position is two or more, and whether the posture of multiple storage objects A arranged on one side of the inspection position has changed is determined by a step of determining that the posture of each storage object A arranged on the side of the storage object A away from the aisle S has not changed if the posture of the storage object A arranged on one side of the aisle S has not changed.

[0072] Conversely, if it is determined that the attitude of a particular stored object A has changed, the remaining attitudes of the stored object A are determined by the following method: In particular, in some embodiments, the method for inspecting stored objects in a three-dimensional warehouse further includes the following steps:

[0073] Step S400: Taking a stored object A located in a queue if the position of the stored object A located on one side of the aisle S has changed. The taken stored object A is temporarily stored in the shuttle 1 or placed in an available cargo location in the aisle S or in a nearby aisle S.

[0074] Step S500: determining whether the attitude of the stored object A arranged in the next row has changed. Since the stored object in the previous row blocking the stored object A is taken, the stored object A to be determined faces directly towards the shuttle 1, and the distance detection element 2 on the shuttle 1 performs the measurement directly. Therefore, the determination method for each stored object A is the same as described above.

[0075] Step S600: Repeating the above steps until determination is completed for all stored objects A on one side of the aisle S.

[0076] 2 and 3, in a situation where there are multiple stored objects A below the aisle S, the stored object A closer to the aisle S is inspected first, and then the stored object A further from the aisle S is inspected. Of course, if the inspection shows that the stored object A closer to the aisle S is not tilted, the stored object A further from the aisle S is less susceptible to external disturbances, so no inspection is required at that time, and it is directly determined that the stored object A further from the aisle S is also not tilted. In this manner, the inspection workload of the shuttle 1 is reduced and the inspection efficiency is improved.

[0077] If this inspection produces a result that the attitude of the storage object A closer to the aisle S has changed, for example that A1 is tilted, then it is necessary to further inspect whether the attitude of the storage object A2, which is located on the side of the storage object A1 away from the aisle S, has changed. The inspection method is as follows: First, the storage object A1 is moved to an open cargo location in the warehouse to expose the storage object A2 to be inspected. Then, the storage object A2 is inspected for a change in attitude in the same way as the inspection of the storage object A1. If this inspection produces a result that the storage object A2 is also tilted, the storage object A2 is first moved to an open cargo location in the warehouse to expose the storage object A3 to be inspected. Then, whether the attitude of the storage object A3 has changed is detected in the same way as the detection of the storage objects A1, A2. If this detection produces a result that the storage object A3 is not tilted, then it is not necessary to continue to detect whether the attitude of the storage object A4, which is located on the side of the storage object A3 away from the aisle S, has changed, but it is directly determined that the storage object A4 and all the remaining storage objects located on the side of the storage object A4 away from the aisle S are not tilted. If this detection produces a result that the stored object A3 is tilted, it is necessary to continue detecting whether the attitude of the stored object A4, which is located on the side of the stored object A3 away from the aisle S, has changed. The method described above is used to accomplish the detection of all stored objects on one side of the aisle S or until the stored objects are detected as not tilted. As described above, it should be noted that there are many aisles S in the warehouse, and the aisle S mentioned in the above detection process refers to the aisle S where the shuttle 1 is located for the stored object detection corresponding to that aisle S, and does not refer to other aisles that are not related to the inspection operation of the shuttle 1.

[0078] An explanation is provided below in conjunction with the two rows of stored objects illustrated in FIGS.

[0079] 2 and 3, there are two stored objects A, namely, stored object A1 and stored object A2, in the depth direction, i.e., direction Y. First, the deviation amount and deviation angle of stored object A1 can be determined based on the distance value measured by the laser ranging module, the distance between the left edge and the right edge of the surface of stored object A1 close to shuttle 1, and the state of the positioning sensor.

[0080] According to the measured technical data, the deviation amount and deviation angle of the storage object A1 are greater than the corresponding values ​​of A2. Therefore, when the deviation amount and deviation angle of the storage object A1 are within the allowable error range, neither the storage object A1 nor the storage object A2 needs to be repositioned.

