Methods for retrieving and storing cargo stored in a warehouse and transport robots

Abstract

A method for retrieving and storing cargo stored in a warehouse, and a transport robot. The method for retrieving includes, in response to a retrieval command, determining position information of a target container (a) waiting to be retrieved as instructed by the retrieval command, driving a first transport mechanism (2) of the transport robot to lift a container set including at least one container stacked above the target container (a), driving a second transport mechanism (3) of the transport robot to remove the target container (a) from a first position when the container set is lifted, and driving the first transport mechanism (2) to release the container set when the first position is empty, and updating position information of each container in the container set. The target container is one of a plurality of containers stacked vertically.

Description

[Technical field]

[0001] The present invention is filed based on a Chinese patent application having application number 202210122820.2 and filing date February 9, 2022, and claims priority based on the above Chinese patent application, the entire contents of which are incorporated herein by reference. The present invention relates to the field of warehousing technology, and more particularly to a method for retrieving and storing cargo stored in a warehouse, and a transport robot. [Background technology]

[0002] With the rapid development of artificial intelligence technology, automation technology and information technology, the intelligent level of terminal logistics is also improving. Smart logistics terminals will become the development trend of terminal logistics. Transport robots are one of the main equipment that can realize smart logistics terminals and perform automated transport work. Transport robots can reduce people's heavy labor and improve transport work efficiency. In the box-type smart warehouse storage system in related technology, the implementation cost is high, the project cycle is long, and when the business changes, the warehouse is slowly remodeled and the speed of business adjustment is slow, making the warehouse vulnerable to business changes. Summary of the Invention [Problem to be solved by the invention]

[0003] The present invention provides a method for retrieving and storing cargo stored in a warehouse, and a transport robot, which solves the technical problem of how to make a warehouse more resistant to changes in business operations while reducing the input of rack equipment. [Means for solving the problem]

[0004] The technical solution of the present invention is as follows: An embodiment of the present invention provides a method for issuing warehoused cargo, the method comprising: In response to a shipping command, determining position information of a target container waiting to be shipped out as instructed by the shipping command; When a container set including at least one container is stacked above the target container, driving a first transport mechanism of a transport robot so as to lift the container set; When the container set is lifted, driving a second transport mechanism of the transport robot to transport the target container out of a first position, and when the first position is empty, driving the first transport mechanism to release the container set; and updating location information for each container in the set. The target container is one of a plurality of containers stacked vertically.

[0005] In the above proposal, the position information is expressed in three-dimensional coordinates. Before driving the first transport mechanism of the transport robot to lift the container set, the method further includes moving the first transport mechanism and the second transport mechanism along a vertical direction based on a vertical coordinate in the three-dimensional coordinates of the target container.

[0006] In the above proposal, before driving the first transport mechanism of the transport robot to lift the container set, the method further includes moving the transport robot to a corresponding transport position in the presence area of ​​the target container based on the three-dimensional coordinates of the target container.

[0007] In the above scheme, before the transport mechanism lifts or removes the container, the method further comprises: Aligning the transport mechanism with the corresponding container based on positioning indicia on the exterior of the corresponding container; or The method further includes photographing the corresponding container and aligning the transport mechanism with the corresponding container based on an image area in the photographed image in which the corresponding container is located.

[0008] In the above proposal, after driving the second transport mechanism of the transport robot to transport the target container out of the first position, the method further includes placing the target container in a temporary storage mechanism of the transport robot.

[0009] In the above scheme, the method further includes updating location information of the target container based on temporary storage location information where the target container is located.

[0010] In the above proposal, the method further includes driving a second transport mechanism of the transport robot to remove the target container from the first position if no containers are stacked above the target container.

[0011] An embodiment of the present invention further provides a method for receiving warehoused cargo, the method comprising: In response to a storage command, determining location information of a storage destination of a target container designated by the storage command; When a container set including at least one container is stacked above a receiving position of the target container, driving a first transport mechanism of the transport robot so as to lift the container set; When the container set is lifted, driving a second transport mechanism of the transport robot to transport the target container from a temporary storage mechanism to a first position, and after transporting the target container to the first position, driving the first transport mechanism to release the container set above the target container; updating location information for each container in the container set and location information for the target container.

[0012] In the above proposal, the position information is expressed in three-dimensional coordinates. Before driving the first transfer mechanism of the transfer robot to lift the container set, the method further includes moving the first transfer mechanism and the second transfer mechanism along a vertical direction based on a vertical coordinate in the three-dimensional coordinates.

[0013] In the above proposal, before driving the first transport mechanism of the transport robot to lift the container set, the method further includes moving the transport robot to a corresponding transport position in the destination area of ​​the target container based on the three-dimensional coordinates.

[0014] In the above scheme, before the transport mechanism lifts the container, the method further comprises: Aligning the transport mechanism with the corresponding container based on positioning indicia on the exterior of the corresponding container; or The method further includes photographing the corresponding container and aligning the transport mechanism with the corresponding container based on an image area in the photographed image in which the corresponding container is located.

[0015] An embodiment of the present invention further provides a transport robot for transporting warehouse storage cargo, comprising: A movable bracket that is movable in the vertical direction; a first transport mechanism that transports a container set above a target container or a container set stacked above a receiving location of the target container and is installed on a first side of the movable bracket; a second transport mechanism for transporting the target container and disposed on a first side of the movable bracket and below the first transport mechanism; a first lifting mechanism for moving the first transport mechanism in the up-down direction; a second lifting mechanism for moving a second transport mechanism in the up-down direction independently of the first transport mechanism; a temporary storage mechanism secured to a second side of the movable bracket for storing the target container to be transported by the second transport mechanism. The container set includes at least one container.

[0016] In the above proposal, the first lifting mechanism is a first drive pulley adapted to be driven to rotate about a horizontal direction; a first timing pulley that is disposed at a distance from the first drive pulley in the vertical direction and is rotatable around a horizontal direction; a first timing belt connected to the first driving pulley and the first timing pulley for rotating the first timing pulley together with the first driving pulley; a first connecting block connected to the first timing belt and the first transport mechanism for moving the first transport mechanism in the up-down direction together with the first timing belt; and / or The second lifting mechanism is a second drive pulley for being driven to rotate about a horizontal direction; a second timing pulley that is disposed at a distance from the second drive pulley in the vertical direction and is rotatable around the horizontal direction; a second timing belt connected to the second drive pulley and the second timing pulley for rotating the second timing pulley together with the second drive pulley; and a second connecting block connected to the second timing belt and the second transport mechanism for moving the second transport mechanism in the up-down direction together with the second timing belt.

[0017] In the above proposal, the temporary storage mechanism includes a plurality of temporary storage racks spaced apart in the vertical direction, the temporary storage racks being fixedly connected to the movable brackets to store the target containers.

[0018] In the above proposal, the first transport mechanism includes a first mounting member connected to the first lifting mechanism and lifted in the up-down direction, and two first telescopic arms each movably connected to the first mounting member. The two first telescopic arms are installed opposite each other and can transport the container set by synchronously moving back and forth in a first direction relative to the first mounting member. The first direction belongs to the horizontal direction.

[0019] In the above proposal, the first mounting member includes a top wall extending in the first direction, and two side walls extending in the first direction, connected to the bottom of the top wall, and installed opposite to each other. The two first telescopic arms are connected to the opposing surfaces of the two side walls, respectively.

[0020] In the above proposal, an extension arm extending toward the second transport mechanism is provided at a first end of the first telescopic arm. The first end is an end of the first telescopic arm that is away from the side wall when the first telescopic arm is in an extended state.

[0021] In the above proposal, a locking portion is provided at one end of the extension arm away from the first telescopic arm, and the locking portion is capable of extending and retracting in the opposing direction of the two first telescopic arms to approach and separate from the corresponding container.

[0022] In the above proposal, the second transport mechanism includes a second mounting member connected to the second lifting mechanism and lifting up and down in the up-down direction, a third mounting member connected below the second mounting member and movable in parallel with the second mounting member in the horizontal direction or movable in parallel with and rotatable in the horizontal direction, and two second telescopic arms movably connected to the third mounting member, installed opposite each other, and movable in parallel with and synchronously reciprocating in a first direction relative to the third mounting member. The first direction belongs to the horizontal direction.

