Transport robot

Abstract

This allows for more efficient pickup. [Solution] The transport robot includes a standing bracket, a pallet for storing cargo boxes, and a transport system attached to the standing bracket, the pallet being attached to the transport system, and the transport system being used to remove cargo boxes from one of the warehouse shelves and the pallet and store them in the other, and / or to remove cargo from the cargo boxes stored on the pallet.

Description

[Technical Field]

[0001] The present application relates to the field of intelligent warehouses, and in particular to transport robots. [Background technology]

[0002] Intelligent warehousing is part of the logistics process. The application of intelligent warehousing not only ensures the speed and accuracy of data entry in all parts of cargo warehouse management, but also ensures that enterprises can accurately grasp the true inventory data in a timely manner and rationally maintain and control their inventory. Scientific coding also makes it easy to manage inventory batches, shelf life, etc. The warehouse location management function of the SNHGES system can also be used to quickly grasp the current location of all inventory items, helping to improve the work efficiency of warehouse management.

[0003] Transport robots play an important role in intelligent warehouses. They can receive instructions to pick up, place, and transport cargo at designated locations, thereby improving the efficiency of cargo transportation in warehouses.

[0004] With the rise and development of e-commerce and online shopping, intelligent warehouse logistics of goods has brought great development opportunities, and in recent years, the technology of transporting goods based on transport robots has become increasingly mature. Summary of the Invention [Problem to be solved by the invention]

[0005] The embodiments of the present application provide the following technical solutions: [Means for solving the problem]

[0006] A transport robot is provided, the transport robot including a standing bracket, a pallet for storing cargo boxes, and a transport system attached to the standing bracket, the pallet being attached to the transport system, the transport system being used to remove cargo boxes from one of a warehouse shelf and the pallet and store them in the other, and / or to remove cargo from the cargo boxes stored on the pallet.

[0007] Optionally, the transport robot further includes a storage shelf; The storage shelf is used to store cargo boxes, The transport system is further used to remove cargo boxes from one of the storage shelves and the pallets and store them in the other, and / or is further used to remove cargo from cargo boxes stored in the storage shelves and store them in cargo boxes stored on the pallets, and / or is further used to remove cargo from cargo boxes stored on the pallets and store them in cargo boxes stored in the storage shelves.

[0008] Optionally, the transport system includes forks and a cargo transfer component, the forks are supported by the upright brackets, the pallet is attached to the forks, the forks are used to remove cargo boxes from one of the warehouse shelf and the pallet and store them in another, and / or from one of the storage shelf and the pallet and store them in another, the cargo transfer component is attached to the forks, the cargo transfer component is used to remove cargo from one of the cargo boxes stored on the pallet and the cargo boxes stored on the storage shelf and store them in another, the forks include a mounting platform, and both the pallet and the cargo transfer component are attached to the mounting platform.

[0009] Optionally, the transport system includes forks and a cargo transfer component, the forks are supported by the standing brackets, the pallet is attached to the forks, the forks are used to remove cargo boxes from one of the warehouse shelf and the pallet and store them in another, and / or from one of the storage shelf and the pallet and store them in another, the cargo transfer component is attached to the standing brackets, the cargo transfer component is used to remove cargo boxes from one of the cargo boxes stored on the pallet and the cargo boxes stored on the storage shelf and store them in another, the forks include a mounting platform, and the pallet is attached to the mounting platform.

[0010] Optionally, the upright bracket includes a lifting platform, the lifting platform being movable along a vertical direction, and the cargo transfer component being mounted to the lifting platform.

[0011] Optionally, the cargo transfer component includes a multi-dimensional mechanical joint and an end execution device, the end execution device is attached to the multi-dimensional mechanical joint, the multi-dimensional mechanical joint is used to drive multi-angle rotation and multi-directional movement of the end execution device, and the end execution device is used to grasp the cargo.

[0012] Optionally, the end execution device is a suction cup device, which is used to suck up cargo.

[0013] Optionally, the transport robot includes a second cargo recognition device, which is attached to the multi-dimensional mechanical joint and is used to recognize cargo in cargo boxes stored on the storage shelves and on the pallets and / or cargo retrieved by the cargo transfer component, and the multi-dimensional mechanical joint is used to drive the second cargo recognition device and the end execution device to perform multi-angle transfer and multi-directional movement together.

[0014] Optionally, the transport robot further includes a cargo box recognition component, which is mounted on the mounting platform and is used to recognize cargo boxes.

[0015] Optionally, the cargo box recognition component includes a camera.

[0016] Optionally, the fork includes a telescopic arm, a fixed push rod and a movable push rod, the telescopic arm can be extended horizontally, the fixed push rod and the movable push rod are both attached to the telescopic arm, and when the telescopic arm is extended, the fixed push rod and the movable push rod are extended together, the fixed push rod is used to push the cargo box when the telescopic arm is extended, and the movable push rod can be retracted into the telescopic arm, and the movable push rod is used to pull the cargo box when the telescopic arm is retracted.

[0017] Optionally, the transport system includes a cargo transfer component and a mounting platform, the mounting platform supported by the upright bracket, the cargo transfer component and the pallet mounted on the mounting platform, the cargo transfer component used to remove cargo boxes from one of the warehouse shelf and the pallet and store them in the other, and / or used to remove cargo from one of the cargo boxes stored on the pallet and the cargo boxes stored on the storage shelf and store them in the other.

[0018] Optionally, the cargo transfer component includes a multi-dimensional mechanical joint and an end execution device, the end execution device is attached to the multi-dimensional mechanical joint, the multi-dimensional mechanical joint is used to drive the multi-angle rotation and multi-directional movement of the end execution device, and the end execution device is used to grab cargo or cargo boxes.

[0019] Optionally, the end execution device includes a first end execution device and a second end execution device, the first end execution device and the second end execution device are switchably connected to the multi-dimensional mechanical joint, the first end execution device is used to grab cargo or cargo boxes, and the second end execution device is used to grab cargo or cargo boxes.

[0020] Optionally, the first end execution device includes a suction cup device for sucking the cargo or cargo box, and the second end execution device includes a mechanical claw for gripping the cargo or cargo box.

[0021] Optionally, a first storage bracket and a second storage bracket are installed on the mounting platform, the first storage bracket is used to store the first end execution device or the second end execution device, and the second storage bracket is used to store the first end execution device or the second end execution device.

[0022] Optionally, the transport robot further includes a second cargo recognition device, which is attached to the cargo transfer component and is used to recognize cargo in cargo boxes stored on the storage shelves and on the pallets and / or cargo retrieved by the cargo transfer component, and / or is used to recognize cargo, and the multi-dimensional mechanical joint is used to drive the second cargo recognition device and the end execution device to perform multi-angle transfer and multi-directional movement together.

[0023] Optionally, the second cargo recognition device includes a second camera.

[0024] Optionally, the transport robot further includes a first cargo recognition device, which is attached to the mounting platform and used to recognize cargo in cargo boxes stored on the pallet.

[0025] Optionally, the transport robot further includes a third cargo recognition device, which is attached to the storage shelf and is used to recognize cargo in cargo boxes stored on the storage shelf.

[0026] Optionally, the transport system further includes a mounting base and a rotational drive, wherein the mounting base is attached to the upright bracket, the mounting platform is attached to the mounting base, and the rotational drive is attached to the mounting base and connected to the mounting platform to drive the mounting platform to rotate about a vertical direction relative to the mounting base.

[0027] Optionally, the mounting base can move relative to the standing bracket along a vertical direction, and the transport system further includes a lifting drive device, the lifting drive device is attached to the standing bracket and connected to the mounting base, and the lifting drive device drives the mounting base to move along a vertical direction relative to the standing bracket.

[0028] Optionally, the storage shelf includes shelves, a plurality of the shelves being distributed along a vertical direction, each of the shelves being used to place a cargo box.

[0029] Optionally, the transport robot further includes a plurality of first cargo recognition devices, the plurality of first cargo recognition devices being attached to the upright bracket so as to be distributed along the vertical direction, and each of the first cargo recognition devices being used to acquire cargo in a cargo box stored on its corresponding shelf.

[0030] Optionally, the first cargo recognition device includes a first camera.

[0031] Optionally, the transport robot further includes a moving component, which is used to carry and move the standing bracket on the warehouse floor.

[0032] The embodiments of the present application provide the following technical solutions:

[0033] A transport robot is provided, the transport robot including: an upright bracket; a pallet for storing cargo boxes; a cargo box transport component attached to the upright bracket, the cargo box transport component including forks, the pallet attached to the forks, the forks used to remove cargo boxes from one of a warehouse shelf and the pallet and store them in another; and a cargo transfer component for removing cargo from the cargo boxes stored on the pallet.

[0034] Optionally, the cargo transfer component is attached to the fork or the upright bracket.

[0035] Optionally, the cargo transfer component includes a multi-dimensional mechanical joint and an end execution device, the multi-dimensional mechanical joint is attached to the fork, the end execution device is attached to the multi-dimensional mechanical joint, the multi-dimensional mechanical joint is used to drive multi-angle rotation and multi-directional movement of the end execution device, and the end execution device is used to grasp cargo.

[0036] Optionally, the transport robot further includes a second cargo recognition device, the second cargo recognition device being attached to the cargo transfer component, and the second cargo recognition device being used to recognize cargo in cargo boxes stored on the pallet.

[0037] Optionally, the second cargo recognition device includes a second camera, the second camera being attached to the multi-dimensional mechanical joint, and the multi-dimensional mechanical joint being further used to drive the multi-angle rotation and multi-directional movement of the second camera.

[0038] Optionally, when the cargo transfer component is attached to the standing bracket, the standing bracket includes a lifting platform, the lifting platform can move along a vertical direction, and the cargo transfer component is attached to the lifting platform.

[0039] Optionally, the end effector device is a suction cup device, which is used to suck up cargo.

[0040] Optionally, the transport robot further includes a first cargo recognition device, which is attached to the fork and is used to recognize cargo in a cargo box stored on the pallet.

[0041] Optionally, the first cargo recognition device includes a first camera and a camera bracket, one end of the camera bracket is attached to the fork and the other end of the camera bracket is attached to the first camera, and the first camera is used to acquire image information of the inside of a cargo box stored on the pallet.

[0042] Optionally, the cargo box transport component further includes a rotation drive and a mounting base, the mounting base is attached to the upright bracket, the forks are attached to the mounting base, and the rotation drive is attached to the mounting base and connected to the forks to drive the forks to rotate around a vertical direction.

[0043] Optionally, the transport robot further includes a storage shelf, the storage shelf being attached to the upright bracket, and the cargo transfer component being further used to remove cargo from a cargo box stored on the storage shelf and store it in a cargo box stored on the pallet, and / or being further used to store cargo removed from a cargo box stored on the pallet in a cargo box stored on the storage shelf, and / or the fork being further used to remove a cargo box from one of the storage shelf and the pallet and store it in the other.

[0044] Optionally, the transport robot further includes a lifting drive device attached to the upright bracket and connected to the mounting base, for driving the cargo box transporting component to move along a vertical direction.

[0045] Optionally, the storage shelf includes shelves, a plurality of the shelves being distributed vertically, and the cargo transfer component is further used to remove cargo from a cargo box stored on any of the shelves and store it in a cargo box stored on the pallet, and / or is further used to store cargo removed from a cargo box stored on the pallet in a cargo box stored on any of the shelves, and / or the fork is further used to remove a cargo box from one of any of the shelves and the pallet and store it in another.

[0046] Optionally, the transport robot further includes a third cargo recognition device, which is attached to the storage shelf and is used to recognize cargo stored on the storage shelf.

[0047] Optionally, the storage shelf includes shelves, a plurality of the shelves being distributed vertically, the cargo transfer component being used to store the further removed cargo on any of the shelves, a plurality of the third cargo recognition devices being attached to the upright brackets so as to be distributed vertically, and each of the third cargo recognition devices being used to acquire image information within a cargo box stored on its corresponding shelf.

[0048] Optionally, the transport robot further includes a first cargo recognition device attached to the fork and used to recognize cargo in a cargo box stored on the pallet.

[0049] Optionally, the forks include a telescoping arm device that is used to pull cargo boxes onto the pallet or push cargo boxes stored on the pallet.

[0050] Optionally, the telescopic arm device includes a telescopic arm, a fixed push rod, and a movable push rod, the telescopic arm can be extended horizontally, the fixed push rod and the movable push rod are both attached to the telescopic arm, and when the telescopic arm is extended, the fixed push rod and the movable push rod are extended together, the fixed push rod is used to push the cargo box when the telescopic arm is extended, and the movable push rod can be retracted into the telescopic arm, and the movable push rod is used to pull the cargo box when the telescopic arm is retracted.

[0051] Optionally, when the movable push rod protrudes from the telescopic arm, the movable push rod and the fixed push rod are spaced apart from each other, and the movable push rod is located in front of the fixed push rod along the extending direction of the telescopic arm. Optionally, two sets of telescopic arm devices are installed symmetrically on both sides of the pallet.

[0052] Optionally, the transport robot further includes a cargo box recognition component, the cargo box recognition component being attached to the fork, and the cargo box recognition component being used to recognize a cargo box.

[0053] Optionally, the cargo box recognition component includes an imaging device for acquiring image information of the cargo box so as to recognize the cargo box.

[0054] Optionally, the transport robot further includes a moving component, which is used to carry and move the standing bracket on the warehouse floor.

[0055] The embodiments of the present application provide the following technical solutions:

[0056] A transport robot is provided, the transport robot including: an upright bracket; a mounting platform supported by the upright bracket; a pallet attached to the mounting platform for storing cargo boxes; and a cargo transfer component attached to the mounting platform and used to retrieve cargo boxes from one of a warehouse shelf and the pallet and store them on another, and / or to retrieve cargo from cargo boxes stored on the pallet.

[0057] Optionally, the cargo transfer component includes a multi-dimensional mechanical joint and an end execution device, one end of the multi-dimensional mechanical joint is attached to the mounting base, the other end of the multi-dimensional mechanical joint can perform multi-angle rotation and multi-directional movement relative to the mounting base, the end execution device is attached to the other end of the multi-dimensional mechanical joint, and the end execution device is used to grab cargo or cargo boxes.

[0058] Optionally, the end execution device includes a first end execution device and a second end execution device, the first end execution device and the second end execution device are switchably connected to the other end of the multi-dimensional mechanical joint, the first end execution device is used to grab cargo or cargo boxes, and the second end execution device is used to grab cargo or cargo boxes.

[0059] Optionally, the first end execution device is a suction cup device and is used to suck up cargo or cargo boxes, and the second end execution device is a mechanical claw and is used to grab cargo or cargo boxes.

[0060] Optionally, a first storage bracket and a second storage bracket are installed on the mounting platform, the first storage bracket is used to store the first end execution device or the second end execution device, and the second storage bracket is used to store the first end execution device or the second end execution device.

[0061] Optionally, the transport robot further includes a second cargo recognition device attached to the cargo transfer component and used to recognize cargo boxes and / or used to recognize cargo in cargo boxes stored on the pallet.

[0062] Optionally, the second cargo recognition component includes a second camera, the second camera being attached to the other end of the multi-dimensional robotic arm, and the second camera being used to acquire image information of cargo boxes and / or the interior of cargo boxes stored on the pallet.

[0063] Optionally, the transport robot includes a first cargo recognition device, which is mounted on the mounting platform and is used to recognize cargo in cargo boxes stored on the pallet.

[0064] Optionally, the first cargo recognition device includes a first camera and a camera bracket, one end of the camera bracket is attached to the mounting platform, and the other end of the camera bracket is attached to the first camera, and the first camera is used to acquire image information of the inside of cargo boxes stored on the pallet.

[0065] Optionally, the transport robot further includes a rotation drive and a mounting base, the mounting base is attached to the upright bracket, the mounting platform is attached to the mounting base, the rotation drive is attached to the mounting base and connected to the mounting platform, and the rotation drive drives the mounting platform to rotate around a vertical direction.

[0066] Optionally, the transport robot further includes a storage shelf, the storage shelf being attached to the upright bracket, and the cargo transfer component is further used to retrieve cargo from a cargo box stored on the pallet and store it in the cargo box stored on the storage shelf, and / or to retrieve a cargo box from one of the pallet and the storage shelf and store it in the other.

[0067] Optionally, the transport robot further includes an elevator drive device attached to the upright bracket, connected to the mounting base, and configured to drive the mounting base to move along a vertical direction.

[0068] Optionally, the storage shelf includes shelves, a plurality of the shelves being distributed vertically, and the cargo transfer component is further used to store cargo removed from cargo boxes stored on the pallets on any of the shelves, and / or to remove cargo from cargo boxes stored on any of the shelves and store them in cargo boxes stored on the pallets, and / or to remove cargo boxes from one of any of the shelves and the pallets and store them in the other.

[0069] Optionally, the transport robot further includes a third cargo recognition device, which is attached to the storage shelf and is used to recognize cargo in cargo boxes stored on the storage shelf.

[0070] Optionally, the storage shelf includes shelves, a plurality of the shelves being distributed along a vertical direction, the cargo transfer component being further used to store cargo removed from cargo boxes stored on the pallet in any of the shelves, and / or being further used to remove cargo from cargo boxes stored on any of the shelves and store them in cargo boxes stored on the pallet, and / or being further used to remove cargo boxes from one of the shelves and the pallet and store them in the other, and a plurality of the third cargo recognition devices are attached to the upright brackets so as to be distributed along a vertical direction, and each of the third cargo recognition devices is used to acquire image information within a cargo box stored on its corresponding shelf.

[0071] Optionally, the transport robot further includes a first cargo recognition device, which is attached to the mounting platform and used to recognize cargo stored on the pallet.

[0072] Optionally, the transport robot further includes a moving component, which is used to carry and move the standing bracket on the warehouse floor.

[0073] The present application provides a pickup method for a transport robot, the transport robot including a cargo transfer component, the method comprising: receiving a pickup command, the pickup command including pickup location information, type information of cargo to be picked up, and / or commodity information of cargo to be picked up; and instructing the cargo forwarding component to perform a pick-up and placement operation of the cargo and / or a first cargo box in accordance with the pickup command.

[0074] Optionally, the transport robot further includes an upright bracket and a fork, the fork being slidably connected to the upright bracket, and the cargo transfer component being slidably connected to the fork, and the method further comprises: directing the forks to move to a first position according to the pickup position information; The method further includes directing the forks or the cargo transfer component to move a first cargo box carrying the cargo to be picked up from a second location to the first location.

[0075] Optionally, the transport robot further includes an upright bracket and a fork, the fork being slidably connected to the upright bracket, and at least one of the cargo transfer components being slidably connected to the upright bracket; The method comprises: directing the forks to move to a first position according to the pickup position information; directing the forks to move a first cargo box carrying the cargo to be picked up from a second position to the first position; or The cargo transfer component further includes moving to the first location and instructing the first cargo box carrying the cargo to be picked up to be moved from a second location to the first location.

[0076] Optionally, the transport robot further includes an upright bracket and a mounting platform, the mounting platform being slidably connected to the upright bracket, and the cargo transfer component being slidably connected to the mounting platform, and the method further comprising: directing the mounting platform to move to a first location according to the pickup location information; The method further includes instructing the cargo transfer component to move a first cargo box carrying the cargo to be picked up from a second location to the first location.

[0077] Optionally, the transport robot further includes an upright bracket and a mounting platform, the mounting platform being slidably connected to the upright bracket, and the at least one cargo transfer component being slidably connected to the upright bracket, and the method further comprises: directing the mounting platform to move to a first location according to the pickup location information; The cargo transfer component further includes moving to the first location and instructing the cargo transfer component to move a first cargo box carrying the cargo to be picked up from a second location to the first location.

[0078] Optionally, the transport robot further includes at least one storage shelf, and the fork or mounting platform further includes a rotation drive, the rotation drive being used to drive the fork or mounting platform to rotate around a vertical direction, and the method further comprises: The method further includes directing the fork or cargo transfer component to move the first cargo box from the first location to a corresponding storage shelf.

[0079] Optionally, the transport robot further includes at least one storage shelf, and the fork or mounting platform further includes a rotation drive, the rotation drive being used to drive the fork or mounting platform to rotate around a vertical direction, and the method further comprises: The method further includes directing the fork or cargo transfer component to move the first cargo box from the first location to a third location corresponding to the storage shelf.

[0080] Optionally, if the type information of the cargo to be picked up includes inventory unit information, and the cargo to be picked up in the first cargo box has the same inventory unit information, Instructing the cargo forwarding component to perform a cargo pick-up and placement operation in accordance with the pickup command includes: The cargo transfer component instructs the cargo to be picked up to be removed from the first cargo bin and placed in the corresponding storage shelf or a preset second cargo bin on the storage shelf.

[0081] Optionally, the fork, mounting platform or cargo transfer component is fitted with a cargo recognition device, and the method further comprises: acquiring image information of the first cargo box of the cargo to be picked up, the image information being captured by the cargo recognition device; Specifically, the instruction by the cargo forwarding component to remove the cargo to be picked up from the first cargo box and place it in the corresponding storage shelf or a preset second cargo box on the storage shelf includes: The method includes instructing the cargo forwarding component to remove the cargo to be picked up from the first cargo box and place the removed cargo in the corresponding storage shelf or the second cargo box according to the image information.

[0082] Optionally, the image information includes position information of the cargo to be picked up in the cargo box, inventory unit information of the cargo to be picked up, shape of the cargo to be picked up, image feature points of the cargo to be picked up, color information and / or volume information of the cargo to be picked up. Optionally, the method further comprises: The method further includes instructing the fork or cargo forwarding component to return the first cargo box to its original position or place it in another position after the cargo forwarding component completes the pick-up and placement operation of the preset number of cargo items to be picked up in the first cargo box.

[0083] Optionally, the type information of the cargo to be picked up includes inventory unit information, and if the cargo to be picked up in the first cargo box has different inventory unit information, the method includes: and acquiring image information of a first cargo box of the cargo to be picked up. Instructing the cargo forwarding component to perform a cargo pick-up and placement operation according to the pickup command further includes: The method includes determining cargo that matches the inventory unit information in the pickup command according to image information in the first cargo box of the cargo to be picked up, and instructing the cargo transfer component to remove the cargo from the first cargo box and place it in the second cargo box.