[0081] If the deviation amount and deviation angle of the stored object A1 exceed the allowable error range, the shuttle 1 is first adjusted to remove the stored object A1 and place it on a vehicle for temporary storage, and then the deviation amount and deviation angle of the stored object A2 are detected by the shuttle 1.

[0082] If the deviation amount and deviation angle of the storage object A2 are within the allowable error range, there is no need to reposition it, and the storage object A1 is directly placed in the cargo arrangement to achieve the repositioning.

[0083] If the amount and angle of deviation of A2 are outside the error tolerance, shuttle 1 first places stored object A1 in another vacant cargo arrangement for temporary storage, then repositions stored object A2, and finally returns stored object A1 to the cargo arrangement to complete the repositioning.

[0084] In this process, stored objects A on the opposite side of the aisle are inspected by using the laser ranging module on the other side of the shuttle 1, the process and principle are the same, at which point the inspection of stored objects in this row is completed and inspection of the next row can be carried out.

[0085] In some embodiments, the method for inspecting stored objects in a three-dimensional warehouse further comprises the steps of:

[0086] Step S700. Using shuttle 1 to remove the stored object in the last row whose attitude is determined to have changed, and then return it to its original position to perform attitude correction for stored object A.

[0087] The process of correcting the attitude of the stored object A is the reverse of the order of determining the attitude of the stored object A. That is, in determining the attitude of the stored object A, the attitude of the stored object A close to the aisle S is determined first, and then the attitude of the stored object A far from the aisle S is determined, and in correcting the attitude of the stored object A, the correction is performed by rearranging the stored object A, so that the stored object A far from the aisle S is returned first, and then the stored object A closest to the aisle S is returned.

[0088] Step S900: Returning the stored objects A arranged on one side of the aisle S one by one, to complete posture correction of all the stored objects A on one side of the aisle S.

[0089] In some embodiments, the method for inspecting stored objects in a three-dimensional warehouse further comprises the steps of:

[0090] Step S1000: After completing the posture correction of all stored objects A corresponding to the inspection positions, the shuttle 1 is moved to the next inspection position relative to the inspection position, and the posture determination of the stored object A for all the inspection positions is performed.

[0091] When the throughput of the three-dimensional warehouse is particularly large, there is a shuttle 1 on each layer of each aisle, and each shuttle 1 inspects the aisle in which it is located, so that the inspection work does not take time. Moreover, when the throughput is large, there are fewer storage objects A that are not picked up and placed for a long time, and fewer storage objects A that exceed the set value, so that the time required for inspection is shorter. The above technical solution of the present disclosure does not affect the normal operation of the shuttle 1, but rather utilizes the intervals between the normal operations of the shuttle 1. In normal operation, the shuttle 1 is constantly traveling back and forth to pick up and place the storage objects A. After the normal operation is completed, there is a period when there is no work task and the shuttle 1 enters an idle state. In the above technical solution, this free time is utilized to automatically perform the inspection, so that it does not interfere with the normal operation of the shuttle 1 and there is no need to set aside additional time to perform the inspection work.

[0092] In the above technical solution, the inspection operation of the shuttle 1 is performed between waves of stock-in and stock-out operations or after the completion of the operations. The inspection plan is made according to the busyness of the system, and the inspection operation is automatically performed under the scheduling of the system, so that the position state of each stored object A can be updated in a timely manner, and the excessive deviation of a particular stored object A that has not been taken or placed for a long time caused by rack vibration is avoided as much as possible, and each stored object A is smoothly taken and placed in normal stock-in and stock-out operations, that is, the take-up and placing cycle of each stored object A is shortened, and the deviation of each stored object A as a result of not being taken or placed for a long time does not accumulate and exceed the allowable range. Also, for this reason, the above inspection operation is normally performed due to the absence of a stored object A with an excessive deviation amount, and the entire inspection operation achieves the prevention of the occurrence of problems before they occur and improves the stability of the system.