[0023] The embodiment of the present invention provides a method for retrieving and storing cargo stored in a warehouse, and a transport robot. In the retrieving method, containers are stored in a stacked manner, and a transport robot transports a target container waiting to be retrieved in response to a retrieval command. When a container set is located above the target container and it is difficult to transport the target container, the transport robot first lifts the container set and then transports the target container, and updates the container position information after the transport is completed, making it easy to accurately record the position of each container in the warehouse. During retrieval, there is no need to store the container on a rack or to position the rack on which the container is stored, and it is only necessary to position and transport the container using the container position information. Although no rack construction is required for warehousing cargo, the user can quickly arrange or relocate the warehouse, which can improve the efficiency of cargo storage and transportation, and can quickly adjust the warehouse storage business to meet the needs of diversified warehouse storage business, making the warehouse more resistant to business changes. The retrieving method corresponds to the retrieving method. During inbound transport, first, the container set above the location where the target container is to be delivered is lifted, the target container is delivered, the container set is released, and the container location information is updated. Similarly, during transport, no racks need to be installed, and positioning and transport can be performed using the container location information. This transport robot is equipped with a movable bracket, a first transport mechanism, a second transport mechanism, a first lifting mechanism, and a second lifting mechanism, and the first lifting mechanism and the second lifting mechanism control the individual lifting and lowering of the first transport mechanism and the second transport mechanism, respectively, so that the first transport mechanism can transport the container set and the second transport mechanism can transport the target container, achieving transport for inbound and outbound warehouse storage cargo without the need for racks. [Brief description of the drawings]

[0024] [Figure 1] 1 is a flow chart showing the steps of a method for shipping warehouse-stored cargo according to an embodiment of the present invention. [Diagram 2] 1 is a flow chart showing the steps of a method for storing cargo in a warehouse according to an embodiment of the present invention. [Diagram 3] FIG. 2 is a perspective view showing a state in which the transport robot according to the embodiment of the present invention is operating. [Figure 4] FIG. 2 is a front view showing a state in which the transport robot according to the embodiment of the present invention is operating. [Diagram 5] 13A and 13B are diagrams illustrating a case where a container set is lifted by a first transport mechanism according to an embodiment of the present invention. [Figure 6] 13 is a diagram showing the case where a target container is carried out by the second transport mechanism according to the embodiment of the present invention. FIG. [Figure 7] 13 is a diagram showing the case where a target container is placed on a temporary storage rack by a second transport mechanism according to an embodiment of the present invention. FIG. [Figure 8] FIG. 2 is a diagram showing a configuration of a first transport mechanism according to the embodiment of the present invention. [Figure 9] FIG. 4 is a diagram showing a configuration of a second transport mechanism according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0025] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be described in more detail below in combination with drawings and examples. It should be understood that the specific examples described herein are only for the purpose of interpreting the present invention, and are not intended to limit the present invention.

[0026] Each specific technical feature described in the specific embodiments can be combined in any suitable manner if not contradictory, for example, different specific technical features can be combined to form different embodiments and technical solutions, and various possible combination forms of each specific technical feature in the present invention will not be described repeatedly in order to avoid unnecessary repetition.

[0027] In the following description, the terms "first\second\..." according to the present invention are merely used to distinguish between different objects, and do not indicate that the objects are identical or related to each other. The descriptions of positions according to the present invention, such as "upper", "lower", "outer", and "inner", all refer to positions in a normal state of use, and the directions of "left" and "right" refer to the left-right directions specifically shown in the corresponding schematic diagrams, and may or may not refer to the left-right directions in a normal state of use. The XYZ coordinate system is an absolute coordinate system in a normal state of use.

[0028] It is noted that the terms "comprise," "include," or any other variation thereof are intended to cover a non-exclusive inclusiveness, such that a process, method, article, or apparatus comprising a set of elements may comprise not only those elements, but also other elements not expressly listed, or elements inherent in such process, method, article, or apparatus. Absent further limitation, an element qualified by the phrase "comprises" does not exclude the presence of other identical elements in the process, method, article, or apparatus of that element. "Plurality" refers to two or more.

[0029] The embodiment of the present invention provides a method for retrieving cargo stored in a warehouse. The cargo stored in the embodiment of the present invention may be placed by a container. In brief, the cargo is represented by a container, and parameters such as the shape and size of the container are not limited, and all containers stored in the warehouse may be one or more standard members. Of course, in other embodiments, the stored cargo may not be placed by a container, but may be represented by the cargo itself or in other forms. A plurality of containers may be stacked vertically to form a row of containers, and a plurality of rows of containers may be stored in the warehouse. The stacking of a plurality of containers described in the embodiment of the present invention refers to the fact that the vertical surfaces of adjacent containers in the same row at least partially contact each other without the need to support the stack of containers by a rack. The ground of the warehouse is generally a horizontal plane, i.e., the extension direction of the containers in each row is perpendicular to the ground. Of course, some areas of the ground of the warehouse may be uneven, i.e., the horizontal surface is not required to be absolutely horizontal. Therefore, the corresponding vertical direction cannot be obtained as an absolute vertical direction, and the existence of errors in the horizontality of the ground and processing errors of the container is allowed.

[0030] As shown in FIG. 1, the method for issuing warehouse-stored goods according to an embodiment of the present invention includes the following steps. Step S11: In response to the outgoing command, determine the position information of the target container waiting to be outgoing, which is instructed by the outgoing command. The target container is one of the multiple containers stacked vertically. The outgoing command represents a command to transport one of the multiple containers stacked in the warehouse from the position in the command by the transport robot. Naturally, the outgoing command may further include the set position information of the position to which the target container is transported. In the embodiment of the present invention, each container in the warehouse has a unique authentication code. In the database of the warehouse storage system, the position information corresponding to each authentication code, the type of goods stored in the container, and the like are stored. In the embodiment of the present invention, the authentication code corresponding to the target container is searched, and the position information corresponding to the authentication code is called from the database, thereby forming the outgoing command of the target container. Here, the authentication code of the container in the database remains fixed. That is, the authentication code corresponding to each container does not change depending on the position of the container, and for example, the authentication code corresponding to a certain container is an authentication code with a serial number of 0010. The position information of each container can change with the ingoing and outgoing of the container, that is, the position information corresponding to each authentication code changes. In the embodiment of the present invention, the transport robot can move to the vicinity of the target container based on the current position information of the target container in the out-of-stock command.

[0031] Step S12: When a container set including at least one container is stacked above the target container, the first transport mechanism of the transport robot is driven to lift the container set. In the embodiment of the present invention, when containers in a warehouse are stacked and the transport robot detects that there is another container other than the target container above the target container before approaching the target container and transporting it, the first transport mechanism of the transport robot is driven to lift the container above the target container because the other container is not the target container in the outgoing command. In addition, in the process in which the transport robot detects whether there is another container other than the target container above the target container, the detection form by the transport robot can be realized in a plurality of forms. For example, the transport robot can directly receive information or commands from the control center, and this information includes the content that there is another container other than the target container above the target container. In addition, a sensor is provided in the transport robot itself, and whether there is another container other than the target container above the target container can be detected by the sensor of the transport robot. Naturally, the detection method of the embodiment of the present invention is not limited to the above form, and it is sufficient if it can determine whether there is another container above the target container.

[0032] Here, the target container may be any container in the container row in which it is located, so there may be one or more containers above the target container, and of course, the target container may be located at the top of the container row.

[0033] In an embodiment of the present invention, when the target container is located in the middle or bottom layer, the whole consisting of all containers above the target container is defined as a container set. The container set may include one container or may include multiple containers. When the target container is not located at the top layer of the cargo row, a first transport mechanism of the transport robot is driven to lift the container set above the target container. In an embodiment of the present invention, the lifting height by the first transport mechanism is not limited, and it is sufficient that the container set is separated from the top surface of the target container. When the container set is separated from the top surface of the target container, the target container is not subjected to pressure from the container set, and the target container can be removed individually from the container row by the transport robot. In some embodiments, the heights of containers in the same row are the same, and the lifting height of the container set by the first transport mechanism is equal to or less than the height of one container. By limiting the lifting height by the first transport mechanism to within a certain range, the transport of the target container can be made easier, and the energy required to lift the container set can be reduced, thereby reducing costs. Note that in an embodiment of the present invention, the transport includes a series of operations on the containers, such as lifting, lowering, releasing, and grabbing.

