Identification and positioning device and cargo transport device

Abstract

To automatically position cargo or a cargo transport facility, reduce manual work, and improve the efficiency of loading and unloading cargo by the cargo transport facility.SOLUTION: The present application relates to an identification and positioning device and a cargo transport device. An identification and positioning device 100 includes an attachment member 01 and a first detection member 02. The attachment member 01 is configured to be connected to a conveying member of a cargo transport facility. The first detection member 02 is configured to identify and position of the cargo or the cargo transport facility. In the identification and positioning device 100 and the cargo transport facility according to the present application, the first detection member 02 can automatically position the cargo or the cargo transport facility, reduce manual work, and improve the efficiency of loading and unloading the cargo by the cargo transport facility.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] This application relates to the field of identification and positioning technologies, and in particular, to an identification and positioning device and a cargo handling device.

Background Art

[0002] With the development of technology, the automation of industrial production is spreading. The automation of industrial production means that in the entire industrial production, the use of manual labor is minimized, and work is carried out by fully utilizing energy and various information other than manual labor.

[0003] For cargo handling, cargo handling equipment is often used. The cargo handling equipment is a wheeled transport vehicle for loading and unloading, stacking, and short-distance transportation of unit cargo. In both loading and unloading and stacking of cargo, the cargo handling equipment can transport the cargo through the transport member (for example, the fork of the cargo handling equipment) of the cargo handling equipment and perform loading and unloading of the cargo. However, when the current cargo handling equipment transports the cargo through the transport member, it is still necessary to manually position the cargo or the cargo handling equipment, so the efficiency of loading and unloading the cargo by the cargo handling equipment is reduced.

Summary of the Invention

[0004] Based on the above, there is a need to provide an identification and positioning device and a cargo handling device. Thereby, the cargo or the cargo handling equipment can be automatically positioned, manual operations can be reduced, and the efficiency of loading and unloading the cargo by the cargo handling equipment can be improved.

[0005] In a first aspect of the present application, an identification and positioning device is provided. The identification and positioning device includes an attachment member and a first detection member. The attachment member is configured to be connected to the transport member of the cargo handling equipment. The first detection member is provided on the attachment member and is configured to identify and position the cargo or the cargo handling equipment.

[0006] In a second aspect of the present application, a cargo handling device is provided. The cargo handling device includes a cargo handling facility and the identification and positioning device described in the first aspect. The cargo handling facility includes a conveying member and a vehicle body. The conveying member is slidably connected to the vehicle body, and the conveying member is capable of ascending and descending along a direction perpendicular to the vehicle body.

Brief Description of the Drawings

[0007]

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[0008] In order to make the above objects, features, and advantages of the present application clearer and easier to understand, specific embodiments of the present application will be described in detail below with reference to the drawings. In order to fully understand the present application, many specific details are described in the following description. The present application can be implemented in many other forms different from the forms described below. Those skilled in the art can make similar improvements as long as they do not go against the gist of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below.

[0009] In the description of the present application, the directional or positional relationships indicated by terms such as "center", "longitudinal direction", "lateral direction", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial direction", "radial direction", "circumferential direction", etc. are based on the directional or positional relationships shown in the drawings, and are for the convenience of explaining the present application and simplifying the explanation, and do not explicitly or implicitly imply that the device or element must have a specific direction, be configured and operated in a specific direction, and therefore should not be construed as limiting the present application.

[0010] It should not be understood that terms such as "first" and "second" are used only for the purpose of explanation and indicate or imply relative importance or implicitly indicate the number of the technical features shown. The features limited by "first" and "second" can explicitly or implicitly include at least one such feature. In the description of the present application, "a plurality" means at least two, for example, two, three, etc., unless otherwise specifically limited.

[0011] In this application, unless otherwise clearly defined and limited, terms such as "attachment", "connection", "coupling", "fixing", etc. should be understood in a broad sense. For example, it may be a fixed connection, a removable connection, or an integral molding, and may be a mechanical connection or an electrical connection, a direct connection, or an indirect connection through an intermediate medium, and may also be an internal connection between two elements or an interaction between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific situation.

[0012] In this application, unless otherwise clearly defined and limited, the fact that the first feature is "above" or "below" the second feature may be a direct contact between the first feature and the second feature, or an indirect contact between the first feature and the second feature through an intermediate medium. Also, when the first feature is "above", "upward", "upper side" of the second feature, it may mean that the first feature is directly above or obliquely above the second feature, or only means that the first feature is on a horizontal plane higher than the second feature. When the first feature is "below", "downward", "lower side" of the second feature, it may mean that the first feature is directly below or obliquely below the second feature, or only means that the first feature is on a horizontal plane lower than the second feature.

[0013] It should be noted that when an element is described as "fixed to" or "provided on" another element, the element may be directly on the surface of the other element, or there may be an intermediate element between it and the other element. When an element is considered to be "connected to" another element, the element may be directly connected to the other element, or there may be an intermediate element between it and the other element. The terms "vertical", "horizontal", "above", "below", "left", "right", and similar expressions used in this specification are for illustrative purposes only and do not represent the only embodiment.

[0014] Also, the drawings are not drawn to a scale of 1:1. In the drawings, the relative dimensions of each element are drawn only as an example and are not necessarily drawn to the true scale.

[0015] For ease of explanation, the drawings only show the structures related to the embodiments of the present application.

[0016] FIG. 1 is a schematic diagram showing the structure of the identification and positioning device 100 according to an embodiment of the present application. FIG. 2 is a schematic diagram showing the partial structure of the identification and positioning device 100 according to an embodiment of the present application. FIG. 11 is a schematic diagram showing the structure of the cargo transport device 1000 according to an embodiment of the present application. As shown in FIGS. 1, 2 and 11, in the embodiment of the present application, the identification and positioning device 100 is provided. The identification and positioning device 100 includes a mounting member 01 and a first detection member 02. The mounting member 01 is configured to be connected to the transport member 210 of the cargo transport facility 200. The first detection member 02 is configured to identify and position the cargo or the cargo transport facility 200.

[0017] The identification and positioning device 100 includes a mounting member 01 and a first detection member 02. The mounting member 01 is configured to be connected to the transport member 210 of the cargo transport facility 200. The first detection member 02 is configured to identify and position the cargo or the cargo transport facility 200. Thereby, the first detection member 02 automatically positions the cargo or the cargo transport facility 200, reduces manual work, and improves the efficiency of loading and unloading the cargo by the cargo transport device 1000.

[0018] The cargo transport facility 200 further includes a vehicle body 220. The transport member 210 is slidably connected to the vehicle body 220, and the transport member 210 can move up and down along the vertical direction (i.e., the z-axis direction in FIG. 1) with respect to the vehicle body 220. In some embodiments, the identification and positioning device 100 further includes a floating mechanism 03. The floating mechanism 03 is connected between the first detection member 02 and the mounting member 01, and the floating mechanism 03 can float the first detection member 02 along the vertical direction with respect to the mounting member 01.

[0019] The current cargo handling equipment 200 includes a handling member 210 and a vehicle body 220. The handling member 210 is slidably connected to the vehicle body 220 and can move up and down along a direction perpendicular to the vehicle body 220. When the cargo handling equipment 200 transports cargo via the handling member 210, the movement of the handling member 210 relative to the vehicle body 220 drives the first detection member 02 to move relative to the vehicle body 220. As a result, the first detection member 02 is damaged by a certain impact force, making it difficult for the first detection member 02 to accurately identify the cargo. According to the identification and positioning device 100 of the present application, when the handling member 210 drives the first detection member 02 to move along a direction perpendicular to the vehicle body 220 and applies an impact force to the first detection member 02, a floating mechanism 03 is provided between the mounting member 01 and the first detection member 02. Therefore, the floating mechanism 03 can float the first detection member 02 along a direction perpendicular to the mounting member 01. By buffering with the floating mechanism 03, the external impact force directly applied to the first detection member 02 can be weakened. Thus, damage to the first detection member 02 is avoided, and the identification accuracy of the first detection member 02 for the cargo or the cargo handling equipment 200 is improved.