[0093] Some embodiments of the present disclosure also provide a system for inspecting objects stored in a three-dimensional warehouse, configured to perform the method for inspecting objects stored in a three-dimensional warehouse provided in any of the embodiments of the present disclosure. The system for inspecting objects stored in a three-dimensional warehouse includes a shuttle 1, a controller 4, a distance detection element 2, a positioning element 3, and a displacement detection element 5. The controller 4 is mounted on the shuttle 1. The distance detection element 2 is mounted on the shuttle 1 and communicatively connected to the controller 4 to detect a distance from the shuttle 1 to a stored object A to be detected. The positioning element 3 is mounted on the shuttle 1 so that the shuttle 1 stops at a set cargo arrangement and communicatively connected to the controller 4. The displacement detection element 5 is mounted on the shuttle 1 to detect a third distance of the shuttle 1 and communicatively connected to the controller 4.

[0094] In some embodiments, the distance detection elements 2 are mounted on each side in the width direction of the shuttle 1. The width direction of the shuttle 1 is the direction of the width of the shuttle 1 itself, which means that in the XY coordinate system set in FIG. 2, the width direction of the shuttle 1 is parallel to the direction Y. With reference to FIG. 2, two distance detection elements 2 are mounted on the shuttle 1, one distance detection element 2 correspondingly detects eight stored objects A on one side of the shuttle 1, and the other distance detection element 2 correspondingly detects four stored objects A on the other side of the shuttle 1. Of course, the number of stored objects here is for illustrative purposes only, and in a real situation, the number of stored objects may be much more than that illustrated. The distance detection element 2 is, in particular, for example, a laser distance measurement module. The laser distance measurement module performs measurements quickly and with high accuracy.

[0095] For the function of each component, the process of performing the inspection work, and the technical effect, please refer to the contents described above, and the description will not be repeated here.

[0096] In describing the present disclosure, the orientations or positional relationships indicated by terms such as "center," "longitudinal," "transverse," "front," "rear," "left," "right," "vertical," "horizontal," "upper," "lower," "inner," "outer," and similar terms are orientations or positional relationships illustrated based on the drawings, and are merely for the convenience of explaining and simplifying the present disclosure, instead of indicating or implying that the devices or elements shown necessarily have a particular orientation or are manufactured and operated in a particular orientation, and therefore, it should be understood that these terms cannot be construed as limiting the scope of protection of the present disclosure.

[0097] Finally, it should be noted that the above embodiments are only used to explain, rather than to limit, the technical solution of the present disclosure. Although the present disclosure has been described in detail with reference to preferred embodiments, it should be understood that those skilled in the art can still make modifications to the specific implementation forms in the present disclosure or make equivalent replacements to some of its technical features, and such modifications and equivalent replacements should be included in the scope of the technical solution sought for protection in the present disclosure as long as they do not deviate from the spirit of the technical solution of the present disclosure. [Explanation of symbols]

[0098] A Storage object A1 Storage object A2 Storage object A3 Storage object A4 storage object P1 First corner P2 Second corner S aisle 1 Shuttle 2. Distance detection elements 3 Positioning elements 4. Controller 5 Displacement sensing element

Claims

1. 1. A method for inspecting objects stored in a three-dimensional warehouse, comprising: Controlling the shuttle (1) to move it to an inspection position under set conditions; calculating whether the posture of the storage object (A) corresponding to the inspection position has changed; If the attitude of the stored object (A) has been changed, the method includes the step of removing the stored object (A) using the shuttle (1) and then returning the stored object (A) to its original position.

2. Whether the posture of the stored object (A) corresponding to the inspection position has changed or not is determined by: Calculating the displacement and / or tilt angle (θ) of the stored object (A); determining whether the deviation or the tilt angle exceeds a set value; and determining that the posture of the stored object (A) has changed if either the deviation amount or the tilt angle (θ) exceeds the set value.

3. The tilt angle (θ) of the storage object (A) is Detecting a first distance between a first corner of the stored object (A) corresponding to the inspection position and the shuttle (1), a second distance between a second corner of the stored object (A) and the shuttle (1), and a third distance traveled by the shuttle (1) from a position corresponding to the first corner of the stored object (A) to a position corresponding to the second corner of the stored object (A); and a step of calculating the tilt angle (θ) of the stored object (A) based on the first distance (Δy1), the second distance (Δy2), and the third distance (Δx1).