[0034] Step S13: When the container set is lifted, that is, when the container set is lifted by the first transport mechanism so as to be separated from the target container by a certain height, the second transport mechanism of the transport robot is driven to transport the target container from the first position. Here, the first position represents the position in the container row where the target container is located, and may be represented by the position information of the target container in the out-of-stock command. Transporting the target container from the first position represents that the second transport mechanism of the transport robot performs one or more operations such as grabbing, lifting, and extending / retracting to not position the target container among the containers installed in the row, that is, to move the target container away from the first position where it was located before the out-of-stock. Furthermore, when the first position is empty, the first transport mechanism is driven to release the container set, thereby stacking the container set on the surface of the container below the target container before the out-of-stock. Note that when the first position is empty, it represents that after the target container is transported from the row where it is located, the original position where the target container was located is made into a space not filled with containers, that is, made into an empty state. It should be understood that if the target container is at the bottom of the row in which it was located before being removed, there will be no other containers below the target container and the bottom surface of the target container will contact the ground or other surface. Also, after the target container is removed, the set of containers is released onto the ground or other surface. If the target container is not at the bottom of the cargo, when the target container is removed from the first position by the second transport mechanism, there will be containers below the first position and the first transport mechanism will release the set of containers onto the surface of the containers below the first position. Even when the target container is transported, stacked storage of other containers can be maintained.

[0035] Step S14: Update the location information of each container in the container set. After the target container is removed from its original first location, the container set previously located above the target container is moved vertically downward, and the location information of each container in the corresponding container set needs to be updated. The location of each container in the warehouse is accurately recorded, but the location of the containers originally located below the target container does not change, so there is no need to update the location information of these containers.

[0036] In some embodiments, when there is no container stacked above the target container, i.e., when the target container is located at the top of the cargo row, the second transport mechanism of the transport robot is driven to directly remove the target container from the first position. Furthermore, in this state, since there is no container set stacked above the target container in the row where the target container is located, there is no need to update the position information of the container set after the target container is removed.

[0037] An embodiment of the present invention provides a method for retrieving cargo stored in a warehouse. In this method, containers are stored in a stacked manner, and a transport robot transports a target container waiting to be retrieved in response to a retrieval command. When a container set is located above the target container and it is difficult to transport the target container, the transport robot first lifts the container set and then transports the target container. After the transport is completed, the location information of the container is updated, making it easy to accurately record the location of each container in the warehouse. During retrieval, there is no need to store the containers on racks or position the racks for storing the containers, and only the location information of the containers is used to perform positioning and transport. While no racks are required for cargo storage, users can quickly arrange and transition the warehouse, which not only improves the efficiency of cargo storage and transport, but also allows the warehouse storage business to be quickly adjusted, meeting the needs of diversified warehouse storage business and making the warehouse more resistant to business changes.

[0038] In some embodiments, the position information is represented by three-dimensional coordinates. Note that in the embodiments of the present invention, the three-dimensional coordinates represent a world coordinate system, which is an objective space that defines physical world positions, i.e., the position information represents absolute coordinate values. In actual operation, the coordinates of the container are uniformly oriented to a certain fixed point of the container, for example, the upper right corner of the front of the container or the center position of the front of the container. In this way, the transport robot can be accurately aligned to the container according to the known size of the container to transport it.

[0039] In some embodiments, before driving the first transport mechanism of the transport robot to lift the container set, the transport method further includes moving the first transport mechanism and the second transport mechanism along a vertical direction based on a vertical coordinate in the three-dimensional coordinate of the target container. The first transport mechanism transports the container set above the target container, and the second transport mechanism transports the target container. Therefore, the first transport mechanism is located above the second transport mechanism. Furthermore, when the second transport mechanism moves to the vertical coordinate in the three-dimensional coordinate of the target container, the first transport mechanism needs to move to a position above the target container so as not to interfere with the movement of the second transport mechanism, thereby facilitating the transport of the container set above the target container by the first transport mechanism.

[0040] In some embodiments, before driving the first transport mechanism of the transport robot to lift the container set, the method further includes moving the transport robot to a location of the target container based on three-dimensional coordinates of the target container. In the embodiments of the present invention, the location of the target container may be any area of ​​the warehouse, and represents a certain space near the target container or including the target container. The location of the target container generally represents the location of the target container without precisely representing the location of the target container. When the transport robot receives the outgoing command, there may be a certain distance between the location of the target container and the transport robot, and the transport robot can move to the location of the target container based on the location information of the target container in the outgoing command, that is, reach the area where the target container is generally located. Note that the movement of the transport robot includes, but is not limited to, a horizontal movement, and may also be a non-horizontal movement having a certain gradient. The transport robot may be guided to the location of the target container based on the horizontal abscissa and ordinate axes in the three-dimensional coordinates.

[0041] In some embodiments, before the transport mechanism lifts or carries out the container, the transport method further includes driving the transport mechanism to align with the corresponding container based on the positioning mark on the outer surface of the corresponding container. Note that the alignment means to align the position, that is, the transport mechanism is aligned with the position where the corresponding container is located. The criterion for alignment is that the transport mechanism can accurately pick up and move the corresponding container. In addition, the transport robot has two transport mechanisms, which are a first transport mechanism and a second transport mechanism. The above method of the positioning mark is applied to the first transport mechanism and the second transport mechanism. That is, the first transport mechanism is aligned with the container set, and the second transport mechanism is aligned with the target container. When the mobile robot approaches the target container, the transport mechanism can transport the corresponding container more accurately according to the alignment by the positioning mark. Each container in the warehouse has a positioning mark, and the positioning mark may be a mark having position information, such as a QR code (registered trademark) or a barcode. The positioning mark may be a pattern of a shape such as a triangle or a right angle side. In the embodiment of the present invention, the shape and pattern of the positioning mark are not limited to the above, and the positioning mark is simply installed at the fixed portion of the container, so that the transport mechanism can be quickly aligned with the corresponding container by the positioning mark.

[0042] For example, in the process of positioning the first transport mechanism, first, the first transport mechanism is moved to a position above the target container according to the vertical coordinates in the position information of the target container. For example, if the vertical coordinates of the target container are 1.8 m and the height of each container is 0.2 m, the first transport mechanism is moved to a position at a height of 2 m to perform the initial positioning of the first transport mechanism. If there is a container set above the target container, the first transport mechanism transports the container set above the target container. Therefore, the first transport mechanism needs to be aligned with one container above the target container, and by lifting one container above the target container, the containers stacked above this container are also lifted. Therefore, the first transport mechanism can accurately perform the secondary positioning with the container above the target container by identifying the positioning mark of the container above the target container. If the target container is located at the top of the cargo row, there is no other container above the target container, so the first transport mechanism can be transported and moved above the target container.

[0043] In the process of positioning the second transport mechanism, first, the second transport mechanism is moved to a position corresponding to the target container based on the vertical coordinate in the position information of the target container. For example, if the vertical coordinate of the target container is 1.8 m, the second transport mechanism first moves to a position at a height of 1.8 m from the ground to provisionally position the second transport mechanism. Next, the second transport mechanism is aligned with the positioning mark of the target container, thereby realizing secondary accurate positioning of the second transport mechanism. Note that the form in which the transport mechanism is aligned with the positioning mark of the container may include, but is not limited to, an image identification form.

[0044] In an embodiment of the present invention, a positioning indicator is installed on each container, and the first and second transport mechanisms are driven and initially positioned according to the container position information, and the first transport mechanism is accurately positioned to a container close to a target container in a container set according to the container positioning indicator, and the second transport mechanism is accurately positioned to the target container, thereby improving the accuracy of the container pick-up position and the reliability of container pick-up.

[0045] In some embodiments, after completing the tentative positioning of the first transport mechanism and the second transport mechanism, neither the first transport mechanism nor the second transport mechanism can be secondarily positioned with respect to the corresponding container, for example, by precisely positioning the first transport mechanism and the container above the target container, and determining the position between the second transport mechanism and the first transport mechanism, the second transport mechanism is aligned with the target container, i.e., the process of directly aligning the second transport mechanism with the target container can be omitted, thereby omitting the arrangement of the related alignment device on the second transport mechanism, and reducing the manufacturing cost of the transport robot.

[0046] In some embodiments, the corresponding container may be imaged, and the transport mechanism may be driven to align with the corresponding container based on the presence area of ​​the corresponding container in the image. That is, in the process of accurately aligning the transport mechanism and the container, the alignment form using the alignment mark described in the above embodiment may be used, or image identification and positioning may be directly performed on the container to achieve alignment. Here, the first transport mechanism may be provided with a first imaging module. The first imaging module can collect image information of a container in the container set that is close to a target container. The first transport mechanism is aligned with the container by identifying the outer contour of the container. The second transport mechanism may be provided with a second imaging module. The second imaging module can collect image information of the target container. The second transport mechanism is aligned with the target container by identifying the outer contour of the target container.