[0020] It should be noted that the vertical direction in the embodiments of the present application is the longitudinal direction of the mounting member 01 and can also be understood as the moving direction of the handling member 210. The identification and positioning device 100 according to the present application can be mounted on the cargo handling equipment 200. It should be noted that the handling member 210 according to the present application includes a fork. Specifically, referring to FIG. 12, FIG. 12 is a schematic diagram showing the mounting of the identification and positioning device according to the embodiment of the present application. The cargo handling equipment 200 further includes a fork frame 230 slidably connected to the vehicle body 220. The fork (i.e., the handling member 210) is connected to the fork frame 230 of the cargo handling equipment 200. The fork (i.e., the handling member 210) can move up and down along a direction perpendicular to the vehicle body 220 of the cargo handling equipment 200 together with the fork frame 230. The cargo handling equipment 200 is It may also be a warehouse robot such as an automated guided vehicle (AGV) or an autonomous mobile robot (AMR). The AGV forklift Type AGV , clamp(clamp) type AGV, towing type AGV , stacker Type AGV and the like, not limited here. The goods include, but are not limited to, transportation appliances such as mesh pallets and pallets, and loaded items.

[0021] Continuing to refer to FIG. 2, in some embodiments, the floating mechanism 03 includes an elastic member 031, and the elastic member 031 elastically abuts between the mounting member 01 and the first detection member 02. In this way, when the elastic member 031 in contact between the mounting member 01 and the first detection member 02 receives an external acting force and undergoes elastic deformation, the external acting force applied to the first detection member 02 can be buffered, and damage to the first detection member 02 can be avoided. Specifically, in some embodiments, the elastic member 031 is a spring. Of course, in some other embodiments, the elastic member 031 may be other members capable of elastic deformation such as a rubber member, not limited here.

[0022] As shown in FIG. 2, in some embodiments, the floating mechanism 03 further includes a guide member 032. One end of the guide member 032 is connected to one of the mounting member 01 and the first detection member 02, and the other end of the guide member 032 is slidably connected to the other of the mounting member 01 and the first detection member 02. The guide member 032 is configured to guide the first detection member 02 to move along the vertical direction with respect to the mounting member 01. The elastic member 031 sleeves the guide member 032. In this way, the guide member 032 can guide the elastic deformation direction of the elastic member 031, and can also guide the direction in which the first detection member 02 floats with respect to the mounting member 01. In some embodiments, one end of the guide member 032 is connected to the first detection member 02, and the other end of the guide member 032 is slidably connected to the mounting member 01. Further, one end of the guide member 032 is screwed to the first detection member 02. In this way, the guide member 032 and the first detection member 02 can be more stably fixed by the screw connection. Optionally, the guide member 032 includes a bolt assembly.

[0023] Continuing to refer to FIG. 2, in some embodiments, there are at least two floating mechanisms 03, and the at least two floating mechanisms 03 are provided at intervals between the mounting member 01 and the first detection member 02. In this way, the buffering performance of the first detection member 02 against external impact force can be further improved by the at least two floating mechanisms 03. In some embodiments, the elastic deformation amount of the elastic member 031 in each floating mechanism 03 is adjustable so as to adjust the levelness of the first detection member 02. In this way, by adjusting the elastic deformation amount of the elastic member 031 in the floating mechanism 03, the distance between the first detection member 02 and the mounting member 01 can be adjusted to adjust the levelness of the first detection member 02, whereby the detection direction of the first detection member 02 can be made parallel to a preset plane to maintain the level of the first detection member 02, and it can be avoided that the first detection member 02 is inclined with respect to the preset plane and it is difficult to accurately identify the goods. The preset plane is a horizontal plane or a plane perpendicular to the mounting member 01, and the floating mechanism 03 can level the first detection member 02 by using a laser level meter. Further, there are three floating mechanisms 03, and the three floating mechanisms 03 are arranged in a triangular shape. In this way, the first detection member 02 can be made more precisely parallel to the preset plane by the three floating mechanisms 03, and the identification accuracy of the first detection member 02 for the goods can be ensured.

[0024] Referring back to FIG. 1, in some embodiments, the identification and positioning device 100 further includes a positioning member 04. The positioning member 04 protrudes from the mounting member 01, and the floating mechanism 03 is connected between the positioning member 04 and the first detection member 02. Specifically, the positioning member 04 is perpendicularly connected to the mounting member 01. Referring to FIG. 2, in some embodiments, the positioning member 04 has a connecting portion 041 and a positioning portion 042. The connecting portion 041 is connected to the mounting member 01, and the positioning portion 042 is connected to the connecting portion 041. The orthogonal projection of the positioning portion 042 in the vertical direction covers the orthogonal projection of the first detection member 02 in the vertical direction, that is, the orthogonal projection of the positioning portion 042 on a plane perpendicular to the mounting member 01 covers the orthogonal projection of the first detection member 02 on a plane perpendicular to the mounting member 01. Specifically, the floating mechanism 03 is connected between the positioning portion 042 and the first detection member 02. In the embodiment of FIG. 2, three floating mechanisms 03 are arranged in a triangular shape on the positioning portion 042. In this way, the positioning portion 042 can adapt to the arrangement of the floating mechanisms 03, and the positioning portion 042 can protect the first detection member 02 from the impact force in the vertical direction. More specifically, there are a plurality of connecting portions 041, and the plurality of connecting portions 041 are provided at intervals from each other. In this way, the positioning portion 042 can be fixed at a plurality of positions by the plurality of connecting portions 041, and the stability of the positioning portion 042 can be ensured. In the embodiment of the present application, there are two connecting portions 041.

[0025] Continuing to refer to FIG. 1, in some embodiments, the identification and positioning device 100 further includes a first protection member 05. The first protection member 05 is connected to the mounting member 01 and is located at the bottom of the first detection member 02. In this way, when the identification and positioning device 100 descends together with the transport member 210, the first protection member 05 can prevent the first detection member 02 from colliding with the ground, thereby protecting the first detection member 02. In some embodiments, the first protection member 05 includes a protection plate 051, and the orthographic projection of the protection plate 051 in the vertical direction covers the orthographic projection of the first detection member 02 in the vertical direction. That is, the orthographic projection of the protection plate 051 on a plane perpendicular to the mounting member 01 covers the orthographic projection of the first detection member 02 on a plane perpendicular to the mounting member 01. In this way, the area of the protection plate 051 is larger, and the first detection member 02 can be better protected so that the first detection member 02 does not collide with the ground. Further, the first protection member 05 further includes ribs 052 provided on one side of the protection plate 051. The ribs 052 are connected perpendicular to the protection plate 051 and are connected to the mounting member 01. In this way, the ribs 052 can make the connection between the first protection member 05 and the mounting member 01 more stable. In the embodiments of the present application, the first protection member 05 includes two ribs 052 provided on both sides of the protection plate 051 at intervals from each other.