[0084] Optionally, the image information includes position information of the cargo to be picked up in the cargo box, inventory unit information of the cargo to be picked up, shape of the cargo to be picked up, image feature points of the cargo to be picked up, color information and / or volume information of the cargo to be picked up. Optionally, the cargo forwarding component is equipped with a cargo recognition device, or the forks are equipped with a cargo recognition device, or the mounting platform is equipped with a cargo recognition device, or the cargo forwarding component and the forks are equipped with cargo recognition devices, or the cargo forwarding component and the mounting platform are equipped with cargo recognition devices, and acquiring image information of a first cargo box of the cargo to be picked up includes: Obtaining image information of the first cargo box of the cargo to be picked up, each captured by a cargo recognition device of the cargo transfer component, fork, or mounting platform; Or, acquiring image information of the first cargo box of the cargo to be picked up, the image information being captured by a cargo recognition device of the fork and cargo forwarding component; Or, The method includes acquiring image information of the first cargo box of the cargo to be picked up, which is captured by a cargo recognition device of the mounting platform and cargo transfer component.

[0085] Optionally, the product information includes shape, volume, image feature, color and / or weight information of the cargo to be picked up, the storage shelf includes an order cargo storage shelf and a temporary cargo storage shelf, and a second cargo box is preset in the order cargo storage shelf, and determining that the cargo to be picked up is placed in the corresponding storage shelf or the preset second cargo box in the storage shelf according to the inventory unit information of the cargo to be picked up; If it is not possible to determine cargo that matches the inventory unit information and / or product information in the pickup command based on image information acquired by each of the cargo recognition devices attached to the cargo transfer component, the mounting platform, or the forks, instructing the cargo transfer component to retrieve the cargo from the first cargo box; subsequently acquiring image information by the cargo recognition device located on the cargo transfer component, the cargo recognition device located on the fork, or the cargo recognition device located on the mounting platform; If it is determined based on the image information that the cargo transferred by the cargo forwarding component has acquired cargo that does not match the inventory unit information and / or product information in the pickup command, the cargo transferred by the cargo forwarding component is placed in the temporary cargo storage shelf or a third cargo box preset in the temporary cargo storage shelf; otherwise, the cargo is placed in the corresponding second cargo box.

[0086] Optionally, the method further comprises: The method further includes, after the cargo transfer component completes the pick-up and placement operation of the preset number of cargo to be picked up in the first cargo box, instructing the cargo transfer component to return the cargo in the temporary cargo storage shelf or the third cargo box to the corresponding first cargo box, and instructing the fork or the cargo transfer component to return the first cargo box to its original position or place it in another position.

[0087] Optionally, the pickup location information includes a plurality of first cargo box location information, and the cargo to be picked up is stored in the plurality of first cargo boxes, and the method further comprises: The method further includes placing the current first cargo box in its original position or in another position, and then sequentially arriving at the positions where the cargo to be picked up is located based on the position information of the other first cargo box, thereby completing the pick-up and placement operation of all the cargo to be picked up.

[0088] Optionally, when the total number of cargoes to be picked up in the current first cargo box exceeds the storage capacity of one storage shelf or a second cargo box, the method includes: The method further includes obtaining a total volume or total weight of the cargo already placed in the current storage shelf or second cargo box, and if the total volume exceeds a preset volume threshold of the storage shelf or second cargo box, or if the total weight exceeds a preset weight threshold of the storage shelf or second cargo box, instructing the cargo forwarding component to place the cargo to be picked up in another storage shelf or another second cargo box until pick-up of all the cargo to be picked up is completed.

[0089] An embodiment of the present application provides a pick-up method applied to a processing terminal, the processing terminal being communicatively connected to a transport robot, the method comprising: transmitting a pick-up command, and causing the transport robot to execute the method according to the pick-up command.

[0090] An embodiment of the present application provides a transport robot, the transport robot comprising: at least one processor; and a memory communicatively coupled to the at least one processor, wherein: The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor such that the at least one processor can perform the pick-up method applied to the above-mentioned transport robot.

[0091] An embodiment of the present application provides a processing terminal, the processing terminal comprising: at least one processor; and a memory communicatively coupled to the at least one processor, wherein: The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor such that the at least one processor can perform a pickup method applied to the processing terminal.

[0092] An embodiment of the present application provides an intelligent warehouse system, which includes the transport robot and the processing terminal.

[0093] An embodiment of the present application provides a non-transitory computer-readable storage medium, the non-transitory computer-readable storage medium storing computer-executable instructions, the computer-executable instructions being used to cause a computer to perform the pickup method.

[0094] An embodiment of the present application further provides a computer program product, the computer program product including a computer program stored in a non-transitory computer-readable storage medium, the computer program including program instructions that, when executed by a computer, cause the computer to perform the above-mentioned pickup method.

[0095] A pickup method provided by an embodiment of the present application is applied to a transport robot, the transport robot including a cargo forwarding component, and the method includes receiving a pickup command, the pickup command including pickup location information, type information of the cargo to be picked up, and product information of the cargo to be picked up, and instructing the cargo forwarding component to perform a cargo pick-up and placement operation according to the pickup command.

[0096] The present application provides a restocking or return method, which is applied to a transport robot, wherein the transport robot includes a cargo transfer component, and the method includes: receiving a restocking or return instruction, the restocking or return instruction including restocking or return location information, restocking or return cargo type information, and / or restocking or return cargo product information; and instructing a cargo forwarding component to perform a pick and place operation of the restock or return cargo and / or the first cargo box in accordance with the restock or return instruction.

[0097] Optionally, the transport robot further includes an upright bracket and a fork, the fork being slidably connected to the upright bracket, and the cargo transfer component being attached to the fork or slidably connected to the upright bracket, and the method further comprises: The method further includes directing the fork or the cargo transfer component to place the first cargo box at an empty location on a fixed shelf for placing a cargo box.

[0098] Optionally, the transport robot further includes an upright bracket and a fork, the fork being slidably connected to the upright bracket, and the cargo transfer component being attached to the fork, and the method further comprises: directing the forks to move to a first position according to the restock or return location information; directing the forks or the cargo transfer component to move a second cargo box from a second location to the first location.

[0099] Optionally, the transport robot further includes an upright bracket and a fork, the fork being slidably connected to the upright bracket, and at least one of the cargo transfer components being slidably connected to the upright bracket; The method comprises: directing the fork to move to a first location according to the restock or return location information; directing the forks to move a second cargo box from a second location to the first location; or The cargo transfer component further includes moving to the first location and directing a second cargo box to be moved from the second location to the first location.

[0100] Optionally, the transport robot further includes an upright bracket and a mounting platform, the mounting platform slidably connected to the upright bracket, and the cargo transfer component is mounted on the mounting platform, and the method further comprises: directing the mounting platform to move to a first location according to the restock or return location information; and directing the cargo forwarding component to move a second cargo box from a second location to the first location.

[0101] Optionally, the transport robot further includes an upright bracket and a mounting platform, the mounting platform being slidably connected to the upright bracket, and at least one of the cargo transfer components being slidably connected to the upright bracket; The method comprises: directing the mounting platform to move to a first location according to the restock or return location information; The method further includes directing the cargo transfer component to move to the first location and move a second cargo box from the second location to the first location.

[0102] Optionally, the transport robot further includes at least one storage shelf; When the transport robot includes one storage shelf, the method includes: directing a freight forwarding component to perform a pick-and-place operation for the restock or return freight in accordance with the restock or return instruction; The method further includes instructing the cargo transfer component to remove cargo from a first cargo box preset on the storage shelf or shelf and place the cargo in the second cargo box; When the transport robot includes a plurality of storage shelves, the transport robot further includes a rotation drive device, and the rotation drive device is used to drive the fork or mounting platform to rotate around a vertical direction, and the plurality of storage shelves are installed hierarchically on the upright bracket, and the storage shelves include a temporary cargo storage shelf and a restocking or return storage shelf, and the method includes: The method further includes instructing the fork or cargo forwarding component to move the second cargo box from the first location to the temporary cargo storage shelf and instructing the fork or cargo forwarding component to transport the first cargo box to the original location of the second cargo box, or instructing the cargo forwarding component to remove cargo from the first cargo box preset on the storage shelf or shelf and place it in the second cargo box.

[0103] Optionally, the fork or the mounting platform further includes a rotation drive device, and the rotation drive device is used to drive the fork or the mounting platform to rotate around a vertical direction; the transport robot further includes a plurality of storage shelves, and is hierarchically installed on the upright bracket, and the storage shelves include a temporary cargo storage shelf and a restocking or return storage shelf; and the method further includes: directing the forks or cargo transfer component to move the second cargo box from the first location to a temporary cargo storage bin, and directing the forks, mounting platform, or cargo transfer component to move the first cargo box to a third location corresponding to the temporary cargo storage bin; Or, directing the forks, mounting platform, or cargo transfer component to first move the first cargo box to a temporary cargo storage shelf at a top location before the forks or cargo transfer component move to a first location; and, after the forks or cargo transfer components have moved the second cargo box from the second location to the first location, directing the forks or mounting platform and cargo transfer components to move the second cargo box from the first location to a third location corresponding to the temporary cargo storage shelf.

[0104] Optionally, the type information of the restock or return cargo includes inventory quantity unit information, and if the restock or return cargo in the first cargo box has the same inventory quantity unit information, directing a freight forwarding component to perform a pick-and-place operation for the restock or return freight in accordance with the restock or return instruction; and directing a cargo transfer component to remove cargo from the first cargo bin and place it in the second cargo bin.

[0105] Optionally, the fork, mounting platform or cargo transfer component is equipped with a cargo recognition device, and the method further comprises: The method further includes acquiring image information of the cargo in the first cargo box photographed by the cargo recognition device, Specifically, directing the cargo forwarding component to remove cargo from the first cargo bin and place it in the second cargo bin includes: and instructing the cargo forwarding component to remove cargo from the first cargo bin and place the cargo in the second cargo bin according to image information of the cargo in the first cargo bin.

[0106] Optionally, the method further comprises: directing the fork or cargo forwarding component to return the second cargo box to its original position or place it in another position after the cargo forwarding component has completed the restocking or return cargo pick-up and placement operation of the preset number of the first cargo box; and directing the forks or cargo forwarding components to return the first cargo box to its original position or place it in another position.

[0107] Optionally, the restock or return cargo type information includes inventory quantity unit information, and if the restock or return cargo in the first cargo box has different inventory quantity unit information, the method includes: acquiring image information of the first cargo box of the restock or return cargo; directing a freight forwarding component to perform a pick-and-place operation for the restock or return freight in accordance with the restock or return instruction; According to image information of the restock or return cargo in the first cargo box, determine cargo that matches inventory unit information in the restock or return order, and instruct the cargo forwarding component to remove the cargo from the first cargo box and place it in the second cargo box.

[0108] Optionally, the cargo transfer component is equipped with a photographing device, or the forks are equipped with a cargo recognition device, or the mounting platform is equipped with a cargo recognition device, or the cargo transfer component and the forks are equipped with cargo recognition devices, or the cargo transfer component and the mounting platform are equipped with cargo recognition devices, and acquiring image information of the first cargo box of the restock or return cargo includes: acquiring image information of the first cargo box of the restock or return cargo taken by each of the cargo recognition devices of the cargo transfer component, fork, or mounting platform; Or, acquiring image information of the first cargo box of the restocked or returned cargo taken by a cargo recognition device of the fork and cargo forwarding component; Or, and acquiring image information of the first cargo box of the restock or return cargo captured by a cargo recognition device of the mounting platform and cargo transfer component.

[0109] Optionally, the image information includes at least one of location information of the restocked or returned cargo in the first cargo box, inventory unit information of the restocked or returned cargo, shape information, image feature points, color information, and volume information of the restocked or returned cargo.

[0110] Optionally, the product information includes shape, volume, image feature, color, and / or weight information of the cargo to be picked up, the storage shelf includes a restock or return storage shelf and a temporary cargo storage shelf, and a third cargo box is preset in the temporary cargo storage shelf, and the method includes: If it is not possible to determine cargo that matches the inventory unit information and / or product information in the restocking or return order based on image information acquired by each of the cargo recognition devices attached to the cargo transfer component, the mounting platform, or the fork, instructing the cargo transfer component to retrieve the cargo from the first cargo box; subsequently acquiring image information by the cargo recognition device located on the cargo transfer component, the cargo recognition device located on the fork, or the cargo recognition device located on the mounting platform; If it is determined based on the image information that the cargo forwarding component has acquired is cargo that does not match the inventory unit information and / or product information in the restocking or return order, the cargo acquired by the cargo forwarding component is placed in a temporary cargo storage shelf or a third cargo box preset in the temporary cargo storage shelf; otherwise, the cargo is placed in the corresponding second cargo box.

[0111] Optionally, the method further comprises: After the cargo transfer component completes the pick-up and placement operation of the preset number of restocking or return cargo in the second cargo box, instructing the cargo transfer component to return the cargo in the temporary cargo storage shelf or the third cargo box to the corresponding first cargo box, and instructing the fork or mounting platform and cargo transfer component to return the second cargo box to its original position or place it in another position; and directing the forks or mounting platform and cargo transfer component to return the first cargo box to its original position or place it in another position.

[0112] Optionally, the restocking or return location information includes a plurality of second cargo box location information, and the restocking or return cargo is restocked or returned to the plurality of second cargo boxes, and the method further comprises: The method further includes returning the current second cargo box to its original position or placing it in another position, and then sequentially arriving at other second cargo box positions according to the plurality of second cargo box position information, thereby completing the restocking or return of all restocked or returned cargo.

[0113] An embodiment of the present application provides a restocking or return method applied to a processing terminal, the processing terminal being in communication with a transport robot, wherein the method includes: Sending a restocking or return command, thereby causing the transport robot to execute the restocking or return method in accordance with the restocking or return command.

[0114] An embodiment of the present application provides a transport robot, wherein the transport robot comprises: at least one processor; and a memory communicatively coupled to the at least one processor, wherein: The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor such that the at least one processor can perform a restocking or return method applied to the transport robot.

[0115] An embodiment of the present application provides a processing terminal, wherein the processing terminal comprises: at least one processor; and a memory communicatively coupled to the at least one processor, wherein: The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor such that the at least one processor can perform the restocking or return method applied to the processing terminal.

[0116] An embodiment of the present application provides an intelligent warehouse system, which includes the above-mentioned transport robot and a processing terminal.

[0117] An embodiment of the present application provides a non-transitory computer-readable storage medium having computer-executable instructions stored therein, the computer-executable instructions being used to cause a computer to perform the restocking or return method described above.

[0118] An embodiment of the present application further provides a computer program product, the computer program product including a computer program stored on a non-transitory computer-readable storage medium, the computer program including program instructions that, when executed by a computer, cause the computer to perform the restocking or return method.

[0119] The restocking or return provided by the embodiment of the present application is applied to a transport robot, the transport robot including a cargo forwarding component, and the method includes receiving a restocking or return command, the restocking or return command including restocking or return location information, restocking or return cargo type information, and / or restocking or return cargo product information, and instructing the cargo forwarding component to perform a pick-up and placement operation of the restocking or return cargo and / or a first cargo box in accordance with the restocking or return command. [Brief explanation of the drawings]

[0120] [Figure 1] FIG. 1 is a perspective view of one transport robot provided by an embodiment of the present application. [Figure 2] 2 is a perspective view of the transport robot shown in FIG. 1 from another viewpoint. [Figure 3] FIG. 2 is an exploded schematic view of the moving components of the transport robot shown in FIG. 1. [Figure 4] 2 is a schematic assembly diagram of the standing bracket and the lifting drive device of the transport robot shown in FIG. 1. [Figure 5] FIG. 2 is an exploded schematic view of a cargo box transport component of the transport robot shown in FIG. 1. [Figure 6] FIG. 2 is a perspective view of a cargo transfer component of the transport robot shown in FIG. 1. [Figure 7] FIG. 1 is a perspective view of one transport robot provided by an embodiment of the present application. [Figure 8] FIG. 1 is a perspective view of one transport robot provided by an embodiment of the present application. [Figure 9] 1 is a schematic diagram of an application environment provided by an embodiment of the present application; [Figure 10a] FIG. 2 is a structural block diagram of a processing terminal provided by an embodiment of the present application; [Figure 10b] FIG. 1 is a perspective view of one transport robot provided by an embodiment of the present application. [Figure 10c] 10b is an exploded schematic view of the moving components of the transport robot shown in FIG. [Figure 10d] FIG. 10c is a perspective view of the transport robot shown in FIG. 10b from another perspective. [Figure 10e] 10b is an assembly schematic diagram of the standing bracket and the lifting drive device of the transport robot shown in FIG. [Figure 10f] 10b is an exploded schematic view of the cargo box transport component of the transport robot shown in FIG. [Figure 10g] FIG. 10b is a perspective view of a cargo transfer component of the transport robot shown in FIG. [Figure 11a] 1 is a structural schematic diagram of one transport robot provided by an embodiment of the present application. FIG. [Figure 11b] 1 is a structural schematic diagram of one transport robot provided by an embodiment of the present application. FIG. [Figure 12]FIG. 10 is a structural schematic diagram of another transport robot provided by an embodiment of the present application. [Figure 13] 1 is a schematic flow chart of one pick-up method provided by an embodiment of the present application. [Figure 14] FIG. 1 is a flowchart of a pickup method for cargo to be picked up having the same inventory information in a first cargo box provided by an embodiment of the present application. [Figure 15] FIG. 1 is a flowchart of a pickup method for cargo having different inventory information in a first cargo box provided by an embodiment of the present application. [Figure 16] FIG. 10 is a flow chart schematic diagram of a pick-up method provided by another embodiment of the present application. [Figure 17] FIG. 2 is a structural block diagram of one transport robot provided by an embodiment of the present application. [Figure 18] 1 is a schematic flow chart of one restocking or return method provided by an embodiment of the present application. [Figure 19] FIG. 10 is a flowchart diagram of a restocking or return method for restocking or return having the same inventory information in a first cargo box provided by an embodiment of the present application. [Figure 20] FIG. 1 is a flowchart of a restocking or return method for a shipment having different inventory information in a first shipment box provided by an embodiment of the present application. [Figure 21] FIG. 10 is a schematic flow chart of a restocking or return method provided by another embodiment of the present application. [Figure 22] FIG. 2 is a structural block diagram of one transport robot provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE INVENTION

[0121] In order to clarify the objectives, technical solutions and advantages of the embodiments of the present application, the technical solutions in the embodiments of the present application will be described below clearly and completely with reference to the drawings of the embodiments of the present application, and it is obvious that the described embodiments are not all embodiments but only some embodiments of the present application. Based on the embodiments of the present application, all other embodiments that a person skilled in the art can obtain without any creative work will fall within the scope of protection of the present application.

[0122] In prior art 1, the current transport robot can only pick up the entire box, and if there is cargo in the cargo box that does not need to be picked up, picking up the entire box is inefficient.

[0123] In the prior art 2, the transport robot uses its pickup device to transport cargo boxes from the shelves to the cargo sorting table in order to sort the cargo on the cargo sorting table.

[0124] In the process of realizing the present invention, the inventors have found that the related art has the following defects: The pickup device performs the operation of picking and arranging cargo boxes, but cannot realize the operation of picking and arranging cargo inside the cargo boxes, and the degree of automation of cargo sorting is not high, which affects the efficiency of cargo pickup.

[0125] In the prior art 3, the transport robot can use its pickup device to transport a cargo box to receive restocked or returned goods to a shelf to carry out restocking or return.

[0126] In the process of realizing the present invention, the inventors have found that the related art has the following defects: the pick-up device performs restocking or return operations on the cargo box, but cannot realize the restocking or return pick-up and placement operations on the cargo in the cargo box, which results in insufficient flexibility in restocking or return, affecting the efficiency of restocking or return.

[0127] To solve the technical problems in the prior art 1, the embodiment of the present application provides a transport robot that can pick up items more efficiently.

[0128] In order to solve the technical problems in the prior art, the embodiments of the present application provide the following technical solutions:

[0129] Referring to FIG. 1, FIG. 1 shows a transport robot 100 for retrieving cargo provided by an embodiment of the present application.

[0130] It should be explained that a warehouse has warehouse shelves, and the warehouse shelves are provided with storage locations for storing cargo boxes, and the cargo boxes are used to store cargo.

[0131] The transport robot 100 includes a moving component 10, a pallet 22, a storage shelf 24, a transport system, a cargo box recognition component 50, and a cargo recognition component 60. The moving component 10 is equipped with the pallet 22, a cargo box transport component 30, a cargo transfer component 40, the cargo box recognition component 50, and the cargo recognition component 60.

[0132] The moving component 10 is used to move on the warehouse floor and move the loaded pallets 22, storage shelves 24, cargo box transport component 30, cargo forwarding component 40, cargo box recognition component 50 and cargo recognition component 60 together.

[0133] The pallets 22 and the storage shelves 24 are each used to store cargo boxes. The cargo box recognition component 50 is used to recognize cargo boxes stored on the storage shelves and have the transport system retrieve them, and / or to recognize vacant locations on the storage shelves and have the transport system store the cargo boxes. The transport system is used to retrieve cargo boxes from one of the pallets 22 and the storage shelves and store them in the other, and / or to retrieve cargo boxes from one of the pallets 22 and the storage shelves 24 and store them in the other, and / or to retrieve cargo from one of the cargo boxes stored on the pallets 22 and the storage shelves 26 and store them in the other. The cargo recognition component 60 is used to recognize cargo in cargo boxes stored on the pallets 22 and have the cargo transfer component 40 retrieve them, and / or to recognize cargo in cargo boxes stored on the storage shelves 24 and inspect the cargo in the cargo boxes stored on the storage shelves 24, and / or to recognize cargo retrieved by the transport system and determine whether the retrieved cargo is correct.