[0047] In the embodiment of the present invention, the positioning of the transport mechanism and the container is achieved by identifying the outer contour of the container by an image instead of a mark. Note that the positioning of the transport mechanism and the corresponding container in the embodiment of the present invention includes, but is not limited to, the above-mentioned multiple embodiments, and it is sufficient to determine the positioning of the transport mechanism and the corresponding container.

[0048] In some embodiments, after driving the second transport mechanism of the transport robot to transport the target container out of the first position, the method further includes placing the target container in a temporary storage mechanism of the transport robot. That is, the second transport mechanism may place the target container in the temporary storage mechanism of the transport robot after transporting it out of the cargo, so that the transport robot can quickly start the transport flow to the next target container. That is, the transport robot does not need to transport the next container after transporting the container to the specified target position. That is, the transport times of multiple containers can partially overlap to increase the efficiency of transport.

[0049] In some embodiments, the method further includes updating the location information of the target container based on the primary storage location information where the target container is placed. When the target container is transported to the temporary storage mechanism, its location information has changed, and therefore its location information needs to be updated. The temporary storage location information where the target container is placed is location information of a location close to the target container in the temporary storage mechanism. For example, a plurality of temporary storage racks are installed at intervals in the vertical direction in the temporary storage mechanism, and the temporary storage location information of whether the target container is placed in a certain temporary storage rack can be expressed by the location information of the temporary storage rack. By updating the temporary storage location information where the target container is placed as the location information of the target container, real-time update of the container location can be facilitated, and in the process of subsequently transporting the target container to a specified location, the temporary storage location where the target container is located can be accurately searched for, thereby improving the efficiency of container transportation.

[0050] As shown in Figure 2, the embodiment of the present invention further includes a method for receiving warehoused cargo. The method includes the following steps: Step S21: In response to a warehousing command, determine the destination position information of the target container designated by the warehousing command. The warehousing represents the transport of the target container to a specified location in the warehouse. There are a plurality of stacked containers in the warehouse. The destination position of the target container may be the top layer, middle layer, or bottom layer of the container row in which the container is located. The database of the warehouse system stores the location information of each container in the warehouse and the destination position information of the target container, as well as the layer number of the row corresponding to the destination position of the target container, for example, the third layer from the bottom of the container row in which the target container is to be stored. If each container is a standard member, this layer number may be calculated from the vertical coordinates of the container and the height of the container. In response to a warehousing command, the destination position information of the target container can be determined. This location information includes the horizontal coordinates and the vertical coordinates of the target container. S22: When a container set including at least one container is stacked above the receiving position of the target container, a first transport mechanism of the transport robot is driven to lift the container set. When the receiving position of the target container is located between a plurality of containers, that is, when there is a container at the receiving position of the target container, the first transport mechanism of the transport robot may be driven to lift the container set stacked above this position. Here, when the receiving position of the target container is at the bottom layer, it may have a plurality of containers stacked above this position. Thus, the container set may be made up of a plurality of containers. When the receiving position of the target container is at the second layer from the top of this cargo row, the container set has one container. By lifting the container set stacked above the receiving position of the target container by the first transport mechanism, an obstacle to the receiving of the target container caused by the container set can be removed. S23: When the container set is lifted, i.e., when the first transport mechanism lifts the container set to a certain height from the target container, the second transport mechanism of the transport robot is driven to transport the target container to a first position. Here, the first position represents a destination position of the target container. Also, after the target container is transported to the first position, the first transport mechanism is driven to release the container set, i.e., stack the container set above the target container. In this way, when the target container is stored, normal stacking and storage of other container sets can be further maintained. S24: Update the position information of each container in the container set and the position information of the target container. After the target container is transported to the first position, i.e., after the target container is stored, the container set is stacked above the target container, and each container in the container set becomes higher than its original position, so it is necessary to update the vertical coordinates of each container in the container set. In this update method, the value obtained by adding the height of the target container to the original vertical coordinate of the container is set as the vertical coordinate of each container in the container set after the update. If the first position is set as the position information of the target container after the update, the first position may be represented by the position information of the storage destination of the target container in the storage command.

[0051] An embodiment of the present invention provides a method for storing cargo stored in a warehouse. In this method, containers are stored in a stacked manner, and a transport robot transports a target container to a storage location. When a container is stacked above this location, a first transport mechanism is driven to lift a set of containers above this location, and then the target container is transported to a storage location. After the transport, the position of the target container is updated, and the position of the set of containers stacked on the target container is updated. During storage, the container does not need to be stored on a rack, and only the position of the container needs to be determined and updated, and the storage mode of the container is simple and fast. The storage method in this mode can easily adjust the storage mode of the warehouse and improve the efficiency of storage and transportation of cargo.

[0052] In some embodiments, the position information is represented by three-dimensional coordinates. Note that in the embodiments of the present invention, the three-dimensional coordinates represent a world coordinate system, which is an objective space that defines physical world positions, i.e., the position information represents absolute coordinate values. In actual operation, the coordinates of the container are uniformly oriented to a fixed point of the container, for example, the upper right corner of the front of the container or the center position of the front of the container. In this way, the transport robot can be aligned with the container according to the known size of the container to transport it.

[0053] In some embodiments, before driving the first transport mechanism of the transport robot to lift the container set, the transport method further includes moving the first transport mechanism and the second transport mechanism along the up-down direction based on the up-down coordinate in the three-dimensional coordinate system. Here, the first transport mechanism transports the container set located above the destination position of the target container, and the second transport mechanism transports the target container to the destination position. Therefore, the first transport mechanism is located above the second transport mechanism and can be positioned at the container position above the destination position, and by lifting the container set above the destination position, the first destination position is made empty, and further, the second transport mechanism is positioned at the destination position and the second transport mechanism is driven to transport the target container to the first position.

[0054] In some embodiments, before driving the first transport mechanism of the transport robot to lift the container set, the transport method further includes moving the transport robot to a storage destination area of ​​the target container based on three-dimensional coordinates. In an embodiment of the present invention, the storage destination location of the target container may be any area of ​​the warehouse. When the transport robot receives a storage command for the target container, a certain distance exists between the storage destination location of the target container and the transport robot, and the transport robot can move to the location of the storage destination location of the target container based on the storage destination location information of the target container. Note that the movement of the transport robot includes, but is not limited to, horizontal movement, and may be a non-horizontal movement having a certain gradient. The transport robot may be guided to the location of the storage destination location of the target container based on the horizontal abscissa and ordinate axes in the three-dimensional coordinates.

[0055] In some embodiments, before the transport mechanism lifts the container, the transport method drives the transport mechanism to align with the corresponding container based on the positioning mark on the outer surface of the corresponding container. Note that the alignment means to align the position, that is, the transport mechanism is aligned with the position where the corresponding container is located. The criterion for alignment is that the transport mechanism can accurately pick up and move the corresponding container. During the storage of the target container, the first transport mechanism is driven to lift the container set above the destination storage location. For this reason, it is necessary to align the first transport mechanism with the container above the destination storage location. Each container in the warehouse has a positioning mark, and the positioning mark may be a mark having accurate position information, such as a QR code or a barcode. The positioning mark may be a pattern of a shape such as a triangle or a right angle side. In the embodiments of the present invention, the shape and pattern of the positioning mark are not limited to the above, and the positioning mark is simply installed at a fixed position of the container, so that the first transport mechanism can quickly align with the container above the destination storage location by the positioning mark, and the first transport mechanism can easily lift the container set above the destination storage location. The target container is then transported by the second transport mechanism to the first location of the storage destination.

[0056] In some embodiments, the corresponding containers may be photographed, and the transport mechanism may be driven to align with the corresponding containers based on the areas where the corresponding containers are present in the photographed images. That is, in the process of accurately aligning the first transport mechanism and the containers, the alignment form of the positioning mark described in the above embodiments may be used, or the containers may be directly image-identified and positioned to align them. The image identification module of the first transport mechanism identifies and positions the outer contours of the containers, thereby helping the first transport mechanism to accurately lift the container set, and improving the stability of container transportation and the safety of the transport operation.