[0026] As shown in FIG. 1, in some embodiments, the identification and positioning device 100 further includes a second protection member 06. The second protection member 06 is provided outside the first detection member 02 so as to cover the first detection member 02. Specifically, the second protection member 06 is provided on the upper part of the first detection member 02 so as to cover the first detection member 02, the second protection member 06 is fixedly connected to the upper part of the first detection member 02, and the guide member 032 penetrates through the positioning member 04 and the second protection member 06 in sequence and is fixedly connected to the first detection member 02. In this way, the first detection member 02 can be better protected by the second protection member 06 provided outside the first detection member 02. In some embodiments, the second protection member 06 has a protective cavity, and at least a part of the first detection member 02 is located in the protective cavity. Specifically, the upper part of the first detection member 02 is located in the protective cavity. In this way, the protective cavity protects the first detection member 02 from receiving forces from its peripheral side, and the protection ability for the first detection member 02 can be improved. More specifically, the inner contour shape of the protective cavity is adapted to the outer contour shape of the first detection member 02. Thereby, while reliably protecting the first detection member 02, waste of materials can be avoided, costs can be reduced, and at the same time, a decrease in the protection effect due to the non - adaptation of the inner contour shape of the protective cavity and the outer contour shape of the first detection member 02 can be avoided. In the embodiments of the present application, the inner contour shape of the protective cavity is square, the outer contour shape of the upper part of the first detection member 02 is square, and the inner contour of the protective cavity and the outer contour of the upper part of the first detection member 02 are adapted.

[0027] Continuing to refer to FIG. 1, in some embodiments, the first detection member 02 includes a laser scanner. The laser scanner is also called a lidar. The laser scanner is used to identify the point cloud information of the goods and / or the goods transportation facility 200. The point cloud information is a data set, and each data point in the data set represents one three-dimensional (3D) geometric coordinate (X, Y, Z) and one intensity value. This intensity value is the intensity of the returned signal recorded based on the surface reflectivity of the object. Combining these data points forms point cloud information (i.e., a set of data points representing a 3D shape or object in space). Optionally, the laser scanner may be a two-dimensional (2D) laser scanner or a 3D laser scanner. In yet another embodiment, the first detection member 02 includes a camera. The camera is used to identify the image information of the goods and / or the goods transportation facility 200. Optionally, the camera may be a 2D camera or a 3D camera. The image information may include a 2D image or a 3D image.

[0028] FIG. 3 is a schematic diagram showing the structure of the identification and positioning device 100 according to another embodiment of the present application. Referring to FIG. 3, in another embodiment of the present application, an identification and positioning device 100 is provided. The identification and positioning device 100 includes a mounting member 01, a first detection member 02, and a second detection member 07. The mounting member 01 is configured to be connected to the conveying member 210 of the goods transportation facility 200. The first detection member 02 and the second detection member 07 are provided on the mounting member 01 at intervals from each other. The first detection member 02 is configured to identify the point cloud information of the goods and / or the goods transportation facility 200, and the second detection member 07 is configured to identify the image information of the goods and / or the goods transportation facility 200.

[0029] In order to further solve the problem that it is difficult to improve the accuracy of cargo identification and positioning because the range of cargo acquisition is widened and it is difficult to obtain cargo information from only a single angle, in the identification and positioning device 100 according to another embodiment of the present application, the first detection member 02 identifies the point cloud information of the cargo and / or the cargo transportation facility 200, and at least one second detection member 07 identifies the image information of the cargo and / or the cargo transportation facility 200. In this way, by integrally arranging and using the first detection member 02 and the second detection member 07 together, the information of the cargo and / or the cargo transportation facility 200 can be easily collected. At the same time, by comparing the identification and positioning results by the first detection member 02 with the identification and positioning results by the second detection member 07 to to confirm the position and posture of the cargo, the positioning accuracy of the identification and positioning device 100 for the cargo can be improved.

[0030] Specifically, in the scene of stacking or transporting the cargo, the first detection member 02 (for example, a laser scanner) the point cloud information collected and the second detection member 07 (for example, cal Mela) are used to collect by perform region-of-interest (ROI) extraction and feature annotation on image information it, set in the cargo transportation facility 200 and use a deep learning model to Combine the annotated point cloud features and image features identify the target object within the region of interest. The target object includes Based on the combined features stacked cargo and cargo waiting to be stacked. The cargo waiting to be stacked is the cargo on the transportation member 210 (for example, a fork), and the stacked cargo is the cargo waiting for the cargo on the fork to be stacked on it. The deep learning model calculates and determines whether the position and posture deviation between the stacked cargo and the cargo waiting to be stacked on the fork exceeds a preset range. If the position and posture deviation does not exceed the preset range, the cargo waiting to be stacked on the fork is stacked on the stacked cargo. Specifically, in the embodiment of the present application, in the cargo it may be an automated guided vehicle (AGV). In actual applications, cargo transportation facility 200 it may also be other types of vehicles or equipment depending on the specific situation.For example, the control module of the automated guided vehicle travels to the specified position according to the transmitted position and orientation the automated guided vehicle and acquires the size (length, width) and coordinate information of the detection frame of all target objects (including stacked goods and goods waiting to be stacked) within the region of interest to cause it to obtain the point cloud information of the cargo and / or the cargo transportation facility 200 collected by the first detection member 02 of the identification and positioning device 100 and the image information of the cargo and / or the cargo transportation facility 200 collected by the second detection member 07 of the identification and positioning device 100, perform region of interest extraction and feature annotation on the above point cloud information and image information, combine the annotated point cloud features and image features by a deep learning model set in the automated guided vehicle, and identify the target object in the region of interest based on the combined features. Based on the state of the region of interest, determine whether to stack the goods waiting to be stacked Regarding each item In the embodiments of the present application, the state of the region of interest includes whether the goods stacked within the region of interest, the goods waiting to be stacked are detected Based on all the target objects in the region of interest and the size and coordinate information of the detection frame of each target object, determine the state of the region of interest and whether the positional deviation between the stacked goods and the goods waiting to be stacked within the region of interest exceeds a preset range whether to permit or whether no stacked goods or goods waiting to be stacked are detected within the region of interest and 、 this matter

[0031] (for example, a laser scanner) the point cloud information collected collect by information As another example, in a scene of stacking or transporting goods, for the image obtained by the first detection member 02 set in the cargo transportation facility 200 and the second detection member 07 (for example, a camera), perform region of interest extraction and feature annotation Combine the annotated point cloud features and image features using a deep learning model Based on the combined features to identify the target objects within the region of interest. The target objects include in the cargo stacked goods and goods waiting to be stacked. The goods waiting to be stacked are the goods on the transport member 210 (for example, a fork), and the stacked goods are the goods waiting for the goods on the fork to be stacked on top of them. The deep learning model calculates and determines whether the horizontal coordinates of the stacked goods or the goods waiting to be stacked on the fork exceed a preset range, thereby determining whether the transported goods have slipped For example, the control module of the automated guided vehicle In actual applications the automated guided vehicle travels to the specified position according to the transmitted position and orientation to cause it to obtain the point cloud information of the cargo and / or the cargo transportation facility 200 collected by the first detection member 02 of the identification and positioning device 100 and the image information of the cargo and / or the cargo transportation facility 200 collected by the second detection member 07 of the identification and positioning device 100, perform region of interest extraction and feature annotation on the above point cloud information and image information, combine the annotated point cloud features and image features by a deep learning model set in the automated guided vehicle, and identify the target object in the region of interest based on the combined features. and acquires all target objects (including stacked goods and goods waiting to be stacked) within the region of interest Regarding each ​​​​​​Obtain the size (length, width) and coordinate information of the detection frame of the target object. Based on all the target objects in the region of interest and the size and coordinate information of the detection frame of each target object, determine the state of the region of interest , based on the state of the region of interest, determine whether the goods (i.e., stacked goods and / or goods waiting to be stacked) have slid. In the embodiments of the present application, the state of the region of interest is the goods stacked within the region of interest and Goods waiting to be stacked are detected 、 Whether the horizontal coordinates of the stacked goods or the goods waiting to be stacked within the region of interest exceed a preset range this matter , or that no stacked goods or goods waiting to be stacked are detected within the region of interest.