[0134] The work of the transport robot is as follows: The moving component 10 moves on the warehouse floor and approaches a warehouse shelf. After approaching the warehouse shelf, the cargo box recognition component 50 recognizes the cargo box stored on the warehouse shelf, and the transport system retrieves the cargo box recognized by the cargo box recognition component 50 and stores it on a pallet 22. After the cargo box is stored on the pallet 22, the cargo recognition component 60 recognizes the cargo in the cargo box stored on the pallet 22, and the transport system retrieves the cargo recognized by the cargo recognition component 60 and stores it on a storage shelf 24. After the cargo transfer component 40 retrieves the cargo in the cargo box stored on the pallet, the cargo box recognition component 50 recognizes an empty location on the warehouse shelf, and the transport system retrieves the cargo box stored on the pallet 22 and stores it in an empty location on the warehouse shelf.

[0135] The mobile component 10 can be positioned so that the cargo box transport component 30 can retrieve or place cargo boxes on a remote warehouse shelf. In other embodiments, the warehouse shelf is maintained near the cargo box transport component 30, for example, the transport robot 100 is fixedly mounted to the ground near the warehouse shelf, and the mobile component 10 can be omitted.

[0136] The storage shelves 24 are provided so that a transport robot can retrieve large amounts of cargo and store them in the storage shelves 24. In other embodiments, the amount of cargo that needs to be retrieved by the transport robot is relatively small, making it unnecessary to provide the storage shelves 24, and in such cases the storage shelves 24 can be omitted.

[0137] By deploying the cargo transfer component 40, the cargo box transport component 30 can retrieve cargo boxes from warehouse shelves. After retrieving the cargo from the cargo boxes, the cargo box transport component 30 stores the cargo boxes on the warehouse shelves. This allows the transport robot 100 to retrieve the cargo from the cargo boxes, eliminating the need for employees to retrieve the cargo from the cargo boxes, thereby improving cargo handling efficiency. In other embodiments, if the cargo is not recognized, the cargo transfer component 40 can retrieve cargo stored in cargo boxes on the pallet 22, in which case the cargo recognition component 60 can be omitted. For example, if the cargo stored in the cargo boxes are the same type of cargo, and the cargo occupies a large area on the cargo box, such as when clothes are laid flat inside the box, there is little obstacle for the cargo transfer component 40 to retrieve that type of cargo, and the cargo transfer component 40 can simply randomly retrieve one item from the cargo boxes.

[0138] In some other embodiments, if the cargo box is not recognized, the cargo box transport component 30 may retrieve the cargo box from the warehouse shelf, and the cargo box recognition component 50 may be omitted. For example, the warehouse shelf may have only one storage location for storing the cargo box.

[0139] It should be noted that after the cargo box transport component 30 removes the cargo box from the storage position and stores it on the pallet 22, the cargo transfer component 40 is positioned, and the cargo transfer component 40 removes the cargo from the cargo box stored on the pallet 22, eliminating the need for employees to remove the cargo from the cargo box, thereby improving the efficiency of cargo removal.

[0140] Optionally, the transport system includes a cargo box transport component 30 and a cargo transfer component 40 .

[0141] The cargo box handling component 30 is used to remove cargo boxes from one of the warehouse shelves and pallets 22 and store them on the other, and / or to remove cargo boxes from one of the pallets 22 and storage shelves 24 and store them on the other.

[0142] The cargo transfer component 40 is used to remove cargo from one of the cargo boxes stored on the pallet 22 and the cargo boxes stored on the storage shelf 24 and store it in the other.

[0143] The following describes specific embodiments of the transport robot 100. It should be noted that the following embodiments are merely exemplary, and other transport robots that can satisfy at least one of the above cases are all within the scope of protection of the present application.

[0144] Referring to FIG. 3 , the mobile component 10 includes a chassis 12, driven wheels 14, drive wheels 16, and a guidance device 18. The chassis 12 is formed by assembling and welding profiles and plates. The entire chassis 12 is relatively flat and symmetrical with respect to a vertical plane of symmetry. A circuit module for controlling the operation of the mobile component 10 is mounted inside the chassis 12. The four driven wheels 14 are attached to the bottom of the chassis 12, uniformly and symmetrically distributed on both ends of the chassis 12, and are used to support the chassis 12. In this embodiment, the driven wheels 14 are universal wheels. However, depending on the actual situation, the driven wheels 14 may have other wheel structures with steering function. The two drive wheels 16 are attached to the bottom of the chassis 12, symmetrically distributed on both ends of the chassis 12. Since the two drive wheels 16 are driven by two motors, the rotation speeds of the two drive wheels 16 may be different, which further realizes steering of the mobile component 10. When the rotation speeds of the two drive wheels 16 are the same, the mobile component 10 moves along a straight line. The guidance device 18 is attached to the bottom of the chassis 12 and is used to guide the mobile component 10 along a preset path. In this embodiment, the guidance device 18 is a video camera with its lens facing the ground. A large number of two-dimensional codes are attached to the ground of the warehouse. The video camera scans the two-dimensional codes to determine the current position of the mobile component 10, and the orientation of the mobile component 10 can be determined according to the previously scanned two-dimensional code. Depending on the actual situation, the two-dimensional code may be replaced with a symbol code such as a barcode.

[0145] 1 , a standing bracket 19 is mounted on the top of the chassis 10, and the above-mentioned pallet 22, cargo box transport component 30, cargo forwarding component 40, cargo box recognition component 50, and cargo recognition component 60 are all supported by the standing bracket 19. The standing bracket 19 includes a standing pillar 190 and a beam 192. The two standing pillars 190 are vertically symmetrical, and each standing pillar 190 is provided with a guide groove extending vertically, and the guide grooves of the two standing pillars 190 are used to attach the transport component 30 and guide the transport component 30 to move along the vertical direction.

[0146] The beams 192 are all distributed horizontally and vertically, and are jointly supported by two columns 190 .

[0147] 1 and 2, the pallet 22 is a horizontally mounted plate that is fixedly attached to a cargo box-carrying component 30.

[0148] Cargo boxes stored on storage shelves 24 may be stored by cargo box transport component 30, may be stored by employees, or may be empty. In some other embodiments, cargo forwarding component 40 may place the removed cargo directly on storage shelves 24 without first storing cargo boxes on storage shelves 24.

[0149] The storage shelf 24 is fixedly attached to one side of the upright bracket 19. The storage shelf 24 includes shelves 240. The shelves 240 are distributed vertically. Each shelf 240 is used to store a cargo box and is supported by a corresponding beam 192. By arranging the shelves 240 for storing a plurality of cargo boxes, after the cargo transfer component 60 fills the cargo boxes stored on one shelf 240, the cargo transfer component 60 subsequently stores the cargo in the cargo boxes stored on another shelf 240. It should be understood that depending on the actual situation, for example, when there is little cargo or the cargo is small relative to the cargo box, only one shelf 240 may be required.

[0150] 4 and 5, the cargo box handling component 30 includes a lift drive 32, a mounting base 34, a rotation drive 36, and a fork 38.

[0151] The mounting base 34 is movably attached to the upright bracket 19 and can move along the vertical direction relative to the upright bracket 19, and the lifting drive device 32 is used to drive the forks 38 to move along the vertical direction relative to the upright bracket 19. The forks 38 are attached to the mounting base 34 and can rotate around the vertical direction relative to the mounting base 34, and the rotation drive device 36 is used to drive the forks 38 to rotate around the vertical direction relative to the mounting base 34, and the forks 38 are used to take out cargo boxes stored on the storage shelf 24 or warehouse shelf and store them on the pallet 22, or take out cargo boxes stored on the pallet 22 and store them on the storage shelf 24 or warehouse shelf.

[0152] The cargo box transport component 30 takes out cargo boxes stored on the warehouse shelves or storage shelves 24 and stores them on pallets as follows: The lifting drive device 32 drives the forks 38 to move along the vertical direction so that the forks 38 are positioned at the same height as the cargo boxes stored on the warehouse shelves or shelves 240, and at the same time, the rotation drive device 36 drives the forks 38 to rotate around the vertical direction so that the forks 38 are aligned with the cargo boxes stored on the warehouse shelves or shelves 240. After the forks 38 have completed lifting and rotation, they remove the cargo boxes stored on the warehouse shelves or shelves 240 and store them on the pallets 22.

[0153] The cargo box transport component 30 takes out cargo boxes stored on pallets and stores them on the warehouse shelves or storage shelves 24 as follows: The lifting drive device 32 drives the forks 38 to move along the vertical direction so that the forks 38 are positioned at the same height as vacant positions on the warehouse shelf or shelf board 240, and at the same time, the rotation drive device 36 drives the forks 38 to rotate around the vertical direction so that the forks 38 are positioned at vacant positions on the warehouse shelf or shelf board 240. After the forks 38 have completed lifting and rotation, they remove the cargo boxes stored on the pallet 22 and store them in vacant positions on the warehouse shelf or storage shelf 24.

[0154] By providing the lifting drive device 32, the lifting drive device 32 drives the forks 38 supported by the mounting base 34 to move vertically so that the forks 38 can take out or place cargo boxes on shelves 240 or warehouse shelves of different heights. Therefore, the warehouse shelves can be arranged in multiple layers, improving the utilization rate of the vertical space of the warehouse shelves. Also, the storage shelves 24 can be arranged in multiple layers, allowing the storage shelves 24 to store multiple cargo boxes and improving the utilization rate of the vertical space of the storage shelves 24. The footprint of the storage shelves 24 can be reduced, and the footprint of the chassis 10 for mounting the storage shelves 24 can also be reduced. In other embodiments, for example, if the storage shelves 24 and warehouse shelves are only one floor, the lifting drive device 32 can be omitted.

[0155] By providing the rotation drive device 36, the rotation drive device 36 drives the forks 38 to rotate vertically so that the forks 38 can pick up or place cargo boxes from warehouse shelves in different directions, making the pickup mode of the forks 38 more flexible and advantageous for retrieving and placing cargo boxes in a complex warehouse environment. In some other embodiments, the rotation drive device 36 can be omitted, and for example, a cargo box in an empty position on a warehouse shelf or stored on a warehouse shelf is always positioned in the pickup direction of the forks 38. For example, a rail dedicated to the moving component 10 is installed on the warehouse floor, and after the moving component 10 approaches the warehouse shelf, a cargo box in an empty position on a warehouse shelf or stored on a warehouse shelf is positioned in the pickup direction of the forks 38. The shelf 240 is part of the transport robot 100, and the shelf 240 is positioned in the pickup direction of the forks 38.

[0156] The following describes a specific embodiment of the cargo box conveying component 30. It should be noted that the following embodiments are merely exemplary, and other cargo box conveying components that can meet at least one of the above requirements are all within the scope of protection of the present application.

[0157] The mounting base 34 and the storage shelf 24 are respectively located on two opposite sides of the upright bracket 19. The mounting base 34 is formed by assembling and welding a profile and a plate. Two sliding parts are installed on the mounting base 34, and each sliding part is attached to a corresponding sliding groove and can move along the sliding groove.

[0158] The lifting drive device 32 includes two sets of first sprocket mechanisms, a transmission shaft, and a lifting drive motor. Each set of first sprocket mechanisms is mounted on a corresponding upright, and both ends of the transmission shaft are fixed coaxially with the drive wheels of the two sets of first sprocket mechanisms, respectively. The mounting bases 34 are fixedly connected to the chains of the two sets of first sprocket mechanisms, respectively. The lifting drive motor is used to drive the rotation of the drive shaft so as to drive the synchronous movement of the two sets of sprockets and further move the mounting bases along the vertical direction in unison.

[0159] It should be understood that, depending on the actual situation, the first sprocket mechanism may be replaced by a pulley mechanism, a gear rack transmission mechanism, etc.

[0160] The rotary drive device 36 includes a second sprocket mechanism and a rotary drive motor. A drive wheel of the second sprocket mechanism is rotatably mounted on the fork 38, a transmission wheel of the second sprocket mechanism is fixedly mounted on the mounting base 34, and the rotary drive motor is used to drive and rotate the drive wheel, which in turn moves the fork 38 to rotate around the vertical direction.

[0161] It should be understood that depending on the actual situation, the second sprocket mechanism may be replaced by a pulley mechanism, a gear group, etc.

[0162] The fork 38 includes a mounting platform 380 and a telescopic arm device 382, ​​which is attached to the mounting platform 380. The mounting platform 380 may be pivotally mounted on top of the mounting base 34 so that the entire fork 38 can rotate around a vertical axis relative to the mounting base 34. The pallet 22 is fixedly attached to the mounting platform 380, and the telescopic arm device 382 is used to push a cargo box stored on the pallet 22 to an empty position on the shelf 240 or warehouse shelf, or to pull a cargo box stored on the shelf 240 or warehouse shelf onto the pallet 22. In some other embodiments, the telescopic arm device 382 moves the cargo box by lifting or grabbing.

[0163] The pair of telescopic arm devices 382 are respectively arranged symmetrically on both sides of the pallet 22, and the pair of telescopic arm devices 382 work together to jointly push or pull the cargo. Depending on the actual situation, there may be only one telescopic arm device 382.

[0164] Each set of telescopic arm devices 382 includes a telescopic arm 3820, a fixed push rod 3822, and a movable push rod 3824. One end of the telescopic arm 3820 is fixedly attached to the mounting platform 380, and the other end can be horizontally extended or retracted relative to the mounting platform 380. The telescopic arm 382 includes an inner arm, a middle arm, and an outer arm, and the outer arm is fixedly attached to the mounting platform 380 and is located on one side of the pallet 22. The middle arm is movably attached to one side of the outer arm closer to the pallet 22, and can be extended or retracted relative to the outer arm, and the middle arm is driven by a sprocket transmission mechanism. The inner arm is movably attached to one side of the middle arm closer to the pallet 22, and the inner arm can be extended or retracted relative to the middle arm. The inner arm is driven by a movable pulley mechanism, and a pulley of the movable pulley mechanism is attached to the inner arm. Both ends of the sliding rope of the movable pulley are attached to the outer arm and the middle arm, respectively. When the middle arm extends or retracts relative to the outer arm, the inner arm moves in the same direction as the outer arm, and the moving speed of the inner arm is twice that of the middle arm.

[0165] A fixed push rod 3822 protrudes from the other end of the telescopic arm 3820, and a movable push rod 3824 is movably attached to the other end of the telescopic arm 3820. When the telescopic arm 3820 extends or retracts, the movable push rod 3824 and the fixed push rod 3822 extend or retract together. The movable push rod 3824 can retract to or protrude from the other end of the telescopic arm 3820 and can be directly driven by a motor. The movable push rod 3824 and the fixed push rod 3822 protruding from the other end of the telescopic arm 3820 are spaced apart, and the distance between them is used to accommodate cargo boxes. In the extension direction of the telescopic arm 3820, the movable push rod 3824 protruding from the other end of the telescopic arm 3820 is located in front of the fixed push rod 3822. The movable push rod 3824 and the fixed push rod 3822 protruding from the other end of the telescopic arm 3820 are located on the same side of the telescopic arm 3820 as the pallet 22, and are both higher than the position of the pallet 22.

[0166] When the fork 38 removes a cargo box from the pallet 22 and stores it in an empty position on the shelf 240 or warehouse shelf, the movable push rod 3824 is retracted to the other end of the telescopic arm 3820, causing the telescopic arm 3820 to extend, and the fixed push rod 3822 pushes the cargo box stored on the pallet 22 from the pallet 22 to the shelf 240 or warehouse shelf, and after the cargo box is pushed to the empty position on the shelf 240 or warehouse shelf, the telescopic arm 3820 retracts.

[0167] When the fork 38 removes a cargo box from the shelf 220 or warehouse shelf and stores it on the pallet 22, the movable push rod 3824 is in a state of retracting to the other end of the telescopic arm 3820, the telescopic arm 3820 is extended, and the movable push rod 3824 passes over the cargo box, and after passing over the cargo box, the movable push rod 3824 protrudes from the other end of the telescopic arm 3820, and then the telescopic arm 3820 retracts, and the movable push rod 3824 protruding from the telescopic arm 3820 pulls the cargo box onto the pallet 22, and after pulling the cargo box onto the pallet 22, the movable push rod 3824 retracts to the other end of the telescopic arm 3820.

[0168] 5 , the cargo box recognition component 50 includes a camera attached to the fork 38, with the lens orientation of the camera aligned with the extension direction of the telescopic arm 3820, and used to capture image information of the warehouse shelf or cargo box. The camera is fixedly attached to the mounting platform 380, and in some other embodiments, the camera is attached to the other end of the telescopic arm 3820 and can be extended together with the other end of the telescopic arm 3820.

[0169] By obtaining image information of the warehouse shelf, it is determined whether an empty position on the warehouse shelf or a cargo box stored on the warehouse shelf is located at the same height as the forks 38. Because the position of the shelf is relatively fixed, whether an empty position on the shelf or a cargo box stored on the shelf is located at the same height as the forks 38 can be realized by setting the parameters of the lifting drive device and the rotation drive device by a program, which is more efficient; of course, an empty position on the shelf or a cargo box stored on the shelf can also be recognized by a cargo box recognition component.

[0170] In some embodiments, two-dimensional codes are attached to warehouse shelves, and the forks 38 are initially positioned at the lowest position and gradually rise, and the camera also starts scanning the two-dimensional codes from the lowest level. When a specified two-dimensional code is scanned, the forks 38 stop rising and falling, and at this time, an empty position on the warehouse shelf or a cargo box stored on the warehouse shelf is positioned at the same height as the forks 38. Two-dimensional codes are also attached to the cargo boxes, and after a cargo box stored on the warehouse shelf is positioned at the same height as the forks 38, the forks 38 rotate, and the camera scans the two-dimensional code on the cargo box. When the position of the two-dimensional code on the cargo box is completely or centrally located in the field of view of the camera, the forks 38 stop rotating, and at this time, the forks 38 are aligned with the cargo box stored on the warehouse shelf.

[0171] Referring to FIG. 6 , the cargo transfer component 40 is mounted on a mounting platform 380 and can rotate around a vertical axis together with the forks 38, thereby bringing the cargo transfer component 40 close to the cargo boxes stored on the shelf 240; the cargo transfer component 40 can also move vertically together with the forks 38, thereby bringing the cargo transfer component 40 to the same height as the cargo boxes stored on the shelf 240; either of the cargo transfer component 40 being close to the cargo boxes stored on the shelf 240 or being at the same height as the cargo boxes stored on the shelf 240 is advantageous for the cargo transfer component 40 to retrieve cargo from the cargo boxes stored on the shelf 240 or to store the retrieved cargo in the cargo boxes stored on the shelf 240.

[0172] The following describes some specific embodiments of the cargo forwarding component 40. It should be noted that the following embodiments are merely exemplary, and other cargo forwarding components that can meet at least one of the above cases are all within the scope of protection of the present application.

[0173] The cargo transfer component 40 includes a multi-dimensional mechanical joint 42 and an end effector 44. One end of the multi-dimensional mechanical joint 42 is attached to a mounting platform 380 and is located on the same side of the mounting platform 380 as the pallet 22, and the other end of the multi-dimensional mechanical joint 42 can perform multi-angle rotation and multi-directional movement relative to the mounting platform 380. The multi-dimensional mechanical joint 42 includes a rotating base 420, a first rotating arm 422, a second rotating arm 424, and a three-axis gimbal 426. The rotating base 420 has a first rotation axis O1. One end of the first rotating arm 422 is movably attached to the rotating base 420, and the first rotating arm 422 can rotate relative to the rotating base 420 around a second rotation axis O2, which is perpendicular to the first rotation axis O1. One end of the second rotating arm 424 is movably attached to the other end of the first rotating arm 422, and the second rotating arm 424 can rotate relative to the other end of the first rotating arm 422 about a third rotation axis O3, which is parallel to the second rotation axis O2. A three-axis gimbal 426 is attached to the other end of the second rotating arm 424 and is used to mount the end execution device 44. The rotating base 420 is attached to the mounting platform 380 and is located on the same side of the mounting platform 380 as the pallet 22, with the first rotation axis O1 extending vertically and the second rotation axis O2 extending horizontally.

[0174] The terminal execution device 44 is used to grip or release cargo and is attached to the other end of the multi-dimensional mechanical joint 42. In this embodiment, the terminal execution device 44 is a suction cup device that grips cargo by suction. Depending on the actual situation, the terminal execution device 44 is not limited to a suction cup device, and terminal execution devices 44 adapted to different types of cargo can be arranged according to the type of cargo. For example, a suction cup device is adapted to grip boxed cargo with a relatively flat surface, while a mechanical claw is adapted to grip cargo with an loose shape, such as clothing.

[0175] The process by which the cargo forwarding component 40 retrieves cargo from the cargo boxes stored on the pallet 22 is specifically as follows: After the multi-dimensional mechanical joint 42 drives the end execution device 44 to move it into the cargo box stored on the pallet 22 or shelf 240, the end execution device 44 grabs the cargo and the multi-dimensional mechanical joint 42 drives the end execution device 44 to reset.

[0176] The cargo transfer component 40 specifically stores the removed cargo in a cargo box stored on the pallet 22 or a cargo box stored on the shelf 240 as follows: the multi-dimensional mechanical joint 42 drives the end execution device 44 to move the removed cargo above the cargo box stored on the shelf 240 or the cargo box stored on the pallet 22, and then the end execution device 44 releases the cargo, causing the cargo to fall into the cargo box stored on the shelf 240 or the cargo box stored on the pallet 22. Depending on the actual situation, for example, if the cargo is a fragile item, in order to avoid damage to the cargo due to dropping, the multi-dimensional mechanical joint 42 drives the end execution device 44 to move the removed cargo above the cargo box stored on the shelf 240 or the cargo box stored on the pallet 22, and then the end execution device 44 releases the cargo, causing the cargo to fall.

[0177] Referring to FIGS. 2 and 6, the cargo recognition component 60 includes a first cargo recognition device 62, a second cargo recognition device 64, and a third cargo recognition device 66.

[0178] The first cargo recognition device 62 and the second cargo recognition device 64 are both used to recognize cargo in cargo boxes stored on the pallet 22.

[0179] The first cargo recognition device 62 is fixedly attached to the mounting platform 380. The first cargo recognition device 62 includes a first camera 620 and a camera bracket 622. The camera bracket 622 is rod-shaped and is located on the same side of the mounting platform 380 as the pallet 22, with one end of the camera bracket 622 fixedly attached to the mounting platform 380 and the other end of the camera bracket 622 being higher than the pallet 22. The first camera 620 is attached to the other end of the camera bracket 622 and is used to acquire image information of cargo in cargo boxes stored on the pallet 22 so as to recognize cargo in the cargo boxes stored on the pallet 22.