[0057] As shown in FIG. 3, an embodiment of the present invention further provides a transport robot used for transporting cargo stored in a warehouse. In addition, in the embodiment of the present invention, the cargo stored in the warehouse is not stored by a rack, and multiple cargoes can be directly stacked in the warehouse, and the multiple cargoes contacting and supporting each other are represented by stacking. The cargo stored in the warehouse can be stored or represented by a container. During the entry and exit of the cargo, one or more of the stacked containers can be directly transported. Hereinafter, the cargo is represented by a container, but the cargo does not have to be stored by a container or may be stored in other forms, and the corresponding transport forms are almost the same, so detailed description will be omitted.

[0058] In the embodiment of the present invention, the transfer robot includes a movable bracket 1 , a first transfer mechanism 2 , a second transfer mechanism 3 , a first lifting mechanism 4 , a second lifting mechanism 5 and a temporary storage mechanism 6 .

[0059] Here, the movable bracket 1 can move by extending in the vertical direction. The extension direction of the movable bracket 1 represents the maximum size direction of the movable bracket 1. In the embodiment of the present invention, the maximum size direction of the movable bracket 1 represents the height direction of the movable bracket 1. That is, in the normal operating state, the height direction of the movable bracket 1 extends in the vertical direction of the absolute coordinate system. The movable bracket 1 being movable represents that the movable bracket can move relative to the ground or other surfaces. In some embodiments, a roller 11 is provided on one side of the movable bracket 1 close to the ground, and the movable bracket 1 may be moved by moving the roller 11. Note that in the embodiment of the present invention, the roller 11 may move the transport robot in the forward / backward direction, or may move the transport robot in the forward / backward direction or left / right direction. After responding to a storage command or an unloading command for the target container, the roller 11 of the movable bracket 1 is moved to move the mobile robot to a position close to the target container or to the vicinity of the storage destination position of the target container based on the position information in the command. It should be understood that in the normal operating state, the ground or other surface along which the movable bracket 1 moves is a horizontal plane, and the height direction of the movable bracket 1 is an up-down direction perpendicular to the horizontal plane; however, it is not necessary for the horizontal plane and the up-down direction to be absolutely horizontal and vertical, respectively; the existence of errors in the unevenness of the ground and processing errors in the movable bracket are allowed, and it is sufficient for them to be approximately horizontal and vertical in the normal operating state.

[0060] As shown in FIG. 3, the first transport mechanism 2 transports a container set above a target container or a container set stacked above a storage destination position of the target container, and the container set includes at least one container. After responding to an outgoing command for the target container, the mobile robot needs to move to a position close to the target container based on the position information of the target container in the outgoing command. Then, the first transport mechanism 2 lifts the container set above the target container and moves it away from the target container, thereby facilitating the removal of the target container. After responding to an ingoing command for the target container, the mobile robot needs to lift the container set above the storage destination position of the target container and make the storage destination position of the target container vacant. This makes it easy to carry in the target container. Here, the first transport mechanism 2 is installed on the first side of the movable bracket 1. As shown in FIG. 3, the height direction of the movable bracket 1 is the z direction, and the width direction is the x direction, and the xoz plane is determined by the z direction and the x direction, and the first transport mechanism 2 is located on one side of the xoz plane (the side where the positive direction of the y direction is located, and the positive direction represents the direction indicated by the arrow).

[0061] As shown in FIG. 3, the second transport mechanism 3 transports a target container and is installed on the first side of the movable bracket 1, that is, located on the same side of the first transport mechanism 2 and the movable bracket 1. The second transport mechanism 3 is also located below the first transport mechanism 2. Here, below refers to the below in the normal use state of the transport robot (below in the z direction in FIG. 3). By installing the second transport mechanism 3 below the first transport mechanism 2, during retrieval of the target container, it becomes easy to stack a container set of at least one container above the target container, lift the container set above the target container by the first transport mechanism 2, and individually transport the target container by the second transport mechanism 3.

[0062] As shown in FIG. 3, the first lifting mechanism 4 moves the first transport mechanism 2 in the up-down direction. The first transport mechanism 2 can be positioned with respect to the lowest container in the container set by moving in the up-down direction relative to the movable bracket 1. Here, the first lifting mechanism 4 may be attached to the movable bracket 1. In the embodiment of the present invention, the function of the first lifting mechanism 4 to move the first transport mechanism 2 is not limited by the connection relationship of the first lifting mechanism 4. Here, the first transport mechanism 2 is movably connected to the movable bracket 1, and the first lifting mechanism 4 can move the first transport mechanism 2 in the extension direction of the movable bracket 1 (z direction shown in FIG. 3), and moves the first lifting mechanism 4 in the up-down direction. Note that in the embodiment of the present invention, the specific form of the first lifting mechanism 4 is not limited, and it is sufficient that the first lifting mechanism 4 can move the first transport mechanism 2 in the up-down direction.

[0063] As shown in FIG. 3, the second lifting mechanism 5 moves the second transport mechanism 3 in the vertical direction independently of the first transport mechanism 2. Here, the second lifting mechanism 5 is a mechanism independent of the first lifting mechanism 4. That is, the first lifting mechanism 4 and the second lifting mechanism 5 operate independently and do not interfere with each other. That is, the vertical movements of the first transport mechanism 2 and the second transport mechanism 3 are independent of each other, and for example, the second transport mechanism 3 may not move while the first transport mechanism 2 is moving, or the second transport mechanism 3 may move in the vertical direction while the first transport mechanism 2 is stopped. The movements of the first transport mechanism 2 and the second transport mechanism 3 may not be synchronized, and may not be related to each other. In the embodiment of the present invention, the specific form of the second lifting mechanism 5 is not limited, and it is sufficient that the second lifting mechanism 5 can move the second transport mechanism 3 in the vertical direction.

[0064] The temporary storage mechanism 6 is fixed to the second side (the negative side in the y direction in FIG. 3, where the negative direction represents the opposite direction to the direction indicated by the arrow) of the movable bracket 1. Here, the second side and the first side are opposing sides of the movable bracket 1. The temporary storage mechanism 6 stores a target container to be transported by the second transport mechanism 3. In other words, by placing a target container in the temporary storage mechanism 6 after removing it from the multiple stacked containers, the second transport mechanism 3 can start transporting the next target container without immediately transporting the target container to a specified position, thereby improving the efficiency of container transport.

[0065] An embodiment of the present invention provides a mobile robot. The mobile robot includes a movable bracket, a first transport mechanism, a second transport mechanism, a first lifting mechanism, a second lifting mechanism, and a temporary storage mechanism. The movable bracket is movable by extending in an up-down direction. The first transport mechanism transports a container set above a target container or a container set stacked above a storage location. The second transport mechanism transports the target container. The first lifting mechanism moves the first transport mechanism in an up-down direction. The second lifting mechanism moves the second transport mechanism in an up-down direction independent of the first transport mechanism. The temporary storage mechanism is fixed to a second side of the movable bracket and stores the target container transported by the second transport mechanism. In the embodiment of the present invention, the first transport mechanism is moved in an up-down direction by the first lifting mechanism, and the second transport mechanism is moved in an up-down direction by the second lifting mechanism, and the movements of the first transport mechanism and the second transport mechanism are independent of each other, so that the first transport mechanism can be synchronized with the transport of the second transport mechanism. When there is a container set above the target container, the first conveying mechanism can lift the container set to facilitate the transport of the target container by the second conveying mechanism, and during the storage of the target container, the first conveying mechanism can lift the container set at the storage destination position to facilitate the storage of the target container. The independent transport of the first conveying mechanism and the second conveying mechanism eliminates the need to stack multiple containers and store containers in a warehouse and to store containers on racks. Users can quickly arrange or relocate warehouses, improve the efficiency of cargo storage and transportation, and quickly adjust warehouse storage operations to meet the needs of diversified warehouse storage operations.