[0032] Finally, the automated guided vehicle feeds back the detection result to a central control dispatching system communicatively connected to the automated guided vehicle, and the central control dispatching system dispatches the automated guided vehicle to perform operations. As described above, in another embodiment of the present application, a method for detecting the state of goods is further provided. The method for detecting the state of goods is applied to a goods conveying facility connected to an identification and positioning device, and includes obtaining point cloud information of goods and / or the goods conveying facility collected by a first detection member of the identification and positioning device, and image information of the goods and / or the goods conveying facility collected by a second detection member of the identification and positioning device; extracting a region of interest based on the point cloud information and the image information, detecting a target object in the region of interest, and determining whether to stack the goods or whether the goods have slid based on the state of the region of interest. The target object includes goods waiting to be stacked and stacked goods in the goods. Here, for specific operation methods, reference can be made to the content in the above embodiments, such as the scene of stacking or transporting goods, actual applications, etc., but will not be repeated here.

[0033] The identification and positioning device 100 according to the present application can be attached to the goods transportation facility 200. The transportation member 210 according to the present application is, for example, a fork. Specifically, the goods transportation facility 200 further includes a vehicle body 220 and a fork frame 230 movably connected to the vehicle body 220. The fork (i.e., the transportation member 210) is connected to the fork frame 230 of the goods transportation facility 200, and the fork can move up and down along the vertical direction (i.e., the z-axis direction in FIG. 3) with respect to the vehicle body 220 of the goods transportation facility 200 together with the fork frame 230. The goods transportation facility 200 includes, but is not limited to, a forklift, a clamp truck, a tractor, a stacker, a reach stacker, a warehouse robot, etc. The goods include, but are not limited to, transportation appliances such as mesh pallets and pallets, and loaded goods.

[0034] In some embodiments, the identification and positioning device 100 shown in FIG. 3 can further include a floating mechanism 03. For the setting of the floating mechanism 03, reference can be made to the embodiments corresponding to FIGS. 1 and 2, so the description here is omitted.

[0035] In some embodiments, the identification and positioning device 100 includes a plurality of second detection members 07. The plurality of second detection members 07 are provided on the mounting member 01 at intervals from each other.

[0036] In some embodiments, the plurality of second detection members 07 are provided on both opposite sides of the first detection member 02. In this way, the plurality of second detection members 07 can additionally collect images of the goods from both sides of the first detection member 02, and the position distribution of the plurality of second detection members 07 becomes more reasonable. In some embodiments, taking FIG. 3 as an example, there are two second detection members 07, and the two second detection members 07 are symmetrically provided on both opposite sides of the first detection member 02 with the first detection member 02 as the center. In this way, the structure of the identification and positioning device 100 can be made simpler by the two second detection members 07, and moreover, the cost can be saved.

[0037] As shown in FIG. 3, in some embodiments, the second detection member 07 is configured to be rotationally adjustable with respect to the mounting member 01. In this way, with the rotationally adjustable second detection member 07, it is possible to adjust the angle of the second detection member 07 according to the actual position of the goods, and the image collection of the goods by the second detection member 07 can be made more accurate.

[0038] Referring to FIGS. 4 and 3, FIG. 4 is an exploded view showing the structure of the first holder 08 according to an embodiment of the present application. In some embodiments, the identification and positioning device 100 further includes a first holder 08 and a connecting member 084. The first holder 08 includes a connecting arm 082 and a support arm 081 connected to the connecting arm 082. The connecting arm 082 is connected to the mounting member 01. The second detection member 07 includes a second detection member main body 071 and a sub-holder 072 connected to the second detection member main body 071. A first connecting hole 0811 is provided in the support arm 081, and a second connecting hole 0721 is provided in the sub-holder 072. By passing the connecting member 084 through the first connecting hole 0811 and the second connecting hole 0721, the support arm 081 and the sub-holder 072 are rotatably connected via the connecting member 084. Thus, the first connecting hole 0811 can facilitate the relative rotation between the support arm 081 and the sub-holder 072, that is, the second detection member 07 can be realized to rotate relative to the support arm 081. In some embodiments, there are a plurality of support arms 081, there are a plurality of connecting members 084, and the plurality of connecting members 084 correspond one-to-one to the plurality of support arms 081 and also correspond one-to-one to the plurality of second detection members 07. More specifically, the sub-holder 072 is attached to the bottom of the support arm 081. Optionally, the connecting member 084 may be rod-shaped (for example, a pin shaft, etc.). In the embodiments of the present application, both the first connecting hole 0811 and the second connecting hole 0721 are circular holes.

[0039] As shown in FIGS. 4, 5, 6, and 7, FIG. 5 is a schematic diagram showing the structure of the identification and positioning device 100 according to another embodiment of the present application. FIG. 6 is a bottom view of the identification and positioning device 100 according to another embodiment of the present application. FIG. 7 is a schematic diagram showing the first projection 07211 and the second projection 08111 according to the embodiment of the present application. In some embodiments, as shown in FIG. 4, the second detection member 07 has a first rotation axis a, and a plane perpendicular to the first rotation axis a is defined as a first reference plane R1. The front projection of the second connection hole 0721 onto the first reference plane R1 is the first projection 07211, and the front projection of the first connection hole 0811 onto the first reference plane R1 is the second projection 08111. The first projection 07211 and the second projection 08111 have an overlapping portion, and the sub-holder 072 is attached to the bottom of the support arm 081. More specifically, the first projection 07211 is always within the range of the second projection 08111. For example, the first connection hole 0811 is a waist-shaped hole, and the second connection hole 0721 is a circular hole. In this way, by moving the connecting member 084 within the first connection hole 0811, the sub-holder 072 can move or rotate relative to the support arm 081 and can be easily adjusted.

[0040] In some other embodiments, referring to FIG. 4 again, the identification and positioning device 100 further includes a first adjustment member 083. A first adjustment hole 0812 is provided in the support arm 081, and a second adjustment hole 0722 is provided in the sub-holder 072. The first adjustment member 083 passes through the first adjustment hole 0812 and the second adjustment hole 0722. In this way, the first adjustment hole 0812 and the second adjustment hole 0722 can facilitate the relative rotation between the support arm 081 and the sub-holder 072. Specifically, in some embodiments, the first adjustment hole 0812 is an arc-shaped hole, and the first adjustment hole 0812 extends in an arc shape with the center of the first connection hole 0811 as the center of the circle. Thereby, the cooperation between the first adjustment hole 0812 and the rotation path of the sub-holder 072 relative to the support arm 081 is facilitated, and the adjustment of the angle of the second detection member 07 is facilitated. Optionally, the first adjustment member 083 includes a bolt assembly. By means of the bolt assembly, the support arm 081 and the sub-holder 072 can be detachably and fixedly connected.

[0041] In some embodiments, the plurality of first adjustment holes 0812 are provided at intervals around the first rotation axis a. In this way, the relative rotation of the support arm 081 and the sub-holder 072 can be made more stable by the plurality of first adjustment holes 0812 and the plurality of second adjustment holes 0722. In the embodiments of the present application, two first adjustment holes 0812 are symmetrically provided on the support arm 081 about the first rotation axis a. Two second adjustment holes 0722 are provided in the sub-holder 072. The two first adjustment holes 0812 and the two second adjustment holes 0722 correspond one-to-one. In this way, when adjusting the angle of the second detection member 07, it is ensured that the rotation center line of the second detection member 07 coincides with the first rotation axis a, and collisions between the second detection member 07 and external members during rotation can be avoided. The identification and positioning device 100 further includes four first adjustment members 083. That is, two first adjustment members 083 are provided on each support arm 081, and the two first adjustment members 083 and the two first adjustment holes 0812 correspond one-to-one.