[0180] The second cargo recognition device 64 is fixedly attached to the other end of the multidimensional mechanical joint 42 and is movable together with the other end of the multidimensional mechanical joint 42. The second cargo recognition device 64 includes a second camera. The second camera is attached to the other end of the multidimensional mechanical joint 42 and is movable together with the other end of the multidimensional mechanical joint 42 and is used to acquire cargo image information within the cargo boxes stored on the pallet 22 so as to recognize cargo within the cargo boxes stored on the pallet 22.

[0181] The second cargo recognition device 64 is further used to recognize cargo in cargo boxes stored on the storage shelf 24. Specifically, the second camera moves together with the other end of the multidimensional mechanical joint 42 and is used to acquire cargo image information in the cargo box stored on the shelf 240 so as to recognize the cargo in the cargo box stored on the shelf 240.

[0182] The third cargo recognition device 66 is used to recognize cargo in cargo boxes stored on the storage shelves. The third cargo recognition device 66 includes a third camera 660. The multiple third cameras 660 are attached to the upright brackets 19 so as to be distributed along the vertical direction, and each third camera 660 is used to obtain cargo image information in the cargo box stored on one corresponding shelf 240 so as to recognize the cargo in the cargo box stored on the corresponding shelf 240. Each third camera 660 can be hung on one corresponding beam 192, and the corresponding shelf 240 is located below the beam 192.

[0183] Here, we will explain in detail how each cargo recognition device (i.e., the first, second, and third cargo recognition devices) recognizes cargo in a cargo box. The cargo image information includes cargo SKU (stock keeping unit) information and cargo location information. A barcode containing SKU information is affixed to the cargo, and by scanning the barcode within the camera's field of view, a barcode containing the specified SKU information is marked. The cargo to which the barcode is affixed is the cargo to be picked up (in a cargo box stored on a pallet) or stored (in a cargo box stored on a shelf). Since the position of the cargo box on the pallet or shelf is basically fixed, the position of the cargo to be removed or placed in the cargo box is determined according to the position of the marked barcode within the camera's field of view, and at this point, the cargo recognition device completes the task of recognizing the cargo in the cargo box.

[0184] Based on the principles by which the above cargo recognition devices recognize cargo, the differences between the first, second, and third cargo recognition devices will now be further described. The first and second cargo recognition devices are both used to recognize cargo in cargo boxes stored on pallets. However, the first cargo recognition device is fixed to a mounting base. When the cargo locations within the cargo box are relatively dispersed, the first camera of the first cargo recognition device can more accurately capture the positional information of each cargo item within the cargo box. However, when the cargo locations within the cargo box are relatively concentrated, the accuracy of the first camera capturing the positional information of each cargo item within the cargo box decreases. The third cargo recognition device, like the first cargo recognition device, is fixed to a storage shelf. When the cargo locations within the cargo boxes stored on the shelf are relatively dispersed, the third camera of the third cargo recognition device can more accurately capture cargo image information within the cargo box. However, when the cargo locations within the cargo boxes stored on the shelf are relatively concentrated, the accuracy of the third camera capturing the positional information of each cargo item within the cargo box decreases. Therefore, by attaching the second cargo recognition device to the other end of the robot arm, the second cargo recognition device moves together with the other end of the robot arm, and the robot arm drives and moves the second cargo recognition device to approach each cargo in the cargo box, thereby increasing the accuracy with which the second camera of the second cargo recognition device acquires image information of each cargo in the cargo box. Therefore, in some other embodiments, when the cargo positions in the cargo box are relatively dispersed, the second cargo recognition device can be omitted.

[0185] The first and second cargo recognition devices are both used to recognize cargo in cargo boxes stored on pallets. To improve recognition efficiency, the first cargo recognition device recognizes cargo in the cargo box before the second cargo recognition device. If the first cargo recognition device has already recognized the location information and SKU information of the cargo in the cargo box (when the locations of the cargo are relatively dispersed), the second cargo recognition device only recognizes the SKU information of the cargo in the cargo box according to the location information and SKU information provided by the first cargo recognition device. If matching SKU information is found, the cargo location information can be determined, eliminating the need to recognize the cargo location information again. If the first cargo recognition device does not recognize the cargo location information, the second cargo recognition device must recognize the cargo location information and SKU information. The second and third cargo recognition devices are both used to recognize cargo in cargo boxes stored in storage components. This is similar to the cooperation between the first and second cargo recognition devices described above, and will not be described again here.

[0186] The second cargo recognition device further recognizes the SKU information of the cargo picked by the terminal execution device, and matches the specified SKU information to determine whether the terminal execution device picks up the wrong cargo. Based on this, by arranging multiple shelves, it is possible to further select one stored cargo box from the multiple shelves and store only the wrong cargo.

[0187] Referring to FIG. 7, an embodiment of the present application provides a transport robot 200, which is basically the same as the transport robot 100 provided by the embodiment shown in FIG. 1, except that the mounting position of the cargo transfer component 40 is different.

[0188] A guide pillar for guiding the cargo transfer component 40 along the vertical direction is installed on one side of one of the uprights 190 opposite to the other uprights 190. The two guide pillars are installed in parallel and are used together to guide the cargo transfer component 40 to move along the vertical direction relative to the upright bracket 19.

[0189] The standing bracket further includes a lifting platform 70. Two grippers are installed on the lifting platform 70, each gripper is mounted on a corresponding guide post, and the lifting platform 70 can move vertically relative to the standing bracket 19. The rotating base 420 is attached laterally to the lifting platform 70, and the first rotation axis O1 is installed horizontally.

[0190] When the cargo transfer component 40 needs to remove cargo from a cargo box stored on the pallet 22 or store the removed cargo in a cargo box stored on the pallet 22, the lifting platform 70 moves along the vertical direction, thereby positioning the cargo transfer component 40 supported by the lifting platform at the same height as the cargo box stored on the pallet 22, which is advantageous for the cargo transfer component 40 to remove cargo from the cargo box stored on the pallet 22 or store the removed cargo in the cargo box stored on the pallet 22.

[0191] It should be understood that, according to the actual situation, the number of the cargo transfer components 40 may be two, and the two cargo transfer components 40 are installed on both sides of the standing bracket.

[0192] When the cargo transfer component 40 needs to be positioned at the same height as the cargo boxes stored on the shelf 240, it can be raised and lowered by the lifting platform 70. Since the cargo transfer component 40 is attached to the lifting platform on the upright bracket, it is relatively closer to the cargo boxes stored on the shelf 240 compared to the first embodiment.

[0193] Referring to FIG. 8, the embodiment of the present application provides a transport robot 300, which is basically the same as the transport robot 100 provided by the embodiment shown in FIG. 1, except that the telescopic arm device of the cargo transport component 30 is removed, and the cargo box pick-up and placement function is realized by the cargo transfer component 40. That is, the cargo transfer component 40 is used to pick up cargo boxes from one of the warehouse shelves and the pallets 22 and store them in the other, and to pick up cargo from one of the cargo boxes stored on the pallets 22 and the cargo boxes stored on the storage shelves 24 and store them in the other.

[0194] The end execution device 44 includes a first end execution device 440 and a second end execution device 442. The first end execution device 440 and the second end execution device 442 are switchably connected to the other end of the multi-dimensional mechanical joint 42, and the first end execution device 440 is used to grab cargo, and the second end execution device 442 is used to grab cargo boxes.

[0195] It should be understood that, depending on the actual situation, the first terminal execution device may be used to grab the cargo box, and because the standards of the cargo box are different, it can be matched with the terminal execution device of the corresponding model number, and similarly, the second terminal execution device may also be used to grab the cargo.

[0196] The first end execution device 440 is a suction cup device used to suck cargo, and the second end execution device 442 is a mechanical claw used to grab cargo boxes. Depending on the actual situation, the first end execution device 440 or the second end execution device 442 may be replaced with an execution device such as a hook or a shovel.

[0197] The cargo box recognition component can be omitted and, in this embodiment, the second cargo recognition device 64 instead performs the functionality of recognizing cargo boxes.

[0198] A first storage bracket 3800 and a second storage bracket 3802 are installed on the mounting platform 380, the first storage bracket being used to store the first terminal execution device 440 or the second terminal execution device 442, and the second storage bracket being used to store the first terminal execution device 440 or the second terminal execution device 442. By installing the first and second storage brackets 3800 and 3802, the first and second terminal execution devices 440 and 442 can be stored instead.

[0199] The mounting platform 380 moves up and down vertically to position the cargo transfer component 40 supported by the mounting platform 380 at the same height as the cargo boxes stored on the warehouse shelf or shelf 240, and the mounting platform 380 rotates vertically to position the cargo transfer component 40 in close proximity to the cargo boxes stored on the warehouse shelf or shelf 240, and both of the cargo transfer component 40 being at the same height as the cargo boxes stored on the warehouse shelf or shelf 240 and being in close proximity to the cargo boxes stored on the warehouse shelf or shelf 240 are advantageous for the cargo transfer component 40 to retrieve cargo boxes from or store cargo boxes on the warehouse shelf or storage shelf 24.

[0200] The cargo forwarding component 40 specifically takes out cargo boxes stored on the warehouse shelves or storage shelves 24 and stores them on the pallets 22 as follows: The multi-dimensional mechanical joint 42 stores the first end execution device 442 in the first storage bracket 3800 or the second storage bracket 3802, and the second end execution device 440 stored in the first storage bracket 3800 or the second storage bracket 3802 is assembled to the multi-dimensional mechanical joint 42. The multi-dimensional mechanical joint 42 drives the second end execution device 442 to approach a cargo box stored on the warehouse shelf or shelf board 240, the second end execution device 442 grabs the cargo box stored on the warehouse shelf or shelf board 240, the multi-dimensional mechanical joint 42 drives the second end execution device 442 to approach the pallet 22, the second end execution device 442 releases the cargo box and stores it on the pallet 22.

[0201] The process by which the cargo forwarding component 40 retrieves cargo boxes stored on the pallet 22 and stores them in vacant positions on the warehouse shelf or storage shelf is specifically as follows: The multi-dimensional mechanical joint 42 stores the first end execution device 442 in the first storage bracket 3800 or the second storage bracket 3802, and the second end execution device 440 stored in the first storage bracket 3800 or the second storage bracket 3802 is assembled to the multi-dimensional mechanical joint 42. The multi-dimensional mechanical joint 42 drives the second end execution device 442 to approach a cargo box stored on the pallet 22, and the second end execution device 442 grabs the cargo box stored on the pallet 24. The multi-dimensional mechanical joint 42 drives the second end execution device 442 to approach an empty position on the warehouse shelf or shelf board 240, and the second end execution device 442 releases the cargo box and stores it in the empty position on the warehouse shelf or shelf board 240. The multi-dimensional mechanical joint 42 drives the second end execution device 442 to reset.

[0202] The process by which the cargo transfer component 40 retrieves cargo from a cargo box stored in a pallet 22 or a cargo box stored in a storage shelf 24 is specifically as follows: The multi-dimensional mechanical joint 42 stores the second end execution device 442 in the first storage bracket 3800 or the second storage bracket 3802, and the first end execution device 440 stored in the first storage bracket 3800 or the second storage bracket 3802 is assembled to the multi-dimensional mechanical joint 42. The multi-dimensional mechanical joint 42 drives the first end execution device 440 to move toward a cargo box stored on a pallet 22 or a cargo box stored on a shelf 240, the first end execution device 440 grabs the cargo, and the multi-dimensional mechanical joint 42 drives the first end execution device 440 to extend from the cargo box.

[0203] The process by which the cargo transfer component 40 stores the removed cargo in a cargo box stored on the pallet 22 or a cargo box stored on the shelf 240 is specifically as follows: the multi-dimensional mechanical joint 42 drives the first end execution device 42 to move above the cargo box stored on the pallet 22 or the cargo box stored on the shelf 240, and the first end execution device 42 releases the cargo, causing the cargo to fall into the cargo box stored on the pallet 22 or the cargo box stored on the shelf 240.

[0204] Compared with the prior art, the transport robots 100, 200, and 300 provided in Examples 1, 2, and 3 of the present application are configured with a transport system that allows them to pick up cargo from cargo boxes stored on pallets, and after the cargo is picked up, the cargo boxes are returned to the warehouse shelves, making the pickup method more flexible and efficient.

[0205] Compared with the prior art, the transport robot provided by the embodiments of the present application is able to pick up cargo from cargo boxes stored on pallets by arranging a cargo transfer component, which makes the pickup method more flexible and efficient.

[0206] To solve the technical problems in the prior art 2, the embodiment of the present application provides a pick-up method, which performs the pick-up operation through the cargo transfer component, improves the pick-up efficiency, and increases the degree of automation of cargo selection.

[0207] To solve the technical problems in the prior art, the embodiments of the present application provide the following technical solutions:

[0208] Cargo sorting is the process of picking up ordered cargo from a warehouse or other suitable cargo storage location, completing packaging, and forming final order packages for shipping. In the cargo sorting process, the efficiency of cargo picking and placement is very important to sorting efficiency, and the efficiency of cargo picking and placement is determined by the number of ordered cargoes picked and placed within a unit time. The more ordered cargoes are processed within a unit time, the higher the efficiency of cargo picking and placement.

[0209] The final cargo sorting efficiency may be affected by many factors, such as the order delivery method, the method of assigning robot pickup tasks, and the method of robot picking and placing cargo. Optimizing the steps involved in the robot's cargo pick-up and placement process can all have a beneficial effect on improving cargo sorting efficiency. For simplicity's sake, in the description herein, the target cargo corresponding to a pickup task is taken as the cargo to be picked up in a cargo box, and no restrictions are placed on other pickup targets.

[0210] In the intelligent cargo pick-up and placement process, the same goods can be generally stored in the same cargo box. Each cargo box storing goods is placed at a specific location in the warehouse according to a specific storage rule, and the goods stored in the cargo box are marked by features on the outside of the cargo box (for example, marks such as two-dimensional codes or barcodes).

[0211] 9 shows an application environment provided by an embodiment of the present application. As shown in FIG. 9, the application environment includes an intelligent warehousing system consisting of a processing terminal 10 and a robot 20, and a warehouse 30 that uses the intelligent warehousing system to store different cargoes, where the warehouse 30 may include shelves for storing cargo boxes.

[0212] The processing terminal 10 can be any kind of electronic computing platform or device as the control core of the entire intelligent warehouse system. The processing terminal 10 can be equipped with corresponding storage space or computing power to provide one or more application services or functions according to actual needs, such as receiving orders to be shipped, dispatching orders, or controlling robots to perform pick-up and placement tasks.

[0213] 10a is a structural block diagram of an electronic computing platform for realizing all or part of the functions of the processing terminal 10. As shown in FIG.

[0214] A communication connection between the processor 110 and the memory 120 is established via a bus.

[0215] Processor 110 may be any type of processor with one or more processing cores. Processor 110 can perform single-threaded or multi-threaded operations and is used to parse instructions and perform operations such as retrieving data, performing logical functions, and transmitting computation results.

[0216] Memory 120 may be a non-volatile computer-readable storage medium, such as at least one of disk memory, flash, distributed storage located remotely from processor 110, or other non-volatile solid-state memory.

[0217] The memory 120 may have a program storage area and is used to store non-volatile computer-executable program instructions (which may be referred to in some alternative embodiments as "non-volatile software programs") that are called by the processor 110 to cause the processor 110 to perform one or more method steps, such as performing one or more steps of the pickup mission assignment method provided by an embodiment of the present invention. The memory 120 may further have a data storage area and is used to store calculation results output from the processor 110.

[0218] In order to realize a communication connection between the processing terminal 10 and the robot 20, the processing terminal may include a communication module 130, and establish a communication connection with a device such as a robot via the communication module 130, and the communication connection may be a wired connection or a wireless connection.

[0219] The robot 20 is an automated device equipped with a traveling mechanism, capable of moving within a warehouse, transporting cargo boxes and performing pick-up and placement operations, and may be, for example, a transport robot, an AGV vehicle, etc. The traveling mechanism may employ any suitable type of power system, for example, it may be driven by electricity.

[0220] The robot 20 has one or more functional indexes, including, but not limited to, payload (i.e., the maximum number of cargo boxes that can be loaded at one time), charging distance, guidance form, cargo box pick-up and placement speed, and driving speed.

[0221] The warehouse 30 is an area used to store cargo boxes. For ease of management, multiple shelves may be installed in the warehouse 30, and multiple identical or different cargo boxes may be arranged on each shelf according to specific arrangement rules.

[0222] As shown in Figure 9, the space between these shelves is divided into multiple lanes for the robot 20 to enter. After the robot 20 enters the lane, it takes out or returns a specific cargo box (e.g., cargo box 1, cargo box 2, or cargo box 3, etc.). The robot can enter and exit the lane from both ends of the lane. Here, the openings located at both ends of the lane are called "lane openings," and may be the exit or entrance of the robot 20.

[0223] In some embodiments, some lanes are oriented in the same direction, such as lane 1 and lane 2 shown in Figure 9, but the lane entrances between them are opposite, allowing the robot 20 to pass directly through. Here, these two lanes are referred to as "adjacent lanes." That is, the robot 20 can enter directly from lane 1 to its adjacent lane, lane 2, or from lane 2 to its adjacent lane, lane 1, without having to turn.

[0224] The cargo stored in cargo boxes in the warehouse 30 is managed in units of stock keeping units (SKUs). A stock keeping unit is a basic unit that controls inventory measurement or storage, and may be a piece, disk, box, etc. (depending on the specific product). The same cargo may belong to different SKUs depending on the manufacturing date, size, color, etc.

[0225] In the present embodiment, the processing terminal 10 must assign an appropriate pick-up task to each robot 20, and make the robot 20 move in the warehouse and carry the cargo boxes corresponding to the cargo to be picked up in the order.

[0226] Fig. 10b is a perspective view of a transport robot for all or part of the function of the robot 20. As shown in Fig. 10b, the transport robot 20 is used to retrieve cargo.

[0227] The transport robot 20 includes a moving component 210, a pallet 220, a cargo box transport component 230, a cargo transfer component 240, a cargo box recognition component 250, a cargo recognition component 260, and a storage shelf 270. The moving component 210 is equipped with the pallet 220, the cargo box transport component 230, the cargo transfer component 240, the cargo box recognition component 250, the cargo recognition component 260, and the storage shelf 270.

[0228] The moving component 210 is used to move on the warehouse floor and move the loaded pallet 220, cargo box transport component 230, cargo transfer component 240, cargo box recognition component 250, cargo recognition component 260, and storage shelf 270 together to approach the warehouse shelf.

[0229] Pallets 220 and storage shelves 270 are each used to store cargo boxes. Cargo box recognition component 250 is used to recognize a storage location where a cargo box is located after movement component 210 approaches a warehouse shelf. Cargo box transport component 230 is used to retrieve a cargo box from a storage location recognized by cargo box recognition component 250 and store it on pallet 220, or to retrieve a cargo box from pallet 220 and store it on a warehouse shelf or storage shelf 270. Cargo recognition component 260 is used to recognize cargo in cargo boxes stored on pallet 220. Cargo transfer component 240 is used to retrieve cargo recognized by cargo recognition component 260 from cargo boxes stored on pallet 220.

[0230] The mobile component 210 can be positioned so that the cargo box transport component 230 can retrieve or place cargo boxes on remote warehouse shelves. In other embodiments, the warehouse shelves are maintained near the cargo box transport component 230, for example, the transport robot 20 is fixedly mounted to the ground near the warehouse shelves, and the mobile component 210 can be omitted.

[0231] By providing the storage shelf 270, the transport robot can pick up a large amount of cargo and store it in the storage shelf 270. In some other embodiments, the amount of cargo that the transport robot needs to pick up is small, and there is no need to provide the storage shelf 270. In this case, the storage shelf 270 can be omitted.

[0232] By deploying the cargo forwarding component 240, the cargo box transport component 230 retrieves cargo boxes from the storage shelves. After retrieving the cargo from the cargo boxes, the cargo box transport component 230 stores the cargo boxes on the storage shelves. This allows the transport robot 20 to retrieve the cargo from the cargo boxes, eliminating the need for employees to retrieve the cargo from the cargo boxes and improving cargo handling efficiency. In other embodiments, if the cargo is not recognized, the cargo forwarding component 240 can also retrieve cargo from cargo boxes stored on the pallet 220, in which case the cargo recognition component 260 can be omitted. For example, if the cargo stored in the cargo boxes is the same type of cargo and the cargo occupies a large area on the cargo box, such as clothing that can be spread flat on the cargo box, there is essentially no obstacle to the cargo forwarding component 240 retrieving that type of cargo. The cargo forwarding component 240 can simply randomly retrieve one item from the cargo boxes.

[0233] In some other embodiments, if the cargo box is not recognized, the cargo box transport component 230 may retrieve the cargo box from the warehouse shelf, and the cargo box recognition component 250 may be omitted. For example, the warehouse shelf may have only one storage location for storing the cargo box.

[0234] It should be noted that after the cargo box transport component 230 removes the cargo boxes from the storage position and stores them on the pallet 220, the cargo transfer component 240 is positioned so that the cargo transfer component 240 removes cargo from the cargo boxes stored on the pallet 220, eliminating the need for employees to remove the cargo from the cargo boxes and improving the efficiency of removing cargo.

[0235] The following describes some specific embodiments of the transport robot 100. It should be noted that the following embodiments are merely exemplary, and other transport robots that can satisfy at least one of the above cases are all within the scope of protection of the present application.