[0066] In some embodiments, as shown in FIG. 3, the first lifting mechanism 4 includes a first driving pulley 41, a first timing pulley 42, a first timing belt 43, and a first connecting block 44. The first driving pulley 41 is driven to rotate around the horizontal direction, for example, it can be driven by a driving device to rotate around the horizontal direction (x direction shown in FIG. 3). The first timing pulley 42 is installed at a distance from the first driving pulley 41 in the vertical direction. Here, the distance between the first driving pulley 41 and the first timing pulley 42 may be the length of the entire movable bracket 1 extending in the vertical direction. In the embodiment of the present invention, the relative positional relationship between the first driving pulley 41 and the first timing pulley 42 and the movable bracket 1 is not limited. As shown in FIG. 3, the first driving pulley 41 is located at the lower end of the movable bracket 1, and the first timing pulley 42 is located at the upper end of the movable bracket 1. Of course, in other embodiments, the first driving pulley 41 may be installed at the upper end of the movable bracket 1, and the first timing pulley 42 may be installed at the lower end of the movable bracket 1. Regardless of the positions at which the first driving pulley 41 and the first timing pulley 42 are installed on the movable bracket 1, it is only necessary that the first timing pulley 42 can rotate together with the first driving pulley 41 by the first timing belt 43.

[0067] As shown in FIG. 3, the first timing pulley 42 can rotate around the horizontal direction (x direction shown in FIG. 3). The first timing belt 43 is connected to the first driving pulley 41 and the first timing pulley 42, and rotates the first timing pulley 42 together with the first driving pulley 41. The first connecting block 44 is connected to the first timing belt 43 and the first conveying mechanism 2. In the process in which the first timing belt 43 moves together with the first driving pulley 41, the first connecting block 44 of the first timing belt 43 can also move together with the first timing belt 43. As a result, the first connecting block 44 moves the first conveying mechanism 2 in the vertical direction together with the first timing belt 43. In the embodiment of the present invention, the vertical height of the first conveying mechanism 2 can be indirectly controlled by controlling the rotation of the first driving pulley 41. This allows the first transport mechanism 2 to be positioned at a container close to a target container in a container set, or the first transport mechanism 2 to be positioned at a container above the storage location.

[0068] In other embodiments, the first lifting mechanism may be a drive gear, a passive gear, a chain, a non-timing pulley, or a roller set wire rope. In some embodiments, the first lifting mechanism may be a powered ascending wheel set. This ascending wheel set does not require an external power source, has its own power source, and can move up and down along the movable bracket when it receives a movement signal. In the embodiments of the present invention, the first lifting mechanism includes, but is not limited to, the above-mentioned forms, and may be capable of moving the first conveying mechanism in the up and down direction.

[0069] In the embodiment of the present invention, as shown in FIG. 3, the second lifting mechanism 5 includes a second driving pulley 51, a second timing pulley 52, a second timing belt 53, and a second connecting block 54. The second driving pulley 51 is driven to rotate around the horizontal direction, for example, it can be driven by a driving device to rotate around the horizontal direction (x direction shown in FIG. 3). The second timing pulley 52 is installed at a distance from the second driving pulley 51 in the vertical direction. Here, the distance between the second driving pulley 51 and the second timing pulley 52 may be the extension length of the entire movable bracket 1 in the vertical direction. In the embodiment of the present invention, the relative positional relationship between the second driving pulley 51 and the second timing pulley 52 and the movable bracket 1 is not limited. As shown in FIG. 3, the second driving pulley 51 is located at the lower end of the movable bracket 1, and the second timing pulley 52 is located at the upper end of the movable bracket 1. Of course, in other embodiments, the second driving pulley 51 may be installed at the upper end of the movable bracket 1, and the second timing pulley 52 may be installed at the lower end of the movable bracket 1. Regardless of the positions at which the second driving pulley 51 and the second timing pulley 52 are installed on the movable bracket 1, it is only necessary that the second timing pulley 52 can rotate together with the second driving pulley 51 by the second timing belt 53.

[0070] As shown in FIG. 3, the second timing pulley 52 can rotate around the horizontal direction (x direction shown in FIG. 3). The second timing belt 53 is connected to the second driving pulley 51 and the second timing pulley 52, and rotates the second timing pulley 52 together with the second driving pulley 51. In other embodiments, the second lifting mechanism 5 may use a driving gear, a passive gear, or a chain for transmission, or may use a non-timing pulley for transmission, a roller set wire rope, and a rising wheel set that rises vertically to the movable bracket. In the embodiments of the present invention, the second lifting mechanism includes, but is not limited to, the above-mentioned embodiments, and may be capable of moving the second conveying mechanism in the vertical direction. The second connecting block 54 is connected to the second timing belt 53 and the second conveying mechanism 3. In the process in which the second timing belt 53 moves together with the second driving pulley 51, the second connecting block 54 of the second timing belt 53 can also move together with the second timing belt 53. As a result, the second connecting block 54 moves the second conveying mechanism 3 in the vertical direction together with the second timing belt 53. In the embodiment of the present invention, the vertical height of the second conveying mechanism 3 can be indirectly controlled by controlling the rotation of the second driving pulley 51. This makes it possible to align the second conveying mechanism 3 with a target container or to control the second conveying mechanism 3 to be aligned with a storage location.

[0071] In some embodiments, as shown in FIG. 4, the temporary storage mechanism 6 includes a plurality of temporary storage racks 61 that are installed at intervals in the vertical direction (vertical direction shown in FIG. 4). Note that the distance between the temporary storage racks 61 may be greater than the height of the container, so that the placement of the container is not interfered with by the installation of the temporary storage racks 61. Furthermore, the distance between the plurality of temporary storage racks 61 may be the same or different. The temporary storage racks 61 are fixedly connected to the movable bracket 1 and store the target container. That is, when the position of the temporary storage rack 61 is fixed and the target container is placed on the temporary storage rack 61, the position information of the target container is updated, and the updated position information of the target container is the position information of the temporary storage rack 61 on which the target container is placed. In an embodiment of the present invention, by installing a plurality of temporary storage racks, the transport robot can transport a plurality of containers into the temporary storage mechanism, and then transport the plurality of containers to a specified position in a uniform manner, thereby improving the transport efficiency of the containers.

[0072] In some embodiments, as shown in FIG. 8, the first transport mechanism 2 includes a first mounting member 21 and two first telescopic arms 22. The first mounting member 21 is connected to a first lifting mechanism 4 and is raised and lowered in the vertical direction by the first lifting mechanism 4. The two first telescopic arms 22 are both movably connected to the first mounting member 21 and can synchronously move back and forth in parallel in a first direction (x direction shown in FIG. 8) relative to the first mounting member 21. Here, the movably connected state indicates that the first telescopic arm 22 expands and contracts along its own direction to change the length of the first telescopic arm 22. In other embodiments, the movably connected state indicates that the first telescopic arm 22 moves in a horizontal direction relative to the first mounting member 21 to transport the container set by the first telescopic arm 22. Here, the expansion and contraction or movement of the first telescopic arm 22 can be achieved by being driven by a driving member. In the embodiment of the present invention, the two first telescopic arms 22 are installed opposite each other (the two first telescopic arms 22 in FIG. 8 are installed at both ends of the first mounting member in the y direction). The first direction belongs to the horizontal direction. Note that the horizontal direction includes the direction of any straight line on a horizontal plane, and the first direction represents the direction of any one straight line on the horizontal plane.

[0073] In the embodiment of the present invention, the first mounting member 21 is movably connected to the movable bracket 1, and the first telescopic arm 22 is installed on the first mounting member 21, which is capable of reciprocating translation in a first direction (x direction shown in FIG. 8), and the first telescopic arm 22 can be extended to contact or be placed on a container. For example, in the process of retrieving a target container, the first telescopic arm 22 extends to contact the container, and the first lifting mechanism 4 moves the first mounting member 21 upward to move the first telescopic arm 22 upward. This allows the first telescopic arm 22 to lift the container and move it away from the target container. After the target container is stored in the first position, the first lifting mechanism 4 moves the first mounting member 21 downward to move the first telescopic arm 22 downward. This allows the first telescopic arm 22 to unload the container.

[0074] In some embodiments, as shown in FIG. 8, the first mounting member 21 includes a top wall 211 and a side wall 212. The top wall 211 extends in a first direction (x direction shown in FIG. 8). The extension direction of the top wall 211 represents the longitudinal direction of the top wall, that is, the longitudinal direction of the top wall 211 is in the first direction. The top wall 211 may be considered as a two-dimensional surface, and the extension direction of the top wall is parallel to the horizontal direction. The side wall 212 extends in the first direction and is connected to the lower side of the top wall 212 (the lower side of the z direction shown in FIG. 8), and the two side walls 212 are opposed to each other and installed at both ends of the top wall 211 in the y direction in FIG. 8. Here, the two first telescopic arms 22 are respectively connected to the opposing surfaces of the two side walls 212. Here, the meanings of "facing" and "back to back" are reversed, and two side walls 212 are installed facing each other, with the opposing surfaces of the two side walls 212 being the inner surfaces, and the back to back surfaces of the two side walls 212 being the outer surfaces. The two first telescopic arms 22 are connected to the lower part of the top wall 211 to form an enclosed space. The inner surfaces of the side walls are the surfaces adjacent to this space. One end of the first telescopic arm 22 is connected to the inner surface of the side walls, and the other end of the first telescopic arm 22 is extendable relative to the one end. The distance between the two first telescopic arms 22 is slightly larger than the height of the container, so that the two telescopic arms can extend to both sides of the container and sandwich the container to increase the stability of container transportation.