[0042] Referring to FIG. 8, FIG. 8 is a schematic diagram showing a third projection 08121 and a fourth projection 07221 according to an embodiment of the present application. In some embodiments, the second detection member 07 has a first rotation axis a, and a plane perpendicular to the first rotation axis a is defined as a first reference plane R1. The orthographic projection of the first adjustment hole 0812 onto the first reference plane R1 is arc-shaped. In this way, it is possible to facilitate the rotation of the second detection member 07 about the first rotation axis a. In some embodiments, as shown in FIG. 8, during the rotation of the second detection member 07, the orthographic projection of the first adjustment hole 0812 onto the first reference plane R1 is the third projection 08121, and the orthographic projection of the second adjustment hole 0722 onto the first reference plane R1 is the fourth projection 07221, and at least a part of the third projection 08121 and the fourth projection 07221 overlap. Thereby, the rotation adjustment of the second detection member 07 is facilitated by the cooperation of the second adjustment hole 0722 and the rotation path of the first adjustment member 083 in the first adjustment hole 0812.

[0043] In an embodiment of the present application, the first adjustment hole 0812 and the second adjustment hole 0722 are both arc-shaped in the orthographic projection onto the first reference plane R1, and their structure is similar to a rounded waist-shaped hole presenting a shape with semi-circular ends and a rounded middle. In some other embodiments, the second adjustment hole 0722 may present other shapes such as a circular shape, and the orthographic projection of the second adjustment hole 0722 onto the first reference plane R1 is always within the range of the orthographic projection of the first adjustment hole 0812 onto the first reference plane R1.

[0044] Referring to FIG. 4, in some embodiments, the identification and positioning device 100 further includes a first support frame 09. The first support frame 09 surrounds the support arm 081 and the second detection member 07 and is provided outside the support arm 081 and the second detection member 07. The first support frame 09 is configured to be rotationally adjustable with respect to the support arm 081. Specifically, there are a plurality of first support frames 09, and the plurality of first support frames 09 correspond one-to-one to the plurality of support arms 081 and also correspond one-to-one to the plurality of second detection members 07. In this way, the first support frame 09 can protect the second detection member 07. Specifically, in some embodiments, the first support frame 09 rotates synchronously with the second detection member 07. In this way, the first support frame 09 can rotate along with the rotation of the second detection member 07, and it is avoided that the first support frame 09 collides with the second detection member 07 when the second detection member 07 rotates. In some other embodiments, the first support frame 09 may not rotate synchronously with the second detection member 07. Regarding this, it is not limited here.

[0045] In some embodiments, a fourth adjustment hole 091 is provided in the first support frame 09, and the identification and positioning device 100 further includes a second adjustment member 092. The second adjustment member 092 passes through the fourth adjustment hole 091 and is connected to the first holder 08. In this way, it is possible to facilitate the rotation of the first support frame 09 relative to the first holder 08. Specifically, a fourth connection hole 093 is further provided in the first support frame 09. The fourth adjustment hole 091 is an arc hole, and the fourth adjustment hole 091 extends in an arc shape centered on the center of the fourth connection hole 093. Thereby, the rotation path of the first support frame 09 with respect to the support arm 081 and the second detection member 07 is more likely to cooperate with the fourth adjustment hole 091, and the first support frame 09 of is easily adjusted in angle.

[0046] More specifically, there are a plurality of fourth adjustment holes 091, and the plurality of fourth adjustment holes 091 are provided at intervals around the first rotation axis a. In this way, the rotation of the first support frame 09 can be made more stable by the plurality of fourth adjustment holes 091. In the embodiment of the present application, two fourth adjustment holes 091 are provided symmetrically on the first support frame 09 around the first rotation axis a. In this way, when adjusting the angle of the second detection member 07, it is ensured that the rotation center line of the first support frame 09 coincides with the first rotation axis a, and a collision between the first support frame 09 and the second detection member 07 during rotation can be avoided. Optionally, the fourth adjustment hole 091 is an arc-shaped waist-shaped hole. The identification and positioning device 100 includes four second adjustment members 092. That is, two second adjustment members 092 are provided on each support arm 081, and the two second adjustment members 092 and the two fourth adjustment holes 091 correspond one-to-one.

[0047] Referring back to FIG. 3 and also referring to FIG. 9, FIG. 9 shows an exploded view of the structure of the second holder 10 according to an embodiment of the present application. In some embodiments, the first detection member 02 is configured to be rotationally adjustable with respect to the mounting member 01. In this way, by adjusting the rotation angle of the first detection member 02, it is suitable for detecting goods from different angles, and the identification accuracy of the first detection member 02 with respect to the goods can be improved. Specifically, the first detection member 02 has a second rotation axis b perpendicular to the first rotation axis a.

[0048] Referring to FIG. 9, in some embodiments, the identification and positioning device 100 further includes a second holder 10 and a second support frame 11. The first detection member 02 is connected to the second support frame 11, the second support frame 11 is connected to the mounting member 01 via the second holder 10, and the second support frame 11 and the first detection member 02 can rotate relative to the second holder 10 about the second rotation axis b. In this way, the second holder 10 can fix the first detection member 02 more stably, and the second support frame 11 can protect the first detection member 02.

[0049] Specifically, in some embodiments, a third adjustment hole 101 is provided in the second holder 10, and a third connection hole 111 is provided in the second support frame 11. The identification and positioning device 100 further includes a third adjustment member. The third adjustment member passes through the third adjustment hole 101 and the third connection hole 111 and is connected to the first detection member 02. In this way, the third regulation The through hole 101 can facilitate the relative rotation between the first detection member 02 and the second holder 10. More specifically, there are a plurality of third adjustment holes 101, and the plurality of third adjustment holes 101 are provided in the second holder 10 along the second rotation axis b at intervals. There are a plurality of third connection holes 111, and the plurality of third connection holes 111 correspond one-to-one to the plurality of third adjustment holes 101. Thereby, the rotation of the first detection member 02 is made more stable. Optionally, the third adjustment member includes a bolt assembly. In the embodiment of the present application, two third adjustment holes 101 are provided in the second holder 10, two third connection holes 111 are provided in the second support frame 11, and the identification and positioning device 100 further includes two third adjustment members. The two third adjustment members correspond one-to-one to the two third adjustment holes 101 and also correspond one-to-one to the two third connection holes 111.

[0050] FIG. 10 is a schematic diagram showing a fifth projection 1011 and a sixth projection 1111 according to an embodiment of the present application. A plane perpendicular to the second rotation axis b is defined as a second reference plane R2. The orthographic projection of the third adjustment hole 101 onto the second reference plane R2 is the fifth projection 1011, and the orthographic projection of the third connection hole 111 onto the second reference plane R2 is the sixth projection 1111. The fifth projection 1011 and the sixth projection 1111 have overlapping portions. More specifically, the sixth projection 1111 is always within the range of the fifth projection 1011. For example, as shown in FIG. 10, the fifth projection 1011 is arc-shaped, the sixth projection 1111 is circular-shaped, and the third adjustment hole 101 extends in an arc shape with the center of the third connection hole 111 as the center of the circle. Thereby, the cooperation between the third adjustment hole 101 and the rotation path of the second support frame 11 relative to the second holder 10 is facilitated, and the adjustment of the angle of the first detection member 02 is facilitated.

[0051] In some embodiments, the identification and positioning device 100 includes a driving member. The driving member is transmission-connected to the second detection member 07, and the driving member is configured to drive the second detection member 07 to rotate in order to adjust the angle of the second detection member 07. In this way, the driving member can accurately adjust the second detection member 07 to the required angle to ensure accurate identification of the goods. In the embodiment of the present application, the driving member is a driving motor.