[0236] 10c, the moving component 210 includes a chassis 212, driven wheels 214, driving wheels 216, and a guidance device 218. The chassis 212 is formed by welding together profiles and plates, and is relatively flat and symmetrical with respect to a vertical plane of symmetry. A circuit module for controlling the operation of the moving component 210 is mounted inside the chassis 212. The four driven wheels 214 are attached to the bottom of the chassis 212, uniformly and symmetrically distributed on both ends of the chassis 212, and are used to jointly support the chassis 212. In this embodiment, the driven wheels 214 are universal wheels, but depending on the actual situation, the driven wheels 214 may have other wheel structures with steering function. The two driving wheels 216 are attached to the bottom of the chassis 212, symmetrically distributed on both ends of the chassis 212. The two drive wheels 216 are driven by two motors, respectively. Therefore, the rotation speeds of the two drive wheels 216 can be different, further realizing steering of the mobile component 210. When the rotation speeds of the two drive wheels 216 are the same, the mobile component 210 moves along a straight line. A guidance device 218 is attached to the bottom of the chassis 212 and guides the mobile component 210 to travel along a preset path. In this embodiment, the guidance device 218 is a video camera with a lens facing the ground. A large number of two-dimensional codes are attached to the ground of the warehouse. The video camera scans the two-dimensional codes to determine the current position of the mobile component 210, and the orientation of the mobile component 210 can be determined according to the previously scanned two-dimensional code. Depending on the actual situation, the two-dimensional code may be replaced with an identification code such as a barcode.

[0237] 10b, a standing bracket 219 is mounted on the top of the moving component 210, and the pallet 220, cargo box carrying component 230, cargo forwarding component 240, cargo box recognition component 250, and cargo recognition component 260 are all supported by the standing bracket 219. The standing bracket 219 includes a standing column 2190 and a beam 2192. The two standing columns 2190 are vertically symmetrical, and each standing column 2190 is provided with a guide groove extending along the vertical direction. The guide grooves of the two standing columns 2190 are used to jointly mount the cargo box carrying component 230 and guide the cargo box carrying component 230 to move along the vertical direction.

[0238] The beams 2192 are distributed horizontally and vertically, and are jointly supported by two uprights 2190 .

[0239] 10d and 10f, the pallet 220 is a horizontally placed plate that is fixedly attached to a cargo box carrying component 230.

[0240] The cargo boxes stored in the storage shelves 270 may be stored by the cargo box transport component 230, may be stored by an employee, or may be empty. In some other embodiments, the cargo forwarding component 240 places the removed cargo directly onto the storage shelves 270, eliminating the need to previously store cargo boxes on the storage shelves 270.

[0241] The storage shelf 270 is fixedly attached to one side of the upright bracket 219. The storage shelf 270 includes shelves 2701. The shelves 2701 are distributed vertically. Each shelf 2701 is used to store a cargo box and is supported by one corresponding beam 192. By arranging the shelves 2701 for storing cargo boxes, after the cargo transfer component 240 fills the cargo boxes stored on one shelf 2701, the cargo transfer component 240 subsequently stores the cargo boxes stored on another shelf 2701. It should be understood that depending on the actual situation, for example, when there is little cargo or the cargo is small relative to the cargo boxes, only one shelf 2701 may be provided.

[0242] 10e and 10f, the cargo box handling component 230 includes a lift drive 232, a mounting base 234, a rotation drive 236, and a fork 238.

[0243] The mounting base 234 is movably attached to the upright bracket 219 and can move relative to the upright bracket 219 along the vertical direction, and the lifting drive device 232 is used to drive the forks 238 to move relative to the upright bracket 219 along the vertical direction. The forks 238 are movably attached to the mounting base 234 and can rotate relative to the mounting base 234 around the vertical direction, and the rotation drive device 236 is used to drive the forks 238 to rotate relative to the mounting base 234 around the vertical direction. The forks 238 are used to remove a cargo box from a storage position on one of the shelves 2701 or warehouse shelves located at a specified height and a specified angle and store it on the pallet 220, or to remove a cargo box from the pallet 220 and store it on a storage position on one of the shelves 2701 or warehouse shelves located at a specified height and a specified angle.

[0244] The cargo box transport component 230 takes out cargo boxes stored on warehouse shelves or storage shelves and stores them on pallets as follows: The lifting drive device 232 drives the forks 238 to move along the vertical direction, thereby positioning the forks 238 at the same height as the cargo boxes stored on the warehouse shelves or shelves, and at the same time, the rotation drive device 236 drives the forks 238 to rotate in the vertical direction, thereby aligning the forks 238 with the cargo boxes stored on the warehouse shelves or shelves. After the forks 238 have finished lifting up and rotating, they remove the cargo boxes stored on the warehouse shelves or shelves 2701 and store them on the pallets 220.

[0245] The cargo box transport component 230 takes out cargo boxes stored on pallets and stores them on warehouse shelves or storage shelves as follows: The lifting drive device 232 drives the forks 238 to move along the vertical direction, so that the forks 238 are positioned at the same height as an empty position on a warehouse shelf or shelf plate, and at the same time, the rotation drive device 236 drives the forks 238 to rotate in the vertical direction, so that the forks 238 are positioned at an empty position on a warehouse shelf or shelf plate. After the forks 238 have finished lifting up and rotating, they remove the cargo boxes stored on the pallet 220 and store them on the warehouse shelf or storage shelf 270.

[0246] By providing the lifting drive device 232, the lifting drive device 232 drives the fork 238 supported by the mounting base 234 to move along the vertical direction, thereby allowing the fork 238 to take out or place cargo boxes on shelves 2701 or warehouse shelves of different heights, so that the warehouse shelves can be arranged in multiple layers and the vertical space utilization rate of the warehouse shelves can be improved, and the storage shelf 270 can be arranged in multiple layers, so that the storage shelf 270 can store multiple cargo boxes and the vertical space utilization rate of the storage shelf 270 can be improved. In other embodiments, when the storage shelf 270 and the warehouse shelf have only one layer as described above, the lifting drive device 232 can be omitted.

[0247] By providing the rotation drive unit 236, the rotation drive unit 236 drives the fork 238 to rotate vertically, allowing the fork 238 to pick up or place cargo boxes on warehouse shelves in different directions. This pickup mode of the fork 238 is more flexible and advantageous for picking up and placing cargo boxes in complex warehouse environments. In some other embodiments, the rotation drive unit 236 can be omitted. For example, cargo boxes in vacant positions on warehouse shelves or stored on warehouse shelves are always positioned in the pickup direction of the fork 238. For example, a rail dedicated to the moving component 210 is installed on the warehouse floor. After the moving component 210 approaches the warehouse shelf, cargo boxes in vacant positions on warehouse shelves or stored on warehouse shelves are positioned in the pickup direction of the fork 238. Since the shelf 2701 is part of the transport robot 100, the shelf 2701 can be positioned in the pickup direction of the fork 238.

[0248] The following describes some specific embodiments of the cargo box conveying component 230. It should be noted that the following forms are merely exemplary, and other cargo box conveying components that can meet at least one of the above cases are all within the scope of protection of the present application.

[0249] The mounting base 234 and the storage shelf 270 are located on two opposite sides of the upright bracket 219. The mounting base 234 is formed by assembling and welding a profile and a plate. Two sliding parts are installed on the mounting base 234, and each sliding part is installed with a corresponding sliding groove and can move along the sliding groove.

[0250] The lifting drive device 232 includes two sets of first sprocket mechanisms, a transmission shaft, and a lifting drive motor. Each set of first sprocket mechanisms is mounted on a corresponding upright, and both ends of the transmission shaft are fixed coaxially with the drive wheels of the first sprocket mechanisms of the two sets. The mounting bases are fixedly connected to the chains of the first sprocket mechanisms of the two sets. The lifting drive motor drives and rotates the drive shaft, which synchronizes the synchronous movement of the two sets of sprockets and further synchronizes the movement of the mounting base along the vertical direction.

[0251] It should be understood that, depending on the actual situation, the first sprocket mechanism may be replaced by a pulley mechanism, a gear rack transmission mechanism, etc.

[0252] The rotary drive device 236 includes a second sprocket mechanism and a rotary drive motor. A drive wheel of the second sprocket mechanism is rotatably attached to the fork 38, and a transmission wheel of the second sprocket mechanism is fixedly attached to the mounting base 234. The rotary drive motor drives and rotates the drive wheel, which in turn rotates the fork 238 in the vertical direction in conjunction with the drive wheel.

[0253] It should be understood that depending on the actual situation, the second sprocket mechanism may be replaced by a pulley mechanism, a gear group, etc.

[0254] The fork 238 includes a mounting platform 2380 and a telescopic arm device 2382, which is attached to the mounting platform 2380. The mounting platform 2380 may be swivel-mounted on top of the mounting base 234, allowing the entire fork 238 to rotate vertically relative to the mounting base 234. The pallet 220 is fixedly attached to the mounting platform 2380, and the telescopic arm device 2382 pushes a cargo box stored on the pallet 220 to an empty position on the shelf 2701 or storage shelf, or pulls a cargo box stored on the shelf 2701 or storage shelf onto the pallet 220. In some other embodiments, the telescopic arm device 2382 moves the cargo box in a lifting or grabbing manner.

[0255] The pair of telescopic arm devices 2382 are respectively installed symmetrically on both sides of the pallet 220, and the pair of telescopic arm devices 2382 work in cooperation and are used to jointly push or pull the cargo. Depending on the actual situation, there may be only one telescopic arm device 2382.

[0256] Each set of telescopic arm devices 2382 includes a telescopic arm 23820, a fixed push rod 23822, and a movable push rod 23824. One end of the telescopic arm 23820 is fixedly attached to the mounting platform 2380, and the other end can be horizontally extended or retracted relative to the mounting platform 2380. The telescopic arm 2382 includes an inner arm, a middle arm, and an outer arm, and the outer arm is fixedly attached to the mounting platform 2380 and is located on one side of the pallet 220. The middle arm is movably attached to one side of the outer arm closer to the pallet 220, and can be extended or retracted relative to the outer arm, and the middle arm is driven by a sprocket transmission mechanism. The inner arm is movably attached to one side of the middle arm closer to the pallet 220, and the inner arm can be extended or retracted relative to the middle arm. The inner arm is driven by a moving pulley mechanism, and a pulley of the moving pulley mechanism is attached to the inner arm. Both ends of the sliding rope of the moving pulley are attached to the outer arm and the middle arm, respectively. When the middle arm extends or retracts relative to the outer arm, the inner arm moves in the same direction as the outer arm, and the moving speed of the inner arm is twice that of the middle arm.

[0257] A fixed push rod 23822 protrudes from the other end of the telescopic arm 23820, and a movable push rod 23824 is movably attached to the other end of the telescopic arm 23820. When the telescopic arm 23820 extends or retracts, the movable push rod 23824 and the fixed push rod 23822 extend or retract together. The movable push rod 23824 can retract or protrude from the other end of the telescopic arm 23820 and can be directly driven by a motor. The movable push rod 23824 protruding from the other end of the telescopic arm 23820 is spaced from the fixed push rod 23822, and the distance between them is used to accommodate cargo boxes. In the extension direction of the telescopic arm 23820, the movable push rod 23824 protruding from the other end of the telescopic arm 23820 is located in front of the fixed push rod 23822. The movable push rod 23824 and the fixed push rod 23822 protruding from the other end of the telescopic arm 23820 are both located on the same side of the telescopic arm 23820 as the pallet 220 and are higher than the position of the pallet 220.

[0258] When the fork 238 removes a cargo box from the pallet 220 and stores it in an empty position on the shelf 2701 or warehouse shelf, the movable push rod 23824 is retracted to the other end of the telescopic arm 23820, the telescopic arm 23820 is extended, and the fixed push rod 23822 pushes the cargo box stored on the pallet 220 from the pallet 220 to the shelf 2701 or warehouse shelf, and after pushing the cargo box to the empty position on the shelf 2701 or warehouse shelf, the telescopic arm 23820 is retracted.

[0259] When the fork 238 removes a cargo box from the shelf 2701 or warehouse shelf and stores it on the pallet 220, the movable push rod 23824 is retracted to the other end of the telescopic arm 23820, the telescopic arm 23820 is extended, the movable push rod 23824 passes over the cargo box, and after the movable push rod 23824 passes over the cargo box, it protrudes from the other end of the telescopic arm 23820, and then the telescopic arm 23820 is retracted, and the movable push rod 23824 protruding from the telescopic arm 23820 pulls the cargo box towards the pallet 220, and after pulling the cargo box towards the pallet 220, the movable push rod 23824 retracts to the other end of the telescopic arm 23820.

[0260] 10f, the cargo box recognition component 250 includes a camera attached to the fork 238, with the lens orientation of the camera aligned with the extension direction of the telescopic arm 23820, and used to capture image information of the warehouse shelf or cargo box. The camera is fixedly attached to the mounting platform 2380, and in some other embodiments, the camera is attached to the other end of the telescopic arm 23820 and can be extended together with the other end of the telescopic arm 23820.

[0261] By obtaining image information of the warehouse shelf, it is determined whether an empty position on the warehouse shelf or a cargo box stored on the warehouse shelf is located at the same height as the fork 238. Because the position of the shelf is relatively fixed, whether an empty position on the shelf or a cargo box stored on the shelf is located at the same height as the fork 238 can be realized by setting the parameters of the lifting drive device and the rotation drive device by a program, which is more efficient; of course, an empty position on the shelf or a cargo box stored on the shelf can also be recognized by a cargo box recognition component.

[0262] In some embodiments, two-dimensional codes are attached to the warehouse shelves, and the forks 238 are initially positioned at the lowest position and gradually rise, with the camera starting to scan the two-dimensional codes from the lowest level. When the specified two-dimensional code is scanned, the forks 238 stop rising and falling, and at this point, an empty position on the warehouse shelf or a cargo box stored on the warehouse shelf is positioned at the same height as the forks. Two-dimensional codes are also attached to the cargo boxes, and after the cargo box stored on the warehouse shelf is positioned at the same height as the forks 238, the forks 238 are rotated, and the camera scans the two-dimensional code on the cargo box. When the position of the two-dimensional code on the cargo box is completely or centrally located within the field of view of the camera, the forks 238 stop rotating, and at this point, the forks 238 are aligned with the cargo box stored on the warehouse shelf.

[0263] 10g, cargo transfer component 240 is attached to mounting platform 2380 and can rotate around a vertical axis or move vertically together with fork 238, so that cargo boxes stored on shelf 2701 are positioned at the same height as cargo transfer component 240 or so that cargo transfer component 240 is adjacent to cargo boxes stored on shelf 2701. Cargo transfer component 240 includes a multi-dimensional mechanical joint 2402 and an end effector 2404. One end of multi-dimensional mechanical joint 2402 is attached to mounting platform 2380 and is located on the same side of mounting platform 2380 as pallet 220, and the other end of multi-dimensional mechanical joint 2402 can perform multi-angle rotation and multi-directional movement relative to mounting platform 2380. Multi-dimensional mechanical joint 2402 includes a rotating base 24020, a first rotating arm 24022, a second rotating arm 24024, and a three-axis gimbal 24026. The rotating base 24020 has a first rotation axis O1. One end of a first rotating arm 24022 is movably attached to the rotating base 24020, and the first rotating arm 24022 can rotate relative to the rotating base 24020 about a second rotation axis O2, which is perpendicular to the first rotation axis O1. One end of a second rotating arm 24024 is movably attached to the other end of the first rotating arm 24022, and the second rotating arm 24024 can rotate relative to the other end of the first rotating arm 24022 about a third rotation axis O3, which is parallel to the second rotation axis O2. A three-axis gimbal 24026 is attached to the other end of the second rotating arm 24024 and is used to mount the terminal execution device 2404. The rotating base 24020 is attached to the mounting platform 2380 and is located on the same side of the pallet 220 and the mounting platform 2380, with the first rotation axis O1 being located along the vertical direction and the second rotation axis O2 being located along the horizontal direction.

[0264] The terminal execution device 2404 is used to grab or release cargo, and is attached to the other end of the multi-dimensional mechanical joint 2402. In this embodiment, the terminal execution device 2404 is a suction cup device that grabs cargo by suction. Depending on the actual situation, the terminal execution device 2404 is not limited to a suction cup device, and terminal execution devices 2404 suitable for different types of cargo can be arranged according to the type of cargo. For example, a suction cup device is used to grab boxed cargo with a relatively flat surface, while a mechanical claw is used to grab cargo with an loose shape, such as clothing.

[0265] The cargo transfer component 240 specifically performs the process of removing cargo from a cargo box stored on the pallet 220 as follows: the multi-dimensional mechanical joint 2402 drives the end execution device 2404 to move the cargo box stored on the pallet 220; after the end execution device 2404 grabs the cargo, the multi-dimensional mechanical joint 2402 drives the end execution device 2404 to reset.

[0266] The cargo transfer component 240 specifically stores the removed cargo in a cargo box stored on the shelf 2701 as follows: the multi-dimensional mechanical joint 2402 drives the end execution device 2404 to move the cargo above the cargo box stored on the shelf 2701, and then the end execution device 2404 releases the cargo, causing the cargo to fall into the cargo box stored on the shelf 2701. Depending on the actual situation, for example, if the cargo is a fragile item, in order to prevent the cargo from being damaged by falling, the multi-dimensional mechanical joint 2402 drives the end execution device 2404 to move the cargo above the cargo box stored on the shelf 2701, and then the multi-dimensional mechanical joint 2402 drives the end execution device 2404 to extend the cargo into the cargo box stored on the shelf 2701, and then the end execution device 2404 releases the cargo, preventing the cargo from being damaged by falling.

[0267] 10d and 10g, the cargo recognition component 260 includes a first cargo recognition device 262, a second cargo recognition device 264, and a third cargo recognition device 266.

[0268] The first cargo recognition device 262 and the second cargo recognition device 264 are both used to recognize cargo in cargo boxes stored on the pallet 220.

[0269] The first cargo recognition device 262 is fixedly attached to the mounting platform 2380. The first cargo recognition device 262 includes a first camera 2620 and a camera bracket 2622. The camera bracket 2622 is rod-shaped and is located on the same side of the mounting platform 2380 as the pallet 220, with one end of the camera bracket 2622 fixedly attached to the mounting platform 2380 and the other end of the camera bracket 2622 being higher than the pallet 220. The first camera 2620 is attached to the other end of the camera bracket 2622 and is used to acquire image information of cargo in cargo boxes stored on the pallet 220 and recognize the cargo in the cargo boxes stored on the pallet 220.

[0270] The second cargo recognition device 264 is fixedly attached to the other end of the multidimensional mechanical joint 2402 and is movable together with the other end of the multidimensional mechanical joint 2402. The second cargo recognition device 264 includes a second camera. The second camera is attached to the other end of the multidimensional mechanical joint 2402 and is movable together with the other end of the multidimensional mechanical joint 2402, and is used to acquire cargo image information in cargo boxes stored on the pallet 220 and recognize the cargo in the cargo boxes stored on the pallet 220.

[0271] The second cargo recognition device 264 is further used to recognize cargo in cargo boxes stored on the storage shelf 270. Specifically, the second camera moves together with the other end of the multidimensional mechanical joint 2402, and is used to acquire cargo image information in the cargo boxes stored on the shelf 2701, and recognize the cargo in the cargo boxes stored on the shelf 2701.

[0272] The third cargo recognition device 266 is used to recognize cargo in cargo boxes stored on the storage shelves. The third cargo recognition device 266 includes a third camera 2660. The multiple third cameras 2660 are attached to the upright brackets 219 so as to be distributed along the vertical direction, and each third camera 2660 is used to obtain cargo image information in the cargo box stored on one of its corresponding shelves 2701 and recognize the cargo in the cargo box stored on the corresponding shelf 2701. Each third camera 2660 can be hung from one of its corresponding beams 2192, and the corresponding shelf 2701 is located below the beam 2192.

[0273] Here, we will explain in detail how each cargo recognition device (i.e., the above-mentioned cargo recognition devices Nos. 1, 2, and 3) recognizes cargo in a cargo box. The cargo image information includes cargo SKU (stock keeping unit) information and cargo location information. A barcode containing SKU information is affixed to the cargo, and by scanning the barcode within the camera's field of view, a barcode containing the specified SKU information is marked. The cargo to which the barcode is affixed is the cargo to be picked up (in a cargo box stored on a pallet) or stored (in a cargo box stored on a shelf). Since the position of the cargo box stored on a pallet or shelf is basically fixed, the position of the marked barcode within the camera's field of view is used to determine the position of the cargo to be picked up and placed in the cargo box. At this point, the cargo recognition device completes the task of recognizing the cargo in the cargo box.

[0274] Based on the principles of cargo recognition by the cargo recognition devices described above, the differences between the first, second, and third cargo recognition devices will now be further described. The first and second cargo recognition devices are both used to recognize cargo in cargo boxes stored on pallets. However, the first cargo recognition device is fixed to a mounting base. When the cargo locations within the cargo box are relatively dispersed, the first camera of the first cargo recognition device can more accurately capture the position information of each cargo in the cargo box. However, when the cargo locations within the cargo box are relatively concentrated, the accuracy of the first camera capturing the position information of each cargo in the cargo box decreases. The third cargo recognition device is fixed to a storage shelf. Like the first cargo recognition device, when the cargo locations within the cargo boxes stored on the shelf are relatively dispersed, the third camera of the third cargo recognition device can more accurately capture cargo image information within the cargo box. However, when the cargo locations within the cargo boxes stored on the shelf are relatively concentrated, the accuracy of the third camera capturing the position information of each cargo in the cargo box decreases. Therefore, by attaching the second cargo recognition device to the other end of the cargo forwarding component, the second cargo recognition device moves together with the other end of the cargo forwarding component, and the cargo forwarding component drives and moves the second cargo recognition device to move closer to each cargo in the cargo box, thereby improving the accuracy with which the second camera of the second cargo recognition device acquires each cargo image information in the cargo box. Therefore, in some other embodiments, when the cargo positions in the cargo box are relatively dispersed, the second cargo recognition device can be omitted.

[0275] Both the first and second cargo recognition devices are used to recognize cargo in cargo boxes stored on pallets. To improve recognition efficiency, the first cargo recognition device recognizes cargo in the cargo box before the second cargo recognition device. If the first cargo recognition device has already recognized the location information and SKU information of the cargo in the cargo box (when the locations of the cargo are relatively dispersed), the second cargo recognition device only needs to recognize the SKU information of the cargo in the cargo box according to the location information and SKU information provided by the first cargo recognition device. If matching SKU information is found, the cargo location information can be determined, eliminating the need to recognize the cargo location information again. If the first cargo recognition device does not recognize the cargo location information, the second cargo recognition device must recognize the cargo location information and SKU information. The second and third cargo recognition devices are both used to recognize cargo in cargo boxes stored in storage components. This is similar to the cooperation between the first and second cargo recognition devices described above, and will not be described again here.