[0075] In some embodiments, as shown in FIG. 8, a first end 221 of the first telescopic arm 22 is provided with an extension arm 222 extending toward the second transport mechanism 3 (also see FIG. 3). Here, the first end 221 is an end of the first telescopic arm 22 that is separated from the side wall 212 when the first telescopic arm 22 is in an extended state. The first telescopic arm 22 has opposite ends when extended, one end of which is connected to the side wall 212, and the end separated from the side wall is the first end 221. By providing the extension arm 222 at the first end, the bottom end 2221 of the extension arm 222 (the lower end in the z direction shown in FIG. 8) can contact the container. When the first transport mechanism 2 and the second transport mechanism 3 transport adjacent containers, the height of the container regulates the distance between the first mounting member 21 and the second transport mechanism 3. When the container is small in size, the extension arm 22 lifts the container, reducing the restriction and interference between the first mounting member 21 and the second conveying mechanism 3, making it easier for the first conveying mechanism 2 and the second conveying mechanism 3 to transport small containers.

[0076] In some embodiments, as shown in FIG. 8, an end of the extension arm 222 that is away from the first telescopic arm 22 (bottom end 2221 shown in FIG. 8) is provided with a locking portion 2222. The locking portion 2222 can be extended and retracted in the opposing directions of the two first telescopic arms 22 to approach and separate from the corresponding container. The corresponding container represents a container that the locking portion 2222 can currently contact, for example, during the unloading of a container, the corresponding container represents a container that is above and closest to the target container, and during the loading of a container, the corresponding container represents a container above the loading destination position of the target container. In an embodiment of the present invention, an extension arm 222 is provided on each first telescopic arm 22. The two extension arms 222 are provided at an interval in the y direction shown in FIG. 8. Each extension arm 222 is provided with a locking portion 2222. The locking parts 2222 are installed on opposing sides of the two extension arms 222, and extend and retract in opposing directions (y direction shown in FIG. 8) to approach and separate from the container. When the locking parts 2222 are extended, the distance between the locking parts 2222 is shortened, and the contact between the locking parts 2222 and the container becomes closer. In some embodiments, the two locking parts 2222 are locked to the container, and the container has a position restriction structure in the vertical direction, and the position of the locking parts 2222 can be restricted by the position restriction structure, so that the locking parts 2222 can be stably connected to the container in the process of lifting the container by the locking parts 2222. Of course, in the embodiments of the present invention, the specific form of the locking parts 2222 is not limited, and it is sufficient that the locking parts 2222 can be stably connected to the container during lifting.

[0077] Each extension arm 222 may be provided with one locking portion 2222 or multiple locking portions 2222. By providing multiple locking portions 2222, the stability of the transport of containers by the first transport mechanism 2 can be improved.

[0078] In some embodiments, as shown in Fig. 9, the second transport mechanism 3 includes a second mounting member 31, a third mounting member 32, and a second telescopic arm 33. The second mounting member 31 is connected to a second lifting mechanism 5 (see also Fig. 3), and the second lifting mechanism 5 can lift and lower the second mounting member 31 in the up-down direction (see also Fig. 3). The third mounting member 32 is connected below the second mounting member 31 (below in the z-direction shown in Fig. 9), and has two types of connection relationship with the second mounting member 31. One connection form is as follows. The third mounting member 32 can move in parallel in the horizontal direction relative to the second mounting member 31, and the third mounting member 32 moves the container in parallel to transport it to the temporary storage rack, for example, the temporary storage mechanism is installed on the side where the positive direction of the y direction is located and located on the side where the negative direction of the x direction is located, that is, the direction in which the temporary storage rack advances into the container is the x direction, which is parallel to the extension direction of the second transport mechanism, and the second transport mechanism extends in the positive x direction to grab the target container, then moves in parallel in the negative x direction, and extends in the negative x direction to place the target container on the temporary storage rack. Another connection form is as follows. As shown in FIG. 9, the third mounting member 32 can move in parallel and rotate in the horizontal direction relative to the second mounting member 31. Here, the third mounting member 32 is connected to the second mounting member 31 by a rotation mechanism, so that the second mounting member 31 rotates, for example, 90 degrees relative to the third mounting member. Both of the two second telescopic arms 33 are movably connected to the third mounting member 32. The two second telescopic arms 33 are installed opposite each other and are capable of synchronously moving back and forth in parallel in a first direction (x direction shown in FIG. 9) relative to the third mounting member 32. Here, the first direction belongs to the horizontal direction. Locking portions may be provided on the opposing sides of the second telescopic arms 33. The locking portions extend and contract in opposing directions to lock onto the target container. The transport process by the second transport mechanism 3 will be described below. During the retrieval of the target container, the first transport mechanism lifts the container set above the target container, and then the second transport mechanism 3 extends and retracts the second telescopic arm 33 to connect it to the target container a and lifts the second telescopic arm 33, and the second telescopic arm 3 contracts to transport the target container a below the third mounting member 32, and extends the second telescopic arm 33 by rotating the third mounting member 32 90 degrees relative to the second mounting member 31, thereby allowing the target container a to pass through the movable bracket 1 and reach the temporary storage rack.

[0079] The entire process of transportation by the transport robot will be described below with reference to FIGS. When the transport robot receives an outgoing command for a target container, if the target container a is located in a stack of multiple containers, and the target container a shown in FIG. 3 is the third container from the bottom, all containers above the target container a are a container set, and the container set shown in FIG. 3 has five containers. The outgoing command indicates that the target container is removed from the stack of containers and transported to a specified location. During outgoing of the target container a, first, the first transport mechanism 2 is moved in the vertical direction by the first timing belt 43 to align the first transport mechanism 2 with the container above the target container a. As shown in FIG. 5, the first telescopic arm 22 extends from the first transport mechanism 2 to grab the container above the target container a, and then the first transport mechanism 2 lifts the container above the target container a, thereby lifting the container set above the target container a. Next, the second transport mechanism 3 is aligned with the target container a, and the second telescopic arm 33 extends to grab the target container a. As shown in FIG. 6, the second telescopic arm 33 retracts the target container a to below the third mounting member 32, and finally moves the target container a to the temporary storage rack 61. Here, when the temporary storage rack 61 on which the target container a is placed is located below the first conveying mechanism 2, as shown in Figures 6 and 7, the second conveying mechanism 3 is directly moved in the vertical direction to align the second conveying mechanism 3 with the temporary storage rack 61 on which it is placed (the second conveying mechanism 3 shown in Figure 7 is aligned with the temporary storage rack 61 at the bottom level of the temporary storage mechanism), and then the third mounting member 32 is rotated 90 degrees relative to the second mounting member 31 (the second mounting member 31 in Figure 7 is blocked by the first conveying mechanism 2) by the rotating mechanism, and the second telescopic arm 33 extends from the second conveying mechanism 3 in the direction of the temporary storage rack 61, transporting the target container a to a nearby empty temporary storage rack 61 (the temporary storage rack 61 at the bottom level shown in Figure 7), and after the second conveying mechanism 3 has transported the target container a out, the first conveying mechanism 2 can move downward, and the container is released onto the second container from the bottom.

[0080] Of course, in some embodiments, the temporary storage rack 61 on which the target container a is placed may be located above the first transport mechanism 2, and the first transport mechanism 2 is moved downward to release the container set onto the second container from the bottom, and then the first transport mechanism 2 is moved above the temporary storage rack 61 on which the target container a is placed, so that the second transport mechanism 3 can reach the position of the temporary storage rack 61 on which the target container a is placed without any obstacles. After the second transport mechanism 3 moves up and down to align with the temporary storage rack 61 on which the target container a is placed, the third attachment member is rotated 90 degrees relative to the second attachment member 31 by the rotating mechanism, and the second telescopic arm 33 is extended from the second transport mechanism 3 toward the temporary storage rack 61 to transport the target container a to this temporary storage rack 61. In this way, the outgoing flow of one target container is completed. Next, the transport robot can perform the outgoing flow of the next container, and after placing all the containers to be transported on the temporary storage rack, the containers on the temporary storage rack are transported to the designated location in a uniform manner.