[0052] In some embodiments, the driving member is transmission-connected to the first detection member 02, and the driving member is configured to drive the first detection member 02 to rotate in order to adjust the angle of the first detection member 02. In this way, the driving member can accurately adjust the first detection member 02 to the required angle, ensuring accurate identification of the goods. In the embodiments of the present application, the driving member is a driving motor.

[0053] In some embodiments, the first detection member 02 includes a laser scanner. The laser scanner is used to identify the point cloud information of the goods and / or the goods transportation facility 200. Optionally, the laser scanner may be a 2D laser scanner or a 3D laser scanner. The second detection member 07 includes a camera. The camera is used to identify the image information of the goods and / or the goods transportation facility 200. Optionally, the camera may be a 2D camera or a 3D camera. In the embodiments of the present application, the camera may be an infrared camera. In this way, by combining and using the laser scanner and the camera, it is easier to collect the information of the goods and / or the goods transportation facility 200, and position the goods and / or the goods transportation facility 200 based on the information.

[0054] Continuing to refer to FIG. 3, in some embodiments, the identification and positioning device 100 further includes a supplementary lighting member 12. The supplementary lighting member 12 is provided on the support arm 081, and the supplementary lighting member 12 is provided so as to be close to the second detection member 07. In this way, the supplementary lighting member 12 supplements light to the second detection member 07, further improving the accuracy of identification and positioning by the second detection member 07.

[0055] Specifically, in some embodiments, the identification and positioning device 100 includes a plurality of supplementary lighting members 12. The plurality of supplementary lighting members 12 correspond one-to-one to the plurality of support arms 081 and also correspond one-to-one to the plurality of second detection members 07. In this way, it is ensured that light is supplemented to each second detection member 07, and the accuracy of identification and positioning by the identification and positioning device 100 can be improved. In the embodiments of the present application, the identification and positioning device 100 includes two supplementary lighting members 12. In the embodiments of the present application, each supplementary lighting member 12 is attached to one side of the support arm 081 away from the second detection member 07.

[0056] Referring to FIGS. 11 to 14, FIG. 11 is a schematic diagram showing the structure of the cargo transport device 1000 according to the embodiment of the present application. FIG. 12 is a schematic diagram showing the installation of the identification and positioning device 100 according to the embodiment of the present application. FIG. 13 is a schematic diagram showing the structure of the identification and positioning device 100 according to the embodiment of the present application as viewed from another perspective. FIG. 14 is a schematic diagram showing the structure of the identification and positioning device 100 according to another embodiment of the present application as viewed from another perspective. Based on the same inventive concept, in the present application, a cargo transport device 1000 is further provided. The goods conveying facility 200 is configured to implement the above method for detecting the state of goods. In some embodiments, The cargo transport device 1000 includes a cargo transport facility 200 and an identification and positioning device 100. The cargo transport facility 200 includes a transport member 210 and a vehicle body 220. The transport member 210 is slidably connected to the vehicle body 220, and the transport member 210 can move up and down along the vertical direction with respect to the vehicle body 220. The attachment member 01 is configured to be connected to the transport member 210, and the attachment member 01 can move up and down along the vertical direction with respect to the transport member 210. In this way, the cargo transport device 1000 can accurately position and identify the cargo by the identification and positioning device 100, and facilitate the transport of the cargo by the cargo transport device 1000. Regarding the connection relationship between the cargo transport facility 200 and the identification and positioning device 100, reference can be made to the content in the above-mentioned several embodiments, so the description here is omitted.

[0057] In some embodiments, the mounting member 01 has a first state and a second state. When the height by which the conveying member 210 rises along the vertical direction with respect to the vehicle body 220 does not exceed a preset limit value, the mounting member 01 is in the first state, the vehicle body 220 can abut against the mounting member 01, and the mounting member 01, the first detection member 02 and / or the second detection member 07 provided on the mounting member 01 are restricted by the vehicle body 220 and maintain a relatively stationary state. When the height by which the conveying member 210 rises along the vertical direction with respect to the vehicle body 220 exceeds the preset limit value, the mounting member 01 is in the second state, and the mounting member 01, the first detection member 02 and / or the second detection member 07 provided on the mounting member 01 can continue to rise synchronously along the vertical direction with respect to the vehicle body 220 together with the conveying member 210. In one embodiment, the preset limit value is 250 mm. In this way, when the mounting member 01 is in the first state, the mounting member 01, the first detection member 02 and / or the second detection member 07 provided on the mounting member 01 can all maintain a stationary state with respect to the vehicle body 220, thereby avoiding the movement and swaying of the first detection member 02 and / or the second detection member 07 with respect to the vehicle body 220, and improving the identification accuracy of the first detection member 02 and / or the second detection member 07 for the goods. When the mounting member 01 is in the second state, the mounting member 01, the first detection member 02 and / or the second detection member 07 provided on the mounting member 01 can rise together with the conveying member 210, adapting to the accurate collection of goods information in different scenes.

[0058] As shown in FIGS. 1 to 3, FIG. 5, and FIGS. 12 to 14, in some embodiments, the identification and positioning device 100 further includes a connecting plate 13. The conveying member 210 is slidably connected to the mounting member 01 via the connecting plate 13. Specifically, the mounting member 01 can move up and down along the vertical direction with respect to the conveying member 210 via the connecting plate 13. The identification and positioning device 100 further includes a fixing member 14. The fixing member 14 is configured to be connected to the vehicle body 220. When the mounting member 01 is in the first state, the fixing member 14 is configured to be able to maintain a state in which the mounting member 01 and the first detection member 02 and / or the second detection member 07 provided on the mounting member 01 are restricted by the vehicle body 220 and relatively stationary by abutting against the mounting member 01. In this way, the mounting member 01 can maintain a stable state by abutting against the fixing member 14 due to its own weight. Specifically, the mounting member 01 includes a mounting member body 012 and a contact portion 013. The first detection member 02 is provided on one side of the mounting member body 012, and the contact portion 013 is provided on one side of the mounting member body 012 away from the first detection member 02 of and is provided on one side and is used for abutting against the fixing member 14. In this way, the contact portion 013 can stably abut against the fixing member 14, and the stability of the mounting member 01 is ensured.

[0059] The fixing member 14 is provided with a fixing hole 141 used for fixedly connecting the fixing member 14 and the vehicle body 220.

[0060] FIG. 13 is a schematic diagram showing the structure of the identification and positioning device 100 according to an embodiment of the present application as viewed from another perspective. As shown in FIG. 13, in some embodiments, there are a plurality of fixing holes 141, and the plurality of fixing holes 141 are provided at intervals along the vertical direction. In this way, the connection position in the vertical direction between the fixing member 14 and the vehicle body 220 can be adjusted by the plurality of fixing holes 141, and the preset limit value of the height at which the transport member 210 rises along the vertical direction with respect to the vehicle body 220 can also be adjusted. Further, the plurality of fixing holes 141 are arranged in an array. In this way, the fixing member 14 can be stably connected to the vehicle body 220 by the plurality of fixing holes 141. In the embodiment corresponding to FIG. 13, there are 8 fixing holes 141, and the 8 fixing holes 141 are arranged in 2 rows and 4 columns and are provided on the fixing member 14 at intervals. Note that the fixing member 14 is a limit base plate.