[0276] The second cargo recognition device recognizes the SKU information of the cargo picked by the terminal execution device and matches it with the specified SKU information to determine whether the terminal execution device has picked up the wrong cargo. Based on this, by arranging multiple shelves, it is possible to select one stored cargo box from multiple shelves and store only the wrong cargo.

[0277] FIG. 11a is a structural schematic diagram of one transport robot 20 provided by an embodiment of the present application. In the embodiment of the present application, various components and their constituent parts of the transport robot 20 of the above embodiment can correspond to specific entity devices. For example, the cargo transport component 230 can include a fork, the cargo transfer component 260 can include a robotic arm, and the storage shelf 270 can be used to preset containers carrying various cargo, such as cargo boxes or bag baskets. The standing bracket 219 can be a standing bracket that supports the fork, the robotic arm, or the storage shelf, and the fork, the robotic arm, and the storage shelf can all be attached to the standing bracket. Referring to FIG. 11a, the transport robot 20 includes a cargo transfer component 201, a storage shelf 202, a standing bracket 203, and a fork 204. Wherein, the cargo transfer component 201 may be attached to the fork 204, and the fork 204 may be slidably connected to the upright bracket 203, so that the cargo transfer component 201 can move up and down on the upright bracket together with the fork 204; the cargo transfer component 201 may be slidably connected to the upright bracket 203, and the upright bracket 203 may include upright posts on both sides; when the cargo transfer component 201 is slidably connected to the upright bracket 203, there may be one or two cargo transfer components 201, each slidably connected to the upright posts of the upright bracket 203, so that the cargo transfer component 201 can move up and down on the upright posts; Figure 11b is a schematic diagram of the cargo transfer component 203 slidably connected to the upright bracket 203; and the storage shelf 202 is attached to the upright bracket 203, of which the storage shelf 202 may include multiple shelves, which are installed in layers on one side of the upright bracket 203, and the fork 204 is installed on the other side of the upright bracket 203.

[0278] 12 is a structural schematic diagram of another transport robot 20 provided by an embodiment of the present application. In the embodiment of the present application, various components and their constituent parts of the transport robot 20 of the above embodiment may correspond to specific entity devices. For example, the cargo transport component 230 may include a mounting platform, and the cargo transfer component 260 may include a robot arm. The storage shelf can be used to preset containers carrying various cargo, such as cargo boxes or bag baskets. The standing bracket 219 may be a standing bracket that supports the mounting platform, the cargo transfer component, or the storage shelf. The mounting platform, the cargo transfer component, and the storage shelf may all be attached to the standing bracket. Referring to FIG. 12, the transport robot 20 includes a cargo transfer component 201, a storage shelf 202, a standing bracket 203, and a mounting platform 205. Wherein, the cargo transfer component 201 may be mounted on a mounting platform 205, which is slidably connected to an upright bracket 203, so that the cargo transfer component 201 can move up and down on the upright bracket together with the mounting platform 205; the cargo transfer component 201 may also be slidably connected to the upright bracket 203, which may include upright posts on both sides; when the cargo transfer component 201 is slidably connected to the upright bracket 203, there may be one or two cargo transfer components 201, which are slidably connected to the upright posts of the upright bracket 203 respectively, so that the cargo transfer component 201 can move up and down on the upright posts; the storage shelf 202 is mounted on the upright bracket 203, of which the storage shelf 202 may include multiple shelves, which are installed in layers on one side of the upright bracket 203, and the mounting platform 205 is installed on the other side of the upright bracket 203.

[0279] If there are multiple storage shelves 202, the shelves can be divided into order cargo storage shelves and temporary cargo storage shelves, of which the order cargo storage shelves are used to store cargo to be picked up, and the cargo to be picked up can correspond to cargo ordered, and the temporary cargo storage shelves are used to store cargo other than orders, that is, cargo picked up and placed by the cargo forwarding component does not belong to the cargo to be picked up.

[0280] In this embodiment, unlike the forks 204, the mounting platform 205 cannot move the cargo box, and the cargo transfer component 201 can be used to move the cargo box to the mounting platform. The sliding mechanism moves the mounting platform up and down vertically to move the cargo box on the mounting platform to a height position corresponding to the storage shelf, and the cargo transfer component removes the cargo to be picked up from the cargo box and places it on the storage shelf. In addition, the mounting platform 205 can rotate to easily align the mounting platform with the cargo box on the shelf and move the cargo box.

[0281] In an embodiment of the present application, the cargo transfer component 201 may be provided with suction cups or mechanical claws, which can suck out cargo or grab cargo, and the suction cups or mechanical claws may be provided at the end of the cargo transfer component and can be replaced according to different cargoes.

[0282] In an embodiment of the present application, in order to recognize the position of the cargo in the cargo box, the cargo in the cargo box can be photographed by a cargo recognition device, and at the same time, in order to confirm the accuracy of the cargo picked up and placed by the cargo forwarding component, the cargo recognition device can photograph the product information of the cargo, where the cargo recognition device can be attached to the cargo forwarding component, the fork and / or the mounting platform, and the cargo recognition device can photograph image information of the cargo to be picked up in the cargo box, where the image information includes position information of the cargo to be picked up in the cargo box, inventory unit information of the cargo to be picked up, shape of the cargo to be picked up, image feature points of the cargo to be picked up, color information and / or volume information of the cargo to be picked up.

[0283] In the embodiment of the present application, the transport robot 20 further includes a moving chassis, which is used to move the transport robot 20 along a planned path. The planned path may be a path for picking up and placing cargo, and the path may be planned by the processing terminal 10 and transmitted to the transport robot in the form of a command, for example, the processing terminal 10 transmits a pick-up command to the transport robot, causing the transport robot to perform a corresponding movement to achieve the pick-up.

[0284] In the application scenarios and related devices shown in Figures 9-12, the pickup method provided by the embodiments of the present application may be used to perform pickup operations through the cargo forwarding component, thereby improving pickup efficiency and increasing the degree of cargo sorting automation.

[0285] 13 is a flowchart of a pickup method provided by an embodiment of the present application. As shown in FIG. 13, the pickup method is applied to the transport robot, and the transport robot includes a cargo transfer component. The pickup method includes the following steps: In S51, a pickup command is received, and the pickup command includes pickup location information, type information of cargo to be picked up, and / or commodity information of cargo to be picked up.

[0286] In an embodiment of the present application, a pickup command may be transmitted to a transport robot by a processing terminal. The transport robot receives the pickup command, analyzes it, and recognizes information contained in the command, such as pickup location information, cargo type information, and product information of the cargo to be picked up. The pickup location information may include the location of a cargo box containing the cargo to be picked up. The location of the cargo box may be different locations on a warehouse shelf. The location information may be three-dimensional coordinates or may be determined by a code on the cargo box, such as a two-dimensional code. The cargo type information may include stock keeping unit information (SKU information) of the cargo to be picked up. The SKU information may determine information such as the name, quantity, and model number of the cargo to be picked up. The SKU information of the cargo in the cargo box may be the same or different for different cargo boxes. The SKU information may be expressed in the form of a barcode. The product information of the cargo to be picked up may include information on the shape, volume, image features, color, and / or weight of the cargo to be picked up. The product information may be expressed in the form of letters, numbers, or images.

[0287] In the embodiment of the present application, different types of transport robots may perform different method steps after receiving a pick-up command due to their individual structural differences, such as: For a transport robot including an upright bracket and a fork, wherein a cargo transfer component is attached to the fork, the method further comprises: directing the forks to move to a first position according to the pickup position information; The method further includes directing the forks or the cargo transfer component to move a first cargo box carrying the cargo to be picked up from a second location to the first location.

[0288] For a transport robot including an upright bracket and a fork, wherein at least one of the cargo transfer components is slidably connected to the upright bracket, the method further comprises: directing the forks to move to a first position according to the pickup position information; directing the forks to move a first cargo box carrying the cargo to be picked up from a second position to the first position; or The cargo transfer component further includes moving to the first location and instructing the first cargo box carrying the cargo to be picked up to be moved from a second location to the first location.

[0289] For a transport robot including an upright bracket and a mounting platform, wherein a cargo transfer component is mounted on the mounting platform, the method includes: directing the mounting platform to move to a first location according to the pickup location information; The method further includes instructing the cargo transfer component to move a first cargo box carrying the cargo to be picked up from a second location to the first location.

[0290] For a transport robot including an upright bracket and a mounting platform, wherein at least one of the cargo transfer components is slidably connected to the upright bracket, the method further comprises: directing the mounting platform to move to a first location according to the pickup location information; The cargo transfer component further includes moving to the first location and instructing the cargo transfer component to move a first cargo box carrying the cargo to be picked up from a second location to the first location.

[0291] In an embodiment of the present application, each of the transport robots may further include at least one storage shelf, and the fork or mounting platform may further include a rotation drive device, which drives the fork or mounting platform to rotate around a vertical direction, and the method may include: directing the fork or cargo transfer component to move the first cargo box from the first location to a corresponding storage shelf; or The method further includes directing the fork or cargo transfer component to move the first cargo box from the first location to a third location corresponding to the storage shelf.

[0292] In the case of picking up the entire box, the first cargo box can be directly placed on the corresponding storage shelf; in the case of removing cargo from the cargo box, the first cargo box can be moved to a position at a height corresponding to the storage shelf, and the cargo to be picked up can be easily removed from the first cargo box and placed on the corresponding storage shelf or on a second cargo box preset on the storage shelf.

[0293] In the embodiment of the present application, the storage shelves of each type of transport robot may include a plurality of shelves, which are installed in layers on one side of the standing bracket, and the forks or mounting platforms are installed on the other side of the standing bracket.

[0294] In an embodiment of the present application, the transport robot can navigate to the location of the cargo box where the cargo to be picked up is located according to the pickup position information, through ground two-dimensional code map navigation or other navigation methods. At the same time, in order to remove the cargo box from the shelf, the fork or mounting platform needs to be moved to a first position. The first position is usually located at the same height as the first cargo box carrying the cargo to be picked up, and the first cargo box is located at a second position. The movement of the first cargo box carrying the cargo to be picked up from the second position to the first position can be achieved by the fork or the cargo forwarding component. After the fork or mounting platform moves to the first position, the fork's telescopic arm device can be extended to clamp the cargo box, or the cargo forwarding component can grab the cargo box. If the fork or mounting platform is not aligned with the cargo box, the two-dimensional code on the shelf can be scanned to adjust the posture of the transport robot, thereby easily aligning it with the cargo box. After the first cargo box carrying the cargo to be picked up moves from the second position to the first position, the cargo transfer component can remove the cargo from the cargo box and place it in a storage shelf or a preset second cargo box on the storage shelf. The storage shelf can be located at the same height as the first position and can be located within the pick-up and placement range of the cargo transfer component, for example, the first position and the storage shelf can be located on opposite sides of the vertical bracket. When there are two or more storage shelves, the fork or mounting platform can move the cargo box from the first position to a third position corresponding to the storage shelf, so that the robot arm can remove the cargo to be picked up from the cargo box and place it in the corresponding storage shelf or a preset second cargo box on the storage shelf. When there are multiple storage shelves, the third position can be determined according to the storage shelf from which the cargo needs to be removed and placed. The third position can be located at the same height as the storage shelf, for example, on opposite sides of the vertical bracket.

[0295] In S53, the cargo forwarding component is instructed to perform a pick-up and placement operation of the cargo and / or the first cargo box according to the pickup command.

[0296] In an embodiment of the present application, the information included in the pickup command may be different. For example, the type information of the cargo to be picked up and the product information of the cargo to be picked up may not all be the same. When the information in the pickup command is different, the manner in which the cargo forwarding component instructs the cargo to be picked up and placed may also be different. For example, the type information of the cargo to be picked up may include inventory unit information. If the cargo to be picked up in the first cargo box has the same inventory unit information, the cargo forwarding component may instruct the cargo to be picked up from the first cargo box and store it in the corresponding storage shelf or a preset second cargo box on the storage shelf. If the cargo to be picked up in the first cargo box has different inventory unit information, the component may obtain image information of the first cargo box of the cargo to be picked up, and determine the cargo that matches the inventory unit information in the pickup command according to the image information of the first cargo box of the cargo to be picked up. The component may then instruct the cargo forwarding component to pick up the cargo from the first cargo box and place it in the storage shelf or a preset second cargo box on the storage shelf.

[0297] In an embodiment of the present application, the image information includes position information of the cargo to be picked up in the cargo box, inventory unit information of the cargo to be picked up, shape of the cargo to be picked up, image feature points of the cargo to be picked up, color information and / or volume information of the cargo to be picked up.

[0298] In an embodiment of the present application, a cargo recognition device can obtain image information of the first cargo box of the cargo to be picked up, wherein the cargo recognition device may be attached to the cargo forwarding component, or the fork may be attached to the cargo recognition device, or the mounting platform may be attached to the cargo forwarding component and the fork, or the cargo forwarding component and the mounting platform may be attached to the cargo recognition device; Acquiring image information of a first cargo box of the cargo to be picked up includes: acquiring image information of the first cargo box of the cargo to be picked up, taken by each of the cargo recognition devices of the cargo transfer component, fork, or mounting platform; Or, acquiring image information of the first cargo box of the cargo to be picked up, the image information being captured by a cargo recognition device of the fork and cargo forwarding component; Or, The method includes acquiring image information of the first cargo box of the cargo to be picked up, which is captured by a cargo recognition device of the mounting platform and cargo transfer component.

[0299] In an embodiment of the present application, the product information may include shape, volume, image feature, color and / or weight information of the cargo to be picked up, the storage shelf includes an order cargo storage shelf and a temporary cargo storage shelf, and a second cargo box is preset in the order cargo storage shelf, and the cargo to be picked up is determined to be placed in the corresponding storage shelf or the preset second cargo box in the storage shelf according to the inventory unit information of the cargo to be picked up, and the method includes: If it is not possible to determine cargo that matches the inventory unit information and / or product information in the pickup command based on image information acquired by each of the cargo recognition devices attached to the cargo transfer component, the mounting platform, or the forks, instructing the cargo transfer component to retrieve the cargo from the first cargo box; subsequently acquiring image information by the cargo recognition device located on the cargo transfer component, the cargo recognition device located on the fork, or the cargo recognition device located on the mounting platform; If it is determined based on the image information that the cargo forwarding component has acquired is cargo that does not match the inventory unit information and / or product information in the pickup command, the cargo forwarding component is placed in the temporary cargo storage shelf or a third cargo box preset in the temporary cargo storage shelf; otherwise, the cargo is placed in the corresponding second cargo box.

[0300] In an embodiment of the present application, according to the pickup command, the cargo forwarding component may be instructed to perform a pick-up and placement operation for the first cargo box, for example, to place the entire box of the first cargo box on a storage shelf, thereby realizing the pick-up and placement operation for the cargo of the entire box.

[0301] In an embodiment of the present application, the pickup command may include one or more of pickup location information, type information of the cargo to be picked up, or product information of the cargo to be picked up, and the transport robot instructs the cargo forwarding component to perform a pick-up and placement operation of the cargo and / or the first cargo box according to the specific information in the pickup command, for example, the product information or the type information of the cargo to be picked up.

[0302] In an embodiment of the present application, the transport robot receives a pickup command, the pickup command including pickup location information, type information of the cargo to be picked up, and / or product information of the cargo to be picked up, and instructs the cargo forwarding component to perform a pick-up and placement operation of the cargo and / or the first cargo box according to the pickup command, thereby improving the pick-up efficiency and increasing the degree of cargo sorting automation.

[0303] To describe the embodiments of the present application in more detail, the following provides a specific example of a pick-up method for specific information contained in a pick-up command.

[0304] Figure 14 is a flowchart diagram of a pickup method for cargo to be picked up that has the same inventory information in the first cargo box provided by an embodiment of the present application. As shown in Figure 14, the pickup method is applied to the above-mentioned transport robot, of which this embodiment takes as an example a transport robot in which a cargo forwarding component is fixed to a fork and a cargo recognition device is attached to the cargo forwarding component, and the method includes the following steps: In S61, a pickup command is received, and the pickup command includes pickup location information and type information of cargo to be picked up, where the type information of cargo to be picked up includes inventory quantity unit information, and the cargo in the first cargo box has the same inventory quantity unit information.

[0305] In an embodiment of the present application, the SKU information in the first cargo box of the cargo to be picked up is the same, and the cargo forwarding component does not need to distinguish between them in the process of picking and placing the cargo. For a single cargo with a large volume, it can be directly picked up by the cargo forwarding component. For a single cargo with a small volume, the cargo forwarding component can easily grab the cargo. The cargo recognition device in the cargo forwarding component can capture image information of the cargo in the cargo box, and the image information may include the position of the cargo to be picked up in the cargo box, and the cargo is grabbed according to the captured position.

[0306] In an embodiment of the present application, after receiving the pickup command, the transport robot analyzes the pickup command and instructs the transport robot to perform corresponding processes according to the analyzed command information, including instructing the transport robot to move according to the pickup position, and instructing the fork and cargo forwarding component to perform related operations, such as moving the cargo box, grabbing the cargo, etc.

[0307] In S62, the forks are instructed to move to the first position according to the pick-up position information.

[0308] In an embodiment of the present application, the pickup position information includes the position of a first cargo box carrying the cargo to be picked up, for example, three-dimensional information of the first cargo box position. Before the fork moves to the first position, the transport robot moves to the vicinity of the first cargo box carrying the cargo to be picked up according to the pickup position information, and further checks the accuracy of the position of the first cargo box according to the information on the first cargo box, for example, the code on the first cargo box, and adjusts the posture of the robot according to the code information on the first cargo box, for example, the two-dimensional code information, thereby easily positioning the fork to the first cargo box.

[0309] In the embodiment of the present application, the first position is usually located at the same height as the first cargo box carrying the cargo to be picked up, and the horizontal distance between the first position and the first cargo box is within the extension range of the telescopic arm device of the fork, so that when the fork is extended from the telescopic arm device, the first cargo box can be moved to the first position.

[0310] In S63, a fork or the cargo transfer component is instructed to move the first cargo box loaded with the cargo to be picked up from the second location to the first location.

[0311] In an embodiment of the present application, after the fork moves to a first position, a telescopic arm device on the fork may move a first cargo box carrying the cargo to be picked up from a second position to the first position, and a cargo forwarding component may move the first cargo box carrying the cargo to be picked up from the second position to the first position, where the second position is the location of the first cargo box, which is usually located on a shelf in a warehouse and can be determined by three-dimensional spatial coordinates.

[0312] In S64, image information of the cargo to be picked up in the first cargo box photographed by the cargo recognition device is acquired, and according to the image information of the cargo to be picked up in the first cargo box, the cargo transfer component is instructed to remove the cargo to be picked up from the first cargo box and place the removed cargo in the corresponding storage shelf or a preset second cargo box on the storage shelf.

[0313] In an embodiment of the present application, to avoid the cargo forwarding component being unable to grab the cargo during the pickup process because the cargo to be picked up has the same SKU information, a cargo recognition device in the cargo forwarding component can capture image information of the cargo to be picked up in the first cargo box, the image information including the position of the cargo to be picked up in the first cargo box, and instruct the cargo forwarding component to remove the cargo to be picked up from the first cargo box. The pickup method can be to use a suction cup in the cargo forwarding component to suck out the cargo or to use a mechanical claw to grab the cargo. After the cargo is removed, it can be placed in a storage shelf or a second cargo box preset on the storage shelf. The storage shelf can be located at the same height as the first position, with the forks and the upright brackets respectively located on both sides, or can be located at a height different from the first position. The forks need to be moved to the same height as the storage shelf so that the cargo forwarding component can easily remove the cargo to be picked up from the cargo box and place it in the storage shelf or the second cargo box preset on the storage shelf.

[0314] In the embodiments of the present application, the cargo to be picked up may correspond to the same order or different orders, and cargo to be picked up of the same order can be placed in a preset second cargo box on the same storage shelf, and cargo to be picked up of different orders can be placed in other preset second cargo boxes on a different storage shelf, and cargo to be picked up of different orders can be placed in corresponding preset second cargo boxes on a different storage shelf, and the cargo to be picked up can be placed in a preset second cargo box on the same storage shelf, and if placed in a preset second cargo box on the same storage shelf, ordered cargo sorting must be performed before the ordered cargo is shipped.

[0315] In S65, after the cargo forwarding component completes the pick-up and placement operation of the preset number of cargoes to be picked up in the first cargo box, the fork or cargo forwarding component instructs the first cargo box to return to its original position or place it in another position.

[0316] In an embodiment of the present application, after the cargo forwarding component completes the operation of picking up and placing the preset number of cargoes to be picked up from the first cargo box, i.e., when there is no cargo to be picked up for the order that needs to be picked up from the first cargo box, it instructs the fork to move to a first position, i.e., a height position corresponding to the original position of the first cargo box, and instructs the fork or the cargo forwarding component to return the first cargo box to its original position or place it in another position. The number of cargoes to be picked up that needs to be picked up from the first cargo box can be determined by the information carried in the pickup order, for example, the pickup order may include information on different numbers of cargoes to be picked up for different orders.

[0317] In S66, the pickup location information includes a plurality of first cargo box location information, and the cargo to be picked up is stored in the plurality of first cargo boxes. After the current first cargo box is returned to its original position or placed in another position, the location of the cargo to be picked up is sequentially reached based on the other first cargo box location information, and the pick-up and placement operation of all the cargo to be picked up is completed.

[0318] In an embodiment of the present application, if the cargo to be picked up in an order cannot be accommodated in one cargo box, the cargo to be picked up in the order needs to be loaded into multiple cargo boxes. In this case, the pickup location information in the pickup command may include location information of multiple first cargo boxes, and the cargo to be picked up in the order may be loaded into the first cargo boxes at the multiple locations. After the cargo forwarding component completes the pick-up and placement operation of the cargo to be picked up in one first cargo box, it can return the first cargo box to its original position. Then, the transport robot sequentially arrives at the locations of the cargo to be picked up according to the location information of the other first cargo boxes to complete the pick-up and placement operation of all the cargo to be picked up.