[0081] When the transport robot receives a warehousing command for a target container, it must transport the target container to the stacked containers. The destination container can be placed on any of the multiple temporary storage racks 61 of the transport robot. The transport robot transports the target container to the position specified by the warehousing command. The first transport mechanism 2 lifts the destination destination position of the target container and the container set above it to make this position vacant. Furthermore, after placing the target container in this vacant position, the second transport mechanism 3 uses the first transport mechanism 2 to place the container set on top of the target container, thereby achieving stacked storage of cargo. Every time a container is warehousing, the location information of the container, whose position in the warehouse changes, is updated.

[0082] The above are only preferred embodiments of the present invention, which do not limit the protection scope of the present invention. [Explanation of symbols]

[0083] 1 Movable bracket 11. Lola 2 First conveying mechanism 21 First mounting member 22 First telescopic arm 211 Top wall 212 Side wall 221 1st end 222 Extension Arm 2221 bottom end 2222 Locking part 3. Second conveying mechanism 31 Second mounting member 32 Third mounting member 33 Second telescopic arm 4 First lifting mechanism 41 First drive pulley 42 No. 1 timing pulley 43 First Timing Belt 44 1st connecting block 5 Second lifting mechanism 51 Second drive pulley 52 Second timing pulley 53 Second timing belt 54 2nd connecting block a Target Container 6 Temporary storage mechanism 61 Temporary Storage Rack

Claims

1. A method for retrieving warehouse-stored cargo, comprising: In response to a shipping command, determining position information of a target container waiting to be shipped out as instructed by the shipping command; When a container set including at least one container is stacked above the target container, driving a first transport mechanism of a transport robot so as to lift the container set; When the container set is lifted, driving a second transport mechanism of the transport robot to transport the target container out of a first position, and when the first position is empty, driving the first transport mechanism to release the container set; updating location information for each container in the set; A method for retrieving cargo stored in a warehouse, wherein the target container is one of a plurality of containers stacked vertically.

2. The location information is expressed as three-dimensional coordinates. before driving a first transfer mechanism of the transfer robot to lift the container set, The retrieval method according to claim 1, further comprising moving the first transport mechanism and the second transport mechanism in the vertical direction based on the vertical coordinates in the three-dimensional coordinates of the target container.

3. before driving a first transfer mechanism of the transfer robot to lift the container set, 3. The retrieval method according to claim 2, further comprising: moving the transport robot to a corresponding transport position in an area where the target container is present, based on the three-dimensional coordinates of the target container.

4. Before the transport mechanism lifts or removes a container, Aligning the transport mechanism with the corresponding container based on positioning indicia on the exterior of the corresponding container; or The retrieval method according to claim 1, further comprising photographing the corresponding container and aligning the transport mechanism with the corresponding container based on an image area in the photographed image in which the corresponding container is located.

5. After driving the second transport mechanism of the transport robot so as to transport the target container from the first position, The retrieval method according to claim 1 , further comprising placing the target container in a temporary storage mechanism of the transport robot.

6. 6. The retrieval method according to claim 5, further comprising updating location information of the target container based on temporary storage location information where the target container is placed.

7. The retrieval method according to claim 1, further comprising driving a second transport mechanism of the transport robot to transport the target container out of the first position if no containers are stacked above the target container.

8. A method for receiving warehoused cargo, comprising: In response to a storage command, determining location information of a storage destination of a target container designated by the storage command; When a container set including at least one container is stacked above a storage destination position of the target container, driving a first transport mechanism of the transport robot so as to lift the container set; When the container set is lifted, driving a second transport mechanism of the transport robot to transport the target container from a temporary storage mechanism to a first position, and after transporting the target container to the first position, driving the first transport mechanism to release the container set above the target container; updating location information of each container in the container set and location information of the target container.

9. The location information is expressed as three-dimensional coordinates. before driving a first transfer mechanism of the transfer robot to lift the container set, The warehousing method according to claim 8 , further comprising moving the first transport mechanism and the second transport mechanism in a vertical direction based on a vertical coordinate in the three-dimensional coordinate system.

10. before driving a first transfer mechanism of the transfer robot to lift the container set, The warehousing method according to claim 9, further comprising: moving the transport robot to a corresponding transport position in a destination area of ​​the target container based on the three-dimensional coordinates.

11. Before the transport mechanism lifts the container, Aligning the transport mechanism with the corresponding container based on positioning indicia on the exterior of the corresponding container; or The warehousing method according to claim 8, further comprising photographing the corresponding container and aligning the transport mechanism with the corresponding container based on an image area in the photographed image in which the corresponding container is located.

12. A transport robot for transporting warehouse-stored cargo, A movable bracket that is movable in the vertical direction; a first transport mechanism for transporting a container set above a target container or a container set stacked above a destination location of the target container, the first transport mechanism being installed on a first side of the movable bracket; a second transport mechanism for transporting the target container and disposed on a first side of the movable bracket and below the first transport mechanism; a first lifting mechanism for moving the first transport mechanism in the up-down direction; a second lifting mechanism for moving the second transport mechanism in the up-down direction independently of the first transport mechanism; a temporary storage mechanism fixed to a second side of the movable bracket for storing the target container transported by the second transport mechanism; The transport robot, wherein the container set includes at least one container.

13. The first lifting mechanism includes: a first drive pulley for being driven to rotate about a horizontal direction; a first timing pulley that is disposed at a distance from the first drive pulley in the vertical direction and is rotatable around a horizontal direction; a first timing belt connected to the first drive pulley and the first timing pulley for rotating the first timing pulley together with the first drive pulley; a first connecting block connected to the first timing belt and the first transport mechanism for moving the first transport mechanism in the up-down direction together with the first timing belt; and / or The second lifting mechanism includes: a second drive pulley for being driven to rotate about a horizontal direction; a second timing pulley that is disposed at a distance from the second drive pulley in the vertical direction and is rotatable around the horizontal direction; a second timing belt connected to the second drive pulley and the second timing pulley for rotating the second timing pulley together with the second drive pulley; 13. The transport robot according to claim 12, further comprising: a second connecting block connected to the second timing belt and the second transport mechanism for moving the second transport mechanism in the vertical direction together with the second timing belt.

14. the temporary storage mechanism includes a plurality of temporary storage racks installed at intervals in the vertical direction, The transfer robot according to claim 12 , wherein the temporary storage rack is fixedly connected to the movable bracket to store the target container.

15. The first transport mechanism is a first mounting member connected to the first lifting mechanism and movable up and down in the vertical direction; two first telescopic arms each movably connected to the first mounting member; the two first telescopic arms are installed opposite to each other and are capable of synchronously moving back and forth in parallel in a first direction relative to the first mounting member to transport the container set; The transfer robot according to claim 12 , wherein the first direction belongs to a horizontal direction.

16. The first mounting member is a top wall extending in the first direction; two side walls extending in the first direction, connected to a lower portion of the top wall, and disposed opposite each other; The transfer robot according to claim 15 , wherein the two first telescopic arms are connected to opposing surfaces of the two side walls, respectively.

17. an extension arm extending toward the second transport mechanism is provided at a first end of the first telescopic arm; 17. The transfer robot according to claim 16, wherein the first end is an end of the first telescopic arm that is separated from the side wall when the first telescopic arm is in an extended state.

18. A locking portion is provided at one end of the extension arm that is away from the first telescopic arm, The transfer robot according to claim 17 , wherein the locking portion is extendable and retractable in opposing directions of the two first extendable arms to approach and separate from the corresponding container.

19. The second transport mechanism includes: a second mounting member connected to the second lifting mechanism and movable up and down in the vertical direction; a third mounting member connected to a lower portion of the second mounting member and movable in parallel in a horizontal direction relative to the second mounting member, or movable in parallel in a horizontal direction and rotatable relative to the second mounting member; two second telescopic arms that are movably connected to the third mounting member, installed opposite each other, and synchronously movable in a reciprocating manner in a first direction relative to the third mounting member; The transfer robot according to claim 12 , wherein the first direction belongs to the horizontal direction.

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