[0061] FIG. 14 is a schematic diagram showing the structure of the identification and positioning device 100 according to another embodiment of the present application as viewed from another perspective. Referring to FIG. 14, in some other embodiments, the fixing hole 141 is a waist-shaped hole extending in the vertical direction. In this way, the connection position in the vertical direction between the fixing member 14 and the vehicle body 220 can be adjusted by the waist-shaped hole, and the preset limit value of the height at which the transport member 210 rises along the vertical direction with respect to the vehicle body 220 can also be adjusted. Specifically, there are a plurality of fixing holes 141, and the plurality of fixing holes 141 are provided on the fixing member 14 at intervals along the first direction (i.e., the x-axis direction shown in FIG. 3). In this way, the fixing member 14 can be stably connected to the vehicle body 220 by the plurality of fixing holes 141. In the embodiment of the present application, there are 3 fixing holes 141, and the 3 fixing holes 141 are provided on the fixing member 14 at intervals. Note that the fixing member 14 is a limit base plate.

[0062] Referring back to FIGS. 1, 3, and 11 together, in some embodiments, the identification and positioning device 100 further includes a dropout prevention block 15. The dropout prevention block 15 is provided on the mounting member 01. When the mounting member 01 is in the second state, the dropout prevention block 15 is configured to enable the cooperation between the mounting member 01 and the transport member 210, so that the mounting member 01, the first detection member 02 and / or the second detection member 07 provided on the mounting member 01, and the transport member 210 rise continuously and synchronously along the vertical direction with respect to the vehicle body 220 Specifically, in some embodiments, the fixing member 14 is located at one end of the mounting member 01, specifically, provided at the lower end of the mounting member 01. The dropout prevention block 15 is provided at one end of the mounting member 01 away from the fixing member 14, that is, provided at the upper end of the mounting member 01.

[0063] Continuing to refer to FIGS. 1, 3, and 5, in some embodiments, a slide rail 011 is provided on one of the connecting plate 13 and the mounting member 01, and a slide block 131 is provided on the other of the connecting plate 13 and the mounting member 01. The slide block 131 and the slide rail 011 are slidably connected. In some embodiments, the slide block 131 is provided on the connecting plate 13, and the slide rail 011 is provided on the mounting member 01. The dropout prevention block 15 is provided at one end of the slide rail 011, specifically, the upper end of the slide rail 011. The slide block 131 can abut against the dropout prevention block 15 to realize the cooperation between the mounting member 01 and the transport member 210. Further, the dropout prevention block 15 functions to prevent the slide block 131 from detaching from the slide rail 011.

[0064] Specifically, in the embodiment shown in FIG. 1 or FIG. 5, there are a plurality of slide rails 011, and the plurality of slide rails 011 are provided at intervals along the first direction. There are a plurality of slide blocks 131, and the plurality of slide blocks 131 are provided at intervals along the first direction. The plurality of slide rails 011 are slidably connected to the plurality of slide blocks 131 in a one-to-one correspondence. In this way, when the slide block 131 abuts against the anti-drop block 15 and applies a force to lift the mounting member 01, the force applied by the plurality of slide blocks 131 to the anti-drop block 15 becomes more uniform. In addition, the plurality of slide rails 011 and the plurality of slide blocks 131 can improve the sliding stability of the connecting plate 13 with respect to the mounting member 01. In some embodiments, as shown in FIGS. 1 and 14, there are two slide rails 011, and the two slide rails 011 are provided at intervals along the vertical direction. There are two slide blocks 131, and the two slide blocks 131 are provided at intervals along the vertical direction. The two slide blocks 131 are slidably connected to the two slide rails 011 in a one-to-one correspondence. In the embodiment corresponding to FIG. 1, two anti-drop blocks 15 are provided on the mounting member 01, and the two anti-drop blocks 15 correspond to the two slide rails 011 in a one-to-one correspondence. In the embodiment corresponding to FIG. 5, four anti-drop blocks 15 are provided on the mounting member 01, and two anti-drop blocks 15 are respectively provided at both ends of one slide rail 011.

[0065] Continuing to refer to FIG. 5, in some embodiments, the identification and positioning device 100 further includes a drag chain 16. The drag chain 16 is connected to the mounting member 01. More specifically, the drag chain 16 is connected to the upper part of the mounting member 01. In this way, the drag chain 16 can play a role of traction and protection for the built-in cable, oil pipe, gas pipe, water pipe, etc.

[0066] In an embodiment of the present application, an identification and positioning device 100 and a cargo handling device 1000 are provided. The identification and positioning device 100 includes a mounting member 01 and a first detection member 02. The mounting member 01 is configured to be connected to a conveying member 210 of the cargo handling facility 200. The first detection member 02 is configured to identify and position a cargo or the cargo handling facility 200. Thereby, the first detection member 02 automatically positions the cargo or the cargo handling facility 200, reduces manual operations, and improves the efficiency of loading and unloading the cargo by the cargo handling device 1000.

[0067] Also, in some embodiments, when the conveying member 210 drives the first detection member 02 to move along a direction perpendicular to the vehicle body 220 and applies an impact force to the first detection member 02, a floating mechanism 03 is provided between the mounting member 01 and the first detection member 02. Therefore, the floating mechanism 03 can float the first detection member 02 along a direction perpendicular to the mounting member 01. The buffer by the floating mechanism 03 can weaken the external impact force directly applied to the first detection member 02. Thus, damage to the first detection member 02 is avoided, and the identification accuracy of the first detection member 02 for the cargo is improved.

[0068] Furthermore, in the identification and positioning device 100 and the cargo handling device 1000 according to the embodiment of the present application, by integrally arranging and using the first detection member 02 and the second detection member 07, information on the cargo and / or the cargo handling facility 200 can be easily collected. The second detection member 07 can be rotationally adjusted by a first adjustment hole 0812 provided in a first holder 08, and the first detection member 02 can be rotationally adjusted by a third adjustment hole 101 provided in a second holder 10. At the same time, the identification and positioning device 100 uses a supplementary lighting member 12 to supplement light to the second detection member 07, improving the identification and positioning accuracy of the identification and positioning device 100 for the cargo.

[0069] Each technical feature of the above embodiments can be arbitrarily combined. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of those technical features, all such combinations should be considered to be within the scope of the description in this specification.

[0070] The above embodiments only show some embodiments of this application. Although the description of the above embodiments is specific and detailed, it should not be understood as a limitation to the scope of the patent of this application. Unless departing from the concept of this application, those skilled in the art can make some changes and improvements, and all such changes and improvements should belong to the protection scope of this application. Therefore, the patent protection scope of this application should be based on the appended claims.

Explanation of Reference Numerals

[0071] 100… Identification and positioning device, 01… Mounting member, 011… Slide rail, 012… Mounting member body, 013… Contact portion, 02… First detection member, 03… Floating mechanism, 031… Elastic member, 032… Guide member, 04… Positioning member, 041… Connecting portion, 042… Positioning portion, 05… First protection member, 051… Protection plate, 052… Rib, 06… Second protection member, 07… Second detection member, 071… Second detection member body, 072… Sub - holder, 0721… Second connection hole, 07211… First projection, 0722… Second adjustment hole, 07221… Fourth projection, 08… First holder, 081… Support arm, 0811… First connection hole, 08111… Second projection, 0812… First adjustment hole, 08121… Third projection, 082… Connecting arm, 083… First adjustment member, 084… Connecting member, 09… First support frame, 091… Fourth adjustment hole, 092… Second adjustment member, 093… Fourth connection hole, 10… Second holder, 101… Third adjustment hole, 1011… Fifth projection, 11…Second support frame, 111…Third connection hole, 1111…Sixth projection, 12…Supplementary lighting member, 13…Connection plate, 131…Slide block, 14…Fixing member, 141…Fixing hole, 15…Anti-drop block, 16…Drag chain, 200…Cargo conveying equipment, 210…Conveying member, 220…Vehicle body, 230…Fork frame, 1000…Cargo conveying device, a…First rotation axis, b…Second rotation axis, R1…First reference plane, R2…Second reference plane.