[0319] In S67, if the number of all cargoes to be picked up exceeds the storage capacity of the preset second cargo box of one storage shelf or storage shelf, the total volume or total weight of the cargoes already placed in the preset second cargo box of the current storage shelf or storage shelf is obtained, and if the total volume exceeds the preset volume threshold of the storage shelf or second cargo box or the total weight exceeds the preset weight threshold of the storage shelf or second cargo box, the cargo forwarding component is instructed to place the cargoes to be picked up in other storage shelves or other second cargo boxes until the removal and placement of all cargoes to be picked up is completed.

[0320] In an embodiment of the present application, when the cargo forwarding component picks up and places the cargo to be picked up in the preset second cargo box of the storage shelf, as the number of picking and placing increases, the cargo in the preset second cargo box of the storage shelf gradually increases. When the total number of cargo to be picked up in the pick-up command exceeds the storage capacity of one preset second cargo box of the storage shelf, the cargo forwarding component can be instructed to replace the preset second cargo box of the storage shelf. When determining whether to replace the preset second cargo box of the storage shelf, the weight or volume of a single cargo can be determined according to the SKU information, and the storage shelf can be selected according to the number of cargo to be picked up and placed. The total volume or total weight of the cargo placed in the preset second cargo boxes of each storage shelf can be determined, and at the same time, a volume threshold or volume threshold of the preset second cargo boxes of each storage shelf can be preset. When the total volume of the cargo placed in the preset second cargo boxes of a storage shelf exceeds the preset volume threshold of the preset second cargo boxes of the storage shelf, or when the total weight of the cargo placed in the preset second cargo boxes of the storage shelf exceeds the preset weight threshold of the preset second cargo boxes of the storage shelf, the cargo forwarding component is instructed to place the cargo to be picked up in the preset second cargo boxes of other storage shelves until all the cargo to be picked up has been taken out and placed.

[0321] In S68, a cargo transport command is received, and the cargo in the preset second cargo box on the storage shelf is transported to a shipping area corresponding to the cargo order according to the cargo transport command.

[0322] In an embodiment of the present application, the cargo to be picked up may be cargo for the same order or cargo for a different order. If the order attribute of the cargo to be picked up is cargo for the same order, the processing terminal can send a cargo transport command to the transport robot, and the cargo transport command is mainly used to instruct the transport robot to transport the cargo in the preset container on the storage shelf to a shipping area corresponding to the cargo order, pack it in the shipping area, and then send it to the shipping destination of the order.

[0323] In S69, when the cargo in the preset second cargo box on the storage shelf corresponds to a different order, a cargo sorting command is received, and the cargo in the preset second cargo box on the storage shelf is sorted according to the cargo-corresponding order.

[0324] In an embodiment of the present application, when the cargo to be picked up corresponds to cargo of a different order, the cargo forwarding component takes the cargo from the first cargo box and places it in the preset second cargo box of the same storage shelf. However, the cargo in the preset cargo box of the storage shelf must be further sorted before it can be shipped. Therefore, to complete the shipment of the ordered cargo, the processing terminal needs to send a cargo sorting command to the transport robot to sort the cargo of the different order in the preset second cargo box of the storage shelf. In the sorting process, the cargo can be sorted according to the order information corresponding to the cargo.

[0325] In an embodiment of the present application, upon receiving a pickup command, the cargo forwarding component is instructed to perform a cargo pick-up and placement operation according to the pickup location information included in the pickup command and the same SKU information in the first cargo box where the cargo to be picked up is located. At the same time, a cargo recognition device is used to obtain image information of the first cargo box where the cargo to be picked up is located, and the cargo forwarding component is instructed to pick up the cargo to be picked up from the first cargo box and place the picked cargo in the corresponding second cargo box on the storage shelf or shelf. Because the SKU information of the cargo to be picked up in the first cargo box is the same, the cargo forwarding component does not need to recognize the cargo during the pickup process, which is advantageous for the cargo forwarding component to pick up quickly and accurately, improve pickup efficiency, and increase the degree of automation of cargo sorting.

[0326] FIG. 15 is a flowchart of a pickup method for cargo having different inventory information in a first cargo box provided by an embodiment of the present application. As shown in FIG. 15, the pickup method is applied to the above-mentioned transport robot. The transport robot described in the following embodiment includes a cargo forwarding component slidably connected to at least one standing bracket of the transport robot, and the cargo forwarding component and the fork are each equipped with a cargo recognition device. At the same time, the transport robot includes a plurality of storage shelves, and the plurality of storage shelves include an order cargo storage shelf and a temporary cargo storage shelf, a second cargo box is preset in the order cargo storage shelf, and a third cargo box is preset in the temporary cargo storage shelf, and the method includes the following steps: In S71, a pickup command is received, the pickup command including pickup location information and type information of cargo to be picked up, wherein the type information of cargo to be picked up includes inventory quantity unit information, and the cargo in the first cargo box has different inventory quantity unit information.

[0327] In an embodiment of the present application, the type information of the cargo to be picked up includes inventory unit information, and the cargo in the first cargo box has different SKU information. The cargo forwarding component recognizes the SKU information during the pickup process to easily determine the storage location of the removed cargo, for example, whether to place the removed cargo in the order cargo storage shelf or the second cargo box, or in the temporary cargo storage shelf or the third cargo box. In the process of recognizing the SKU information, image information can be captured by a cargo recognition device installed in the cargo forwarding component, and the image information may include SKU information of the cargo. The SKU information of the cargo to be picked up in the pickup command is compared with the cargo SKU information in the image information captured by the cargo recognition device to determine whether to place the removed cargo in the order cargo storage shelf or the second cargo box, or in the temporary cargo storage shelf or the third cargo box.

[0328] In S72, the forks are instructed to move to a first position according to the pickup position information.

[0329] In an embodiment of the present application, the pickup position information includes the position of a first cargo box carrying the cargo to be picked up, for example, three-dimensional information of the first cargo box position. Before the forks move to the first position, the transport robot can move to the vicinity of the first cargo box carrying the cargo to be picked up according to the pickup position information, and can further check the accuracy of the first cargo box position according to the information on the first cargo box, for example, the code on the first cargo box, or adjust the posture of the robot according to the code information on the first cargo box, for example, the two-dimensional code information, to easily position the forks to the first cargo box.

[0330] In the embodiment of the present application, the first position is normally located at the same height as a first cargo box carrying cargo to be picked up, and the horizontal distance between the first position and the first cargo box is within the telescopic range of the fork telescopic arm device, so that when the fork is extended from the telescopic arm device, the first cargo box can be moved to the first position.

[0331] In S73, the cargo transfer component moves to the first location and instructs the first cargo box containing the cargo to be picked up to be moved from the second location to the first location.

[0332] In the embodiment of the present application, the cargo transfer component is slidably connected to the upright bracket. Therefore, when the cargo transfer component is used to move the first cargo box carrying the cargo to be picked up from the second position to the first position, the cargo transfer component must first be guided to move to the first position. Of course, a fork can also be used to move the first cargo box carrying the cargo to be picked up from the second position to the first position. The second position is the position where the first cargo box is located, which is usually on a shelf in a warehouse and can be determined by three-dimensional spatial coordinates.

[0333] In S74, image information of the first cargo box of the cargo to be picked up, photographed by the cargo recognition device of the fork and the cargo recognition device of the cargo forwarding component, is acquired.

[0334] In this embodiment, since the cargo to be picked up and the other cargo in the cargo box have different SKU information, to avoid picking up the wrong cargo, it is possible to determine whether the picked cargo is the cargo to be picked up as ordered through the cargo SKU information, and a cargo recognition device in the cargo forwarding component can be used to capture the SKU information of the picked cargo. During the pickup process of the cargo forwarding component, to prevent the cargo forwarding component from grabbing the cargo, a camera on the fork can capture the positional and spatial information of the cargo to be picked up in the cargo box, and a camera in the cargo forwarding component can capture the positional and spatial information of the cargo to be picked up in the cargo box.

[0335] In an embodiment of the present application, the image information captured by the cargo recognition device may include SKU information of the cargo and spatial information of the cargo's position in the cargo box, and may also include the shape of the cargo to be picked up, image feature points of the cargo to be picked up, color information and / or volume information of the cargo to be picked up.

[0336] In the embodiments of the present application, the cargo recognition device may be mounted separately on the mounting platform, the forks, or the cargo forwarding component, or may be mounted simultaneously on the mounting platform and the cargo forwarding component. When capturing image information of the cargo, the images may be captured by cargo recognition devices at different positions. The image information captured by the cargo recognition devices on the mounting platform and the forks mainly includes relevant information for determining the cargo to be removed, such as the location, shape, and volume of the cargo in the cargo box. The image information captured by the cargo recognition device on the cargo forwarding component mainly includes relevant information for determining whether the removed cargo should be placed in an order cargo storage shelf or a temporary cargo storage shelf, such as information related to inventory units. Of course, the image information captured by the cargo recognition devices at different positions may include any one or more of the above information.

[0337] In S75, according to the image information of the first cargo box of the cargo to be picked up, the cargo that matches the inventory unit information in the pickup command is determined, and the cargo transfer component is instructed to remove the cargo from the first cargo box and place it in the storage shelf or a preset second cargo box on the storage shelf.

[0338] In an embodiment of the present application, the image information of the first cargo box of the cargo to be picked up, such as the SKU information in the image, is used to determine whether it matches the SKU information in the pickup command. If the two SKU information match, the cargo forwarding component is instructed to remove the cargo from the first cargo box and place it in the order cargo storage shelf or the second cargo box. If the two SKU information do not match, the removed cargo is placed in the temporary cargo storage shelf or the third cargo box, and the cargo forwarding component moves along a vertical bracket between the corresponding positions on the order cargo storage shelf and the temporary cargo storage shelf.

[0339] In an embodiment of the present application, the cargo transfer component is instructed to remove the cargo from the location space according to the positional information of the cargo to be picked up in the cargo box in the image information captured by the cargo recognition device, for example, by using a suction cup on the cargo transfer component to suck out the cargo or by using a mechanical claw to grab the cargo. After the cargo is removed, it can determine whether the removed cargo is a cargo to be picked up for an order according to the SKU information in the image information captured by the imaging device. If the removed cargo is a cargo to be picked up for an order, it is placed on the order cargo storage shelf or a second cargo box. If the removed cargo is not a cargo to be picked up for an order, it is placed on a temporary cargo storage shelf or a third cargo box. Since the cargo transfer component needs to place the removed cargo in the order cargo container or the temporary cargo container, the cargo transfer component can move along the vertical bracket between corresponding positions on the order cargo storage shelf and the temporary cargo storage shelf, and the order cargo storage shelf and the temporary cargo storage shelf can be located at different heights on the same side of the vertical bracket.

[0340] In S76, after the cargo transfer component completes the pick-up and placement operation of the preset number of cargoes to be picked up in the first cargo box, the cargo transfer component instructs the cargo in the temporary cargo storage shelf or the third cargo box to be returned to the first cargo box, and instructs the fork or the cargo transfer component to return the first cargo box to its original location or place it in another location.

[0341] In an embodiment of the present application, after the cargo forwarding component has completed the removal and placement of the preset number of cargo items to be picked up in the first cargo box, i.e., if there is no cargo to be picked up for the order that needs to be picked up in the first cargo box, the cargo forwarding component is instructed to move to a position of the corresponding height in the temporary cargo storage shelf, and at the same time, the fork is instructed to move the first cargo box to that position, so that the cargo forwarding component can easily return the cargo in the temporary cargo storage shelf or the third cargo box to the first cargo box. After all the cargo in the temporary cargo storage shelf or the third cargo box has been returned to the first cargo box, the fork and the cargo forwarding component are instructed to move to the first position, i.e., a position of the height corresponding to the original position of the first cargo box, and the fork or cargo forwarding component is instructed to return the first cargo box to its original position or place it in another position. The number of cargo items to be picked up that needs to be picked up from the first cargo box can be determined by the information included in the pickup order; for example, the pickup order may include information on different numbers of cargo items to be picked up for different orders.

[0342] In S77, if the pickup position information includes multiple first cargo box position information and the cargo to be picked up is stored in the multiple first cargo boxes, the current first cargo box is returned to its original position or placed in another position, and then the positions of the cargo to be picked up are sequentially reached based on the other first cargo box position information, and the pick-up and placement operation of all the cargo to be picked up is completed.

[0343] In some embodiments, if one cargo box cannot accommodate the cargo to be picked up for one order, multiple cargo boxes are required to accommodate the cargo for the order. In this case, the pickup location information in the pickup command may include location information for multiple first cargo boxes, and the cargo to be picked up for the order may be loaded into the first cargo boxes at the multiple locations. After the cargo forwarding component completes the pick-up and placement operation for the cargo to be picked up in one first cargo box, it can return the cargo box to its original position. Then, the transport robot can sequentially arrive at the locations of the cargo to be picked up according to the location information of the other first cargo boxes to complete the pick-up and placement operation for all the cargo to be picked up. Because the cargo SKU information in the cargo boxes is not exactly the same during the pick-up process, the cargo forwarding component must perform the above-mentioned relevant steps in this embodiment when picking up each first cargo box.

[0344] In S78, if the number of all cargoes to be picked up exceeds the storage capacity of the preset second cargo box of one storage shelf or storage shelf, the total volume or total weight of the cargoes already placed in the preset second cargo box of the current storage shelf or storage shelf is obtained, and if the total volume exceeds the preset volume threshold of the storage shelf or second cargo box or the total weight exceeds the preset weight threshold of the storage shelf or second cargo box, the cargo forwarding component is instructed to place the cargoes to be picked up in other storage shelves or other second cargo boxes until the removal and placement of all cargoes to be picked up is completed.

[0345] In an embodiment of the present application, when the cargo forwarding component picks up and places the cargo to be picked up in the preset second cargo box of the storage shelf, the cargo in the preset second cargo box of the storage shelf will gradually increase with the increase in the number of picking and placing operations. When the number of cargoes placed in the preset second cargo box of the storage shelf exceeds the storage capacity of one preset second cargo box of the storage shelf, the cargo forwarding component can instruct the preset second cargo box of the storage shelf to be replaced. When determining whether to replace the preset second cargo box of the storage shelf, the cargo forwarding component can obtain the weight or volume of a single cargo according to the SKU information, and combine the number of picking and placing operations to determine the preset second cargo box of the storage shelf. The total volume or total weight of the cargo to be placed in the reset second cargo box can be determined, and at the same time, a volume threshold or volume threshold of the preset second cargo box of each storage shelf is preset, and when the total volume of the cargo to be placed in the preset second cargo box of the storage shelf exceeds the preset volume threshold of the preset second cargo box of the storage shelf, or when the total weight of the cargo to be placed in the preset second cargo box of the storage shelf exceeds the preset weight threshold of the preset second cargo box of the storage shelf, the cargo forwarding component is instructed to remove the cargo and place it in the preset second cargo box of another storage shelf until all the cargo to be picked up has been removed and placed.

[0346] In the embodiment of the present application, by receiving a pickup command and according to the pickup position information and the different SKU information of the cargo in the first cargo box contained in the pickup command, the cargo forwarding component is instructed to perform a cargo pick-up and placement operation; at the same time, a cargo recognition device is used to obtain image information of the cargo, and the cargo storage position is determined according to the image information, which effectively solves the problem of picking up cargo with different SKU information in the cargo box, is conducive to the cargo forwarding component's fast and accurate pickup, and improves the pickup efficiency and increases the degree of automation of cargo sorting.

[0347] FIG. 16 is a flowchart of a pickup method provided by another embodiment of the present application. As shown in FIG. 16, the pickup method is applied to the transport robot described above. The transport robot described in the following embodiment includes at least one cargo transfer component fixed to an installation platform, and a cargo recognition device is installed on the cargo transfer component. At the same time, the transport robot includes a plurality of storage shelves, and the plurality of storage shelves include an order cargo storage shelf and a temporary cargo storage shelf, a second cargo box is installed on the order cargo storage shelf, and a third cargo box is preset on the temporary cargo storage shelf, and the method includes the following steps:

[0348] In S81, a pickup command is received, the pickup command including pickup location information, type information of the cargo to be picked up, and product information of the cargo to be picked up, wherein the type information of the cargo to be picked up includes inventory quantity unit information, and the cargo in the first cargo box has different inventory quantity unit information, and the product information includes shape, volume, image features, color, and / or weight information of the cargo to be picked up.

[0349] In an embodiment of the present application, the type information of the cargo to be picked up includes inventory unit information, and the cargo in the first cargo box has different SKU information. The cargo forwarding component can increase the recognition of product information during the pickup process, thereby facilitating the identification of the cargo to be picked up. For example, a cargo recognition device installed in the cargo forwarding component can capture image information, which may include information related to product information, such as the actual shape, volume, image features, color, and / or weight information of the cargo. The product information in the pickup order is compared with the product information captured by the cargo recognition device to identify the cargo to be picked up and placed. At the same time, the image information may also include SKU information of the cargo, and the SKU information of the cargo to be picked up in the pickup order is compared with the cargo SKU information in the image information captured by the cargo recognition device to determine whether to pick up the cargo. After the cargo is picked up, the image information captured by the cargo recognition device installed in the cargo forwarding component, such as the SKU information, is used to determine whether to place the picked cargo in the order cargo storage shelf or the second cargo box, or in the temporary cargo storage shelf or the third cargo box. In addition, during the process of grabbing the cargo, the cargo to be picked up may be grabbed according to the image information of the cargo to be picked up in the first cargo box captured by the cargo recognition device, where the image information may include positional spatial information of the cargo to be picked up in the first cargo box, and / or image feature points, color, shape, volume, etc. of the cargo to be picked up, for example, volume information or color information of the cargo to be picked up.

[0350] In S82, the mounting platform is instructed to move to a first location according to the pickup position information.

[0351] In an embodiment of the present application, the pickup position information includes the position of the first cargo box carrying the cargo to be picked up, for example, three-dimensional information of the first cargo box position. Before the mounting platform moves to the first position, the transport robot moves to the vicinity of the first cargo box carrying the cargo to be picked up according to the pickup position information, and may further check the accuracy of the position of the first cargo box according to the information on the first cargo box, for example, the code on the first cargo box, and may adjust the posture of the robot according to the code information on the first cargo box, for example, the two-dimensional code information, to easily align the mounting platform with the first cargo box.

[0352] In an embodiment of the present application, the first location is generally located at the same height as a first cargo box carrying cargo to be picked up, and the horizontal distance between the first location and the first cargo box is within the pickup range of the cargo transfer component, thereby allowing the cargo transfer component to move the cargo box to the first location.

[0353] In S83, the cargo transfer component instructs the first cargo box containing the cargo to be picked up to be moved from a second location to the first location.

[0354] In the embodiment of the present application, since the mounting platform cannot grab the cargo box and at the same time the cargo transfer component is mounted on the mounting platform, the cargo transfer component can command the first cargo box carrying the cargo to be picked up to move from a second position to the first position, where the second position is the position where the first cargo box is located, which is always on a shelf in the warehouse and can be determined by three-dimensional spatial coordinates.

[0355] In S84, image information of the cargo to be picked up in the first cargo box is acquired by the cargo recognition device of the cargo forwarding component.

[0356] In an embodiment of the present application, the cargo to be picked up may have different SKU information or different product information (e.g., different volume, color, or weight information) from the other cargo in the first cargo box. To avoid picking up the wrong cargo, the product information of the cargo can be used to determine whether the picked cargo is the cargo to be picked up as ordered. A cargo recognition device in the cargo forwarding component can capture the product information of the picked cargo. During the cargo forwarding component's pickup process, to prevent the cargo forwarding component from catching the cargo, the cargo recognition device in the cargo forwarding component can capture the positional and spatial information of the cargo to be picked up in the cargo box. Of course, a capture device on the mounting platform can also capture the positional and spatial information of the cargo to be picked up in the cargo box.

[0357] In an embodiment of the present application, the image information captured by the cargo recognition device may include product information, SKU information, and spatial information of the cargo in the cargo box, and the product information may include the shape of the cargo to be picked up, image feature points of the cargo to be picked up, color information and / or volume information of the cargo to be picked up.

[0358] In the embodiments of the present application, the cargo recognition device may be installed separately on the mounting platform, or may be installed simultaneously on the mounting platform and the cargo transfer component. When capturing image information of the cargo, the image information may be captured by the cargo recognition component at different positions. The image information captured by the cargo recognition device on the mounting platform may mainly include relevant information such as the position, space, shape, and volume of the cargo in the cargo box, which is easy to determine the removed cargo. The image information captured by the cargo recognition device on the cargo transfer component may mainly include relevant information such as inventory unit information, which is easy to determine whether the removed cargo should be placed on the order cargo storage shelf or the temporary cargo storage shelf. Of course, the image information captured by the cargo recognition device at different positions may include any one or more of the above information.

[0359] In S85, the cargo forwarding component instructs the cargo to be picked up to be removed from the first cargo box according to the image information of the first cargo box of the cargo to be picked up.

[0360] In an embodiment of the present application, if the image information cannot determine the cargo that matches the inventory unit information and / or product information in the pickup order, the cargo forwarding component instructs the cargo to be acquired from the first cargo box, and then takes image information for the acquired cargo. If the cargo forwarding component determines based on the image information that the acquired cargo does not match the inventory unit information and / or product information in the pickup order, the cargo acquired by the cargo forwarding component is placed in the temporary cargo storage shelf or a third cargo box pre-installed in the temporary cargo storage shelf; otherwise, it is placed in the corresponding order cargo storage shelf or second cargo box.

[0361] In an embodiment of the present application, the cargo transfer component may be instructed to remove cargo from the position space according to the position information of the first cargo box of cargo to be picked up in the image information of the first cargo box of cargo to be picked up taken by the cargo recognition device, and may use suction cups or mechanical claws to suck out the cargo or grab the cargo according to product information, such as the volume or color of the cargo, in the image information of the cargo to be picked up taken by the cargo recognition device. After the cargo is picked up, the SKU information in the image information of the cargo to be picked up taken by the cargo recognition device is compared with the SKU information in the pickup command to determine whether the picked cargo is ordered cargo. If the picked cargo is ordered cargo, the picked cargo is placed in the corresponding ordered cargo storage shelf or second cargo box; if the picked cargo is not ordered cargo, the picked cargo is placed in the corresponding temporary cargo storage shelf or third cargo box. The ordered cargo storage shelf and the temporary cargo storage shelf may be located at different heights on the same side of the vertical bracket.