4. The amount of deviation of the stored object (A) is 4. A method for inspecting objects stored in a three-dimensional warehouse as described in claim 3, wherein the deviation amount of the stored object (A) is calculated based on the coordinates of the shuttle (1) in the coordinate system of the stored object to be inspected, the dimensions of the stored object (A), the inclination angle (θ) of the stored object (A), the first distance (Δy1), and the second distance (Δy2).

5. 4. A method for inspecting objects stored in a three-dimensional warehouse as described in claim 3, wherein the first corner (P1) is a corner of the stored object (A) facing the aisle (S) in which the shuttle (1) is located, and the first corner (P1) is a corner through which the shuttle (1) passes for the first time.

6. 4. A method for inspecting objects stored in a three-dimensional warehouse as described in claim 3, wherein the second corner (P2) is a corner of the stored object (A) facing the aisle (S) in which the shuttle (1) is placed, and the second corner (P2) is a corner through which the shuttle (1) passes for the second time.

7. 4. The method for inspecting objects stored in a three-dimensional warehouse according to claim 3, wherein the same distance detection element (2) is configured to detect the first distance (Δy1) and the second distance (Δy2).

8. 8. The method for inspecting objects stored in a three-dimensional warehouse according to claim 7, wherein the distance detection element (2) comprises a laser ranging module.

9. 4. The method for inspecting objects stored in a three-dimensional warehouse according to claim 3, wherein each side of the shuttle (1) is provided with a distance detection element (2), and each distance detection element (2) is configured to detect a stored object (A) corresponding to an inspection position on one side of the aisle (S).

10. 2. A method for inspecting objects stored in a three-dimensional warehouse as described in claim 1, wherein the inspection locations are locations within an aisle (S) and the stored object (A) is placed on at least one side of each inspection location.

11. The number of the stored objects (A) arranged on each side of the inspection position is two or more, and whether the posture of the plurality of stored objects (A) arranged on one side of the inspection position has changed is determined by:

11. The method for inspecting objects stored in a three-dimensional warehouse according to claim 10, wherein if the posture of the stored object (A) arranged on one side of the aisle (S) has not changed, the posture of each stored object (A) arranged on a side of the stored object (A) away from the aisle (S) has not changed.

12. When the position of the stored object (A) arranged on one side of the aisle (S) changes, the stored object (A) arranged in a row is removed; determining whether the attitude of the storage object (A) located in the next row has changed; 12. The method for inspecting objects stored in a three-dimensional warehouse according to claim 11, further comprising the step of repeating the above steps until determination has been completed for all stored objects (A) on said one side of said aisle (S).

13. using the shuttle (1) to remove the stored object (A) in the last row whose attitude has been determined to have changed, and then returning it to its original position to implement attitude correction for the stored object (A); 12. The method for inspecting objects stored in a three-dimensional warehouse according to claim 11, further comprising the step of returning the stored objects (A) arranged on said one side of the aisle (S) one by one to complete posture correction of all stored objects (A) on said one side of the aisle (S).

14. 2. The method for inspecting objects stored in a three-dimensional warehouse as described in claim 1, further comprising the step of: after completing posture correction of all stored objects (A) corresponding to the inspection position, moving the shuttle (1) to the next inspection position relative to the inspection position and performing posture determination of the stored objects (A) for all inspection positions.

15. 2. The method for inspecting objects stored in a three-dimensional warehouse according to claim 1, wherein the set condition is when the shuttle (1) does not receive a work command.

16. 1. A system for inspecting objects stored in a three-dimensional warehouse, comprising: Shuttle (1) and a controller (4) attached to the shuttle (1); a distance detection element (2) attached to the shuttle (1) and communicatively connected to the controller (4), for detecting a distance from the shuttle (1) to a stored object to be inspected; a positioning element (3) attached to the shuttle (1) so that the shuttle (1) stops at a set inspection position and communicatively connected to the controller (4); a displacement detection element (5) mounted on the shuttle (1) and communicatively connected to the controller (4) for detecting a third distance traveled by the shuttle (1).

17. 17. A system for inspecting objects stored in a three-dimensional warehouse as claimed in claim 16, wherein the distance detection elements (2) are mounted on each side of the shuttle (1) in the width direction.

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