Claims

1. An identification and positioning device (100) comprising an attachment member (01) and a first detection member (02), The attachment member (01) is configured to be connected to a transport member (210) of a cargo conveying facility (200); the first detection member (02) is provided on the mounting member (01) and configured to identify and locate cargo or the cargo conveying equipment (200); An identification and location device (100).

2. The identification and positioning device (100) further includes a floating mechanism (03), the floating mechanism (03) being connected between the first detection member (02) and the mounting member (01), and the floating mechanism (03) being capable of floating the first detection member (02) along a vertical direction relative to the mounting member (01). The identification and location device (100) of claim 1.

3. The floating mechanism (03) includes an elastic member (031), and the elastic member (031) elastically abuts between the mounting member (01) and the first detection member (02). The identification and location device (100) of claim 2.

4. The floating mechanism (03) further includes a guide member (032), one end of the guide member (032) is connected to one of the mounting member (01) and the first detection member (02), and the other end of the guide member (032) is slidably connected to the other of the mounting member (01) and the first detection member (02), the guide member (032) is configured to guide the first detection member (02) from moving along a direction perpendicular to the mounting member (01), and the elastic member (031) sleeves the guide member (032). The identification and location device (100) of claim 3.

5. There are at least two floating mechanisms (03), and the at least two floating mechanisms (03) are provided between the mounting member (01) and the first detection member (02) at a distance from each other. The identification and location device (100) of claim 3.

6. The amount of elastic deformation of the elastic member (031) in each of the floating mechanisms (03) is adjustable so as to adjust the horizontality of the first detection member (02). The identification and location device (100) of claim 5.

7. The identification and positioning device (100) further comprises a positioning member (04), The positioning member (04) protrudes from the mounting member (01), and the floating mechanism (03) is connected between the positioning member (04) and the first detection member (02). The identification and location device (100) of claim 2.

8. The identification and positioning device (100) further comprises a first protective member (05) and a second protective member (06), The first protection member (05) is connected to the mounting member (01) and is located at the bottom of the first detection member (02); and / or The second protection member (06) is provided outside the first detection member (02) so as to cover the first detection member (02). The identification and location device (100) of claim 1.

9. the identification and positioning device (100) further comprises a second detection member (07), the second detection member (07) and the first detection member (02) being spaced apart from each other and mounted on the mounting member (01), the first detection member (02) being configured to identify point cloud information of the cargo and / or the cargo conveying equipment (200), and the second detection member (07) being configured to identify image information of the cargo and / or the cargo conveying equipment (200); The identification and positioning device (100) is configured to extract an area of ​​interest based on the point cloud information and / or the image information, detect a target object within the area of ​​interest, and determine whether to stack the cargo or whether the cargo has slid based on a state of the area of ​​interest, the target object including cargo waiting to be stacked and cargo already stacked; When the identification and positioning device (100) is configured to determine whether or not to stack the cargo, the state of the area of ​​interest includes: detection of the stacked cargo or the cargo waiting to be stacked within the area of ​​interest; whether or not a position and attitude deviation between the stacked cargo and the cargo waiting to be stacked within the area of ​​interest exceeds a preset range; or whether the stacked cargo or the cargo waiting to be stacked is not detected within the area of ​​interest; or When the identification and positioning device (100) is configured to determine whether the cargo has slid, the state of the area of ​​interest includes detection of the stacked cargo or the cargo waiting to be stacked within the area of ​​interest, whether a horizontal coordinate of the stacked cargo or the cargo waiting to be stacked within the area of ​​interest exceeds a preset range, or no detection of the stacked cargo or the cargo waiting to be stacked within the area of ​​interest. The identification and location device (100) of claim 1.

10. The first detection member (02) is configured to be rotatably adjustable with respect to the mounting member (01), and / or the second detection member (07) is configured to be rotatably adjustable with respect to the mounting member (01). The identification and location device (100) of claim 9.

11. The identification and positioning device (100) further comprises a first holder (08) and a connecting member (084); The first holder (08) comprises a connecting arm (082) and a support arm (081) connected to the connecting arm (082), and the connecting arm (082) and the mounting member (01) are connected to each other. The second detection member (07) comprises a second detection member main body (071) and a sub-holder (072) connected to the second detection member main body (071). The support arm (081) is provided with a first connecting hole (0811), the sub-holder (072) is provided with a second connecting hole (0721) that fits the first connecting hole (0811), and the connecting member (084) passes through the first connecting hole (0811) and the second connecting hole (0721), so that the support arm (081) and the sub-holder (072) are rotatably connected via the connecting member (084). The identification and location device (100) of claim 10.

12. the identification and positioning device (100) further comprises a first adjustment member (083), the support arm (081) is provided with a first adjustment hole (0812), the sub-holder (072) is provided with a second adjustment hole (0722), the first adjustment member (083) passes through the first adjustment hole (0812) and the second adjustment hole (0722), and / or the identification and positioning device (100) further comprises a light compensation member (12), the light compensation member (12) is provided on the support arm (081), and the light compensation member (12) is provided so as to be adjacent to the second detection member (07); The identification and location device (100) of claim 11.

13. The cargo conveying equipment (200) further comprises a vehicle body (220), the conveying member (210) is slidably connected to the vehicle body (220), and the conveying member (210) can rise and fall along a vertical direction relative to the vehicle body (220), the mounting member (01) and the conveying member (210) are slidably connected, and the mounting member (01) can rise and fall along the vertical direction relative to the conveying member (210), and the mounting member (01) has a first state and a second state; When the height to which the conveying member (210) has risen along the vertical direction relative to the vehicle body (220) does not exceed a preset limit value, the mounting member (01) is in the first state, the vehicle body (220) can abut against the mounting member (01), and the mounting member (01) and the first detection member (02) provided on the mounting member (01) are restricted by the vehicle body (220) and maintain a relatively stationary state; When the height to which the conveying member (210) has risen along the vertical direction relative to the vehicle body (220) exceeds the preset limit value, the mounting member (01) is in the second state, and the mounting member (01) and the first detection member (02) provided on the mounting member (01) can continue to rise synchronously along the vertical direction relative to the vehicle body (220) together with the conveying member (210). The identification and location device (100) of claim 1.

14. The identification and positioning device (100) further includes at least one of a connecting plate (13), a fixing member (14), and a fall prevention block (15); The transport member (210) is slidably connected to the mounting member (01) via the connecting plate (13), the fixing member (14) is configured to be connected to the vehicle body (220), and the fixing member (14) is configured to abut against the mounting member (01) when the mounting member (01) is in the first state, thereby enabling the mounting member (01) and the first detection member (02) provided on the mounting member (01) to be restricted by the vehicle body (220) and to maintain a relatively stationary state; The anti-fall-off block (15) is provided on the mounting member (01), and is configured to realize cooperation between the mounting member (01) and the transporting member (210) when the mounting member (01) is in the second state, thereby enabling the mounting member (01) and the first detection member (02) provided on the mounting member (01) to continue to rise synchronously along the vertical direction relative to the vehicle body (200) together with the transporting member (210). The identification and location device (100) of claim 13.

15. A cargo conveying device (1000) comprising a cargo conveying facility (200) and the identification and positioning device (100) according to any one of claims 1 to 14, the cargo conveying facility (200) comprising a conveying member (210) and a vehicle body (220), the conveying member (210) being slidably connected to the vehicle body (220), and the conveying member (210) being capable of ascending and descending along a vertical direction relative to the vehicle body (220); A cargo conveying device (1000).

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