[0362] In S86, after the cargo transfer component completes the pick-up and placement operation of the preset number of cargoes to be picked up in the first cargo box, the cargo transfer component instructs the cargo in the temporary cargo storage shelf or the third cargo box to be returned to the first cargo box, and instructs the cargo transfer component to return the first cargo box to its original location or place it in another location.

[0363] In an embodiment of the present application, after the cargo transfer component has completed the pick-up and placement operation of the preset number of cargo items to be picked up in the first cargo box, i.e., if there is no cargo item to be picked up in the first cargo box, the cargo transfer component instructs the temporary cargo storage shelf to move to a position of the corresponding height, and simultaneously instructs the mounting platform to move the first cargo box to that position, so that the cargo transfer component returns the cargo in the temporary cargo storage shelf or the third cargo box to the first cargo box. After all the cargo in the temporary cargo storage shelf or the third cargo box has been returned to the first cargo box, the mounting platform and the cargo transfer component instruct the component to move to the first position, i.e., a position of the corresponding height from the original location of the first cargo box, and instructs the cargo transfer component to place the first cargo box at the original location of the first cargo box or another location. The number of cargo items to be picked up from the first cargo box can be determined by the information included in the pickup order; for example, the pickup order may include information on different numbers of cargo items to be picked up for different orders.

[0364] In S87, the pickup location information includes a plurality of first cargo box location information, and the cargo to be picked up is stored in the plurality of first cargo boxes. After the current first cargo box is returned to its original location or placed in another location, the pickup location of the cargo to be picked up is sequentially reached based on the other first cargo box location information, and the pickup placement operation of all the cargo to be picked up is completed.

[0365] In an embodiment of the present application, if one cargo box cannot accommodate the cargo to be picked up for one order, multiple cargo boxes are required to load the cargo for the order. In this case, the pickup location information in the pickup command may include location information for multiple first cargo boxes, and the cargo to be picked up for the order can be loaded into the first cargo boxes at the multiple locations. After the cargo forwarding component completes the pick-up and placement operation for the cargo to be picked up in one cargo box, it can return the cargo box to its original position. Then, the transport robot can sequentially arrive at the locations of the cargo to be picked up according to the location information of the other first cargo boxes to complete the pick-up and placement operation for all the cargo to be picked up. During the pick-up process, because the SKU information of the cargo boxes is not exactly the same, the cargo forwarding component needs to perform the above-mentioned relevant steps in this embodiment during the pick-up process for each first cargo box.

[0366] In the embodiment of the present application, a pickup command is received, and the cargo forwarding component is instructed to perform a cargo pick-up and placement operation according to the pickup location information contained in the pickup command and the different SKU information and product information of the cargo in the cargo box where the cargo to be picked up is located. At the same time, the cargo recognition device is used to obtain the product information and SKU information of the picked cargo, and the cargo storage location is determined according to the product information and SKU information. This effectively solves the problem of picking up cargo with different product information, is conducive to the cargo forwarding component's fast and accurate pick-up, and improves the pick-up efficiency and increases the degree of automation of cargo sorting.

[0367] It should be noted that for each step in the above method embodiment, a person skilled in the art should understand that the technical solutions formed by different combinations thereof can all constitute embodiments of the present application as long as they fall within the scope of protection of the present application.

[0368] The technical solution of this application performs the pick-up operation through the cargo transfer component, improving the pick-up efficiency and increasing the degree of cargo sorting automation.

[0369] An embodiment of the present application further provides a pick-up method applied to a processing terminal, the processing terminal being communicatively connected to a transport robot, the method including sending a pick-up command, whereby the transport robot performs the above-mentioned pick-up method in accordance with the pick-up command.

[0370] FIG. 17 is a structural block diagram of one transport robot provided by an embodiment of the present application, and the transport robot 90 may be a robot equipped with processing capabilities that can execute the pick-up method provided by the corresponding method embodiment above.

[0371] Specifically, referring to FIG. 17, the transport robot 90: The system includes one or more processors 901 and a memory 902 communicatively connected to the at least one processor 901, with one processor 901 being shown as an example in FIG.

[0372] The processor 901 and the memory 902 may be connected by a bus or other methods, and in FIG. 17 they are connected by a bus as an example.

[0373] The memory 902 may be a non-transitory computer-readable storage medium for storing a non-transitory software program or a non-transitory computer-executable program, and the corresponding program can perform corresponding steps of the pick-up method (for example, S51 and S53 shown in FIG. 13, S61-S69 shown in FIG. 14, S71-S78 shown in FIG. 15, and S81-S87 shown in FIG. 16). The processor 901 executes the non-transitory software program or instructions stored in the memory 902 to perform the pick-up method, i.e., to realize the pick-up method described in the corresponding method embodiment above.

[0374] The memory 902 may include a program storage area and a data storage area, of which the program storage area can store application programs required for the operating system and at least one function, and the data storage area can store data created for executing the above-mentioned pickup method. The memory 902 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory 902 may optionally include memory configured remotely from the processor 901, and these remote memories may be connected to the transport robot 90 by a network. Examples of such networks include, but are not limited to, the Internet, a corporate intranet, a local area network, a mobile communication network, and combinations thereof.

[0375] When the one or more modules are stored in the memory 902 and executed by the one or more processors 901, they perform the pickup method in the corresponding method embodiment, for example, S51 and S53 shown in FIG. 13, S61-S69 shown in FIG. 14, S71-S78 shown in FIG. 15, and S81-S87 shown in FIG. 16 described above.

[0376] The transport robot can perform the pick-up method in the corresponding method embodiment above, and has corresponding equipment and beneficial effects for performing the method.

[0377] An embodiment of the present application further provides a non-transitory computer-readable storage medium having computer-executable instructions stored therein, the computer-executable instructions being used to cause a computer to perform the pickup method in the above-described method embodiment. For example, the computer-executable instructions may be executed by one or more processors, and when executed by one processor 901 in Figure 17, the computer-executable instructions may cause the one or more processors to perform the pickup method in the corresponding method embodiment, for example, by executing S51 and S53 in Figure 13, S61-S69 in Figure 14, S71-S78 in Figure 15, and S81-S87 in Figure 16 described above, thereby causing the one or more processors to perform the pickup method in the corresponding method embodiment.

[0378] An embodiment of the present application further provides a computer program product, the computer program product including a computer program stored on a non-transitory computer-readable storage medium, the computer program including program instructions that, when executed by a computer, cause the computer to perform the pickup method in the above method embodiment, such as functions S51 and S53 shown in Figure 13, S61-S69 shown in Figure 14, S71-S78 shown in Figure 15, and S81-S87 shown in Figure 16 described above.

[0379] The embodiments of the present application further provide a processing terminal, which may be, for example, a back-end server, a computing device with processing capabilities, a terminal device with calculation or scheduling capabilities, or any other type of electronic device, capable of executing the pickup method provided by the corresponding method embodiment above.

[0380] An embodiment of the present application further provides an intelligent warehouse system including the transport robot and a processing terminal.

[0381] To solve the technical problem in prior art 3, the embodiment of the present application provides a restocking or return method, and performs the pick-up and placement operation of the restocking or return goods through a goods forwarding component, thereby increasing the flexibility of restocking or return and improving the efficiency of restocking or return.

[0382] In order to solve the technical problems of the prior art, the present application provides the following technical solutions:

[0383] Restocking or returning goods is a process in which a transport robot transports goods for restocking or return to a warehouse shelf. During the restocking or return process, the efficiency of picking and placing goods is very important to the efficiency of restocking or return, and the final efficiency of restocking or return can be affected by many aspects, such as the sending method of restocking or return instructions, the method of assigning restocking or return tasks to robots, and the robot's pick and place method of goods. Optimization of related steps in the robot's pick and place method of goods will have a beneficial effect on improving the efficiency of restocking or return. For convenience of explanation, in the description process, this application uses restocking or return goods in the storage shelf of a transport robot as an example of a target goods corresponding to restocking or return, and does not limit other restocking or return targets.

[0384] In the intelligent cargo picking and placement process, the same goods can generally be stored in the same container, such as a cargo box or a storage shelf. Each cargo box containing goods is placed at a specific location in the warehouse according to a specific storage rule, and the location of the cargo box or the cargo goods inside the cargo box is marked by a feature on the outside of the cargo box (e.g., an identifier such as a two-dimensional code or a barcode).

[0385] Continuing with reference to FIG. 9, the application environment includes an intelligent warehouse system consisting of a processing terminal 10 and a robot 20, and a warehouse 30 that uses the intelligent warehouse system to store different cargoes, where the warehouse 30 may include shelves for storing cargo boxes.

[0386] The processing terminal 10 can be any kind of electronic computing platform or device, which serves as the control core of the entire intelligent warehouse system, and can be equipped with corresponding storage space or computing power according to actual needs, thereby providing one or more application services or functions, such as sending a restocking or return task or controlling a transport robot to perform a restocking or return task.

[0387] Continuing with reference to FIG. 10 a, the processing terminal 10 may include a processor 110 and a memory 120 .

[0388] The processor 110 and the memory 120 are connected to each other by a bus.

[0389] Processor 110 may be any type of processor with one or more processing cores, capable of performing single-threaded or multi-threaded operations, analyzing instructions to perform operations such as retrieving data, performing logical functions, and transmitting computation results.

[0390] Memory 120 may be a non-volatile computer-readable storage medium, such as at least one disk storage device, a flash memory device, a distributed storage device configured remotely from processor 110, or other non-volatile solid-state storage device.

[0391] Memory 120 may include a program storage area for storing non-volatile computer-executable program instructions (which may in some other embodiments be referred to as "non-volatile software programs") that can be called by processor 110 to cause processor 110 to perform one or more method steps, such as one or more steps of a restocking or return method provided by embodiments of the present invention. Memory 120 may also include a data storage area for storing computation results sent and output by processor 110.

[0392] In order to realize a communication connection between the processing terminal 10 and the robot 20, the processing terminal may further include a communication module 130, which establishes a communication connection with a device such as a robot, and the communication connection may be a wired connection or a wireless connection.

[0393] The robot 20 has a traveling mechanism and is an automated device that moves around a warehouse, transports cargo boxes, and performs cargo pick-up and placement operations, and may be, for example, a transport robot, an AGV (automated guided vehicle), etc. The traveling mechanism can be driven by any appropriate type of power system, for example, in the form of electricity.

[0394] The robot 20 has one or more functional indexes, including, but not limited to, payload (i.e., the maximum number of cargo boxes that can be loaded at one time), charging distance, guidance form, cargo box pick-up and placement speed, and running speed.

[0395] The warehouse 30 is an area for storing cargo boxes. For ease of management, the warehouse 30 may be provided with multiple shelves, and multiple identical or different cargo boxes may be arranged on each shelf according to a specific arrangement rule.

[0396] As shown in Figure 9, the space between these shelves is divided into multiple lanes for the robot 20 to enter. After the robot 20 enters the lane, it retrieves or returns a specific cargo box (e.g., cargo box 1, cargo box 2, or cargo box 3, etc.). The robot can enter and exit the lane from both ends of the lane. Here, the openings located at both ends of the lane are called "lane openings," and may be either the exit or the entrance of the robot 20.

[0397] In some embodiments, some lanes, such as lane 1 and lane 2 shown in Figure 9, are oriented in the same direction and have opposite lane entrances, allowing the robot 20 to pass directly through them. These two lanes are referred to as "adjacent lanes." That is, the robot 20 can enter lane 1 directly without turning when traveling from lane 1 to its adjacent lane, lane 2, or when traveling from lane 2 to its adjacent lane, lane 1.

[0398] The cargo stored in cargo boxes in the warehouse 30 is managed in units of stock keeping units (SKUs). A stock keeping unit is a basic unit that controls inventory measurement or storage, and may be a piece, disk, box, etc. (depending on the specific product). The same cargo may belong to different SKUs depending on the manufacturing date, size, color, etc.

[0399] In the present embodiment, the processing terminal 10 assigns the appropriate restocking or return task to each robot 20, thereby causing the robot 20 to move around the warehouse and transport cargo boxes corresponding to the restocking or return cargo.

[0400] Continuing with reference to FIG. 10b, the transport robot 20 is applied to restocking or returns.

[0401] The transport robot 20 includes a moving component 210, a pallet 220, a cargo box transport component 230, a cargo transfer component 240, a cargo box recognition component 250, a cargo recognition component 260, and a storage shelf 270. The moving component 210 is equipped with the pallet 220, the cargo box transport component 230, the cargo transfer component 240, the cargo box recognition component 250, the cargo recognition component 260, and the storage shelf 270.

[0402] The moving component 210 is used to move the loaded pallet 220, the cargo box transport component 230, the cargo transfer component 240, the cargo box recognition component 250, the cargo recognition component 260, and the storage shelf 270 together by moving on the warehouse floor to access the warehouse shelf.

[0403] Pallets 220 and storage shelves 270 are each used to store cargo boxes. Cargo box recognition component 250 is used to recognize the cargo location where the cargo box is located after movement component 210 approaches a warehouse shelf. Cargo box transport component 230 is used to retrieve cargo boxes from the cargo location recognized by cargo box recognition component 250 and store them on pallets 220, or retrieve cargo boxes from pallets 220 and store them on warehouse shelves or storage shelves 270. Cargo recognition component 260 is used to recognize cargo in cargo boxes stored on storage shelves 270 or pallets 220. Cargo transfer component 240 is used to retrieve cargo from cargo boxes stored on storage shelves 270 or pallets 220 and recognize the cargo recognized by cargo recognition component 260.

[0404] By positioning the mobile component 210, the cargo box transport component 230 can retrieve and place cargo boxes on a remote warehouse shelf. In other embodiments, the warehouse shelf is maintained near the cargo box transport component 230, for example, the transport robot 20 is fixedly mounted to the ground near the warehouse shelf, and the mobile component 210 can be omitted.

[0405] By providing the storage shelf 270, the transport robot can store a large amount of restocked or returned cargo within the storage shelf 270. In some other embodiments, the amount of cargo that the transport robot needs to restock or return is small, making it unnecessary to provide the storage shelf 270. In this case, the storage shelf 270 can be omitted, and the cargo boxes that need to be restocked or returned can be directly placed on the pallet 220, and the entire boxes of restocked or returned cargo can be placed in the vacant position for placing cargo boxes on the fixed shelf.

[0406] By deploying the cargo forwarding component 240, the cargo box transport component 230 retrieves a cargo box from a warehouse shelf. After the cargo forwarding component 240 places the restocked or returned cargo in the cargo box, the cargo box transport component 230 then stores the cargo box on the warehouse shelf, allowing the transport robot 20 to complete the restocking or return, eliminating the need for an employee to retrieve the cargo from the cargo box and improving cargo management efficiency. In other embodiments, if the cargo is not recognized, the cargo forwarding component 240 may retrieve cargo stored in a cargo box on the storage shelf 270, in which case the cargo recognition component 260 can be omitted. For example, if the cargo stored in the cargo boxes on the storage shelf 270 are all the same type of cargo and the cargo occupies a large area on the cargo box, such as clothing spread out flat on the cargo box, there is essentially no obstacle for the cargo forwarding component 240 to retrieve this type of cargo. The cargo forwarding component 240 simply randomly retrieves one of the cargo items from the cargo boxes on the storage shelf 270, thereby completing the restocking or return.

[0407] In some other embodiments, the cargo box transport component 230 may retrieve a cargo box from a warehouse shelf even if the cargo box is not recognized, and the cargo box recognition component 250 may be omitted. For example, the warehouse shelf may have only one storage location for storing a cargo box.

[0408] It should be noted that after the cargo box transport component 230 removes the cargo boxes from the storage location and stores them on the pallet 220, the cargo transfer component 240 is deployed, so that the cargo transfer component 240 removes cargo from the cargo boxes stored on the storage shelf 270 for restocking or return, eliminating the need for employees to remove the cargo from the cargo boxes, thereby improving the efficiency of removing cargo.

[0409] The following describes several specific embodiments of the transport robot 100. It should be noted that the following embodiments are merely exemplary, and any other transport robot that can satisfy at least one of the above cases is within the scope of protection of the present application.

[0410] 10c, the moving component 210 includes a chassis 212, driven wheels 214, driving wheels 216, and a guidance device 218. The chassis 212 is formed by assembling and welding profiles and plates, and is relatively flat and symmetrical about a vertical plane of symmetry. A circuit module for controlling the operation of the moving component 210 is mounted inside the chassis 212. The four driven wheels 214 are attached to the bottom of the chassis 212 and are evenly and symmetrically distributed on both ends of the chassis 212, and are used to support the chassis 212. In this embodiment, the driven wheels 214 are universal wheels, but depending on the actual situation, the driven wheels 214 may have other wheel structures with steering functions. The two driving wheels 216 are attached to the bottom of the chassis 212 and are symmetrically distributed on both ends of the chassis 212. The two drive wheels 216 are driven by two motors, respectively. Therefore, the rotation speeds of the two drive wheels 216 can be different, which can further steer the mobile component 210. When the rotation speeds of the two drive wheels 216 are the same, the mobile component 210 moves along a straight line. The guidance device 218 is attached to the bottom of the chassis 212 and is used to guide the mobile component 210 to travel along a preset path. In this embodiment, the guidance device 218 is a video camera with its lens facing the ground. A large number of two-dimensional codes are attached to the ground of the warehouse. The current position of the mobile component 210 is determined by scanning the two-dimensional codes with the video camera, and the orientation of the mobile component 210 can be determined according to the previous two-dimensional code scanned. According to actual circumstances, the two-dimensional code can be replaced with an identification code such as a barcode.

[0411] 10b, a standing bracket 219 is provided on the top of the moving component 210, and the pallet 220, cargo box carrying component 230, cargo forwarding component 240, cargo box recognition component 250, and cargo recognition component 260 are all supported by the standing bracket 219. The standing bracket 219 includes a standing pillar 2190 and a beam 2192. The two standing pillars 2190 are both vertical and symmetrical, and each standing pillar 2190 is provided with a guide groove extending along the vertical direction, and the guide grooves of the two standing pillars 2190 are used together to mount the cargo box carrying component 230 and to guide the cargo box carrying component 230 to move along the vertical direction.

[0412] The beams 2192 are all horizontally and vertically distributed, and are supported together by two uprights 2190 .

[0413] 10d and 10f together, the pallet 220 is a horizontally positioned plate that is fixedly attached to a cargo box carrying component 230.

[0414] The cargo boxes stored in the storage shelves 270 may be stored by the cargo box handling component 230 or by an employee. Note that the cargo boxes stored in the storage shelves 270 may be empty. In some other embodiments, the cargo boxes may not be stored in the storage shelves 270 beforehand, and restocked or returned cargo may be placed directly on the storage shelves 270.

[0415] The storage shelf 270 is fixedly attached to one side of the upright bracket 219. The storage shelf 270 includes a shelf 2701. The multiple shelf 2701 are distributed vertically. Each shelf 2701 is used to store cargo boxes and is supported by a corresponding beam 192. By arranging multiple shelves 2701 for storing cargo boxes, after the cargo transfer component 240 has finished retrieving cargo in a cargo box stored on one shelf 2701, the cargo transfer component 240 can subsequently retrieve cargo from a cargo box stored on another shelf 2701. It should be understood that depending on the actual situation, for example, when there is little cargo or the cargo is small compared to the cargo box, only one shelf 2701 may be provided.

[0416] 10e and 10f, the cargo box handling component 230 includes a lift drive 232, a mounting base 234, a rotation drive 236, and a fork 238.

[0417] The mounting base 234 is movably attached to the upright bracket 219 and can move relative to the upright bracket 219 along the vertical direction, and the lifting drive device 232 is used to drive the forks 238 to move relative to the upright bracket 219 along the vertical direction. The forks 238 are movably attached to the mounting base 234 and can rotate relative to the mounting base 234 around the vertical direction, and the rotation drive device 236 is used to drive the forks 238 to rotate relative to the mounting base 234 around the vertical direction. The forks 238 are used to remove a cargo box from a storage position on one of the shelves 2701 or warehouse shelves at a specified height and angle and store it on the pallet 220, or to remove a cargo box from the pallet 220 and store it in a storage position on one of the shelves 2701 or warehouse shelves at a specified height and angle.

[0418] The cargo box transport component 230 specifically takes out cargo boxes stored on warehouse shelves or storage shelves and stores them on pallets as follows.

[0419] The lifting drive device 232 drives the forks 238 to move along the vertical direction, so that the forks 238 are positioned at the same height as the cargo boxes stored on the warehouse shelves or shelves, and at the same time, the rotation drive device 236 drives the forks 238 to rotate in the vertical direction, so that the forks 238 are aligned with the cargo boxes stored on the warehouse shelves or shelves. After the forks 238 have finished lifting up and rotating, the forks 238 take out the cargo boxes stored on the warehouse shelves or shelves 2701 and store them on the pallets 220.

[0420] The cargo box transport component 230 specifically takes out cargo boxes stored on pallets and stores them on warehouse shelves or storage shelves as follows.

[0421] The lifting drive device 232 drives the forks 238 to move vertically, thereby positioning the forks 238 at the same height as an empty position on a warehouse shelf or shelf plate, and at the same time, the rotation drive device 236 drives the forks 238 to rotate in the vertical direction, thereby positioning the forks 238 at an empty position on a warehouse shelf or shelf plate. After the forks 238 have finished lifting up and rotating, they remove the cargo boxes stored on the pallet 220 and store them on the warehouse shelf or storage shelf 270.

[0422] By disposing the lifting drive device 232, the lifting drive device 232 drives the fork 238 supported by the mounting base 234 to move along the vertical direction, so that the fork 238 can pick up and place cargo boxes from shelves 2701 or warehouse shelves at different heights, thus the warehouse shelves may be arranged with multiple layers, improving the utilization rate of the vertical space of the warehouse shelves, and the storage shelves 270 may be arranged with multiple layers, so that the storage shelves 270 can store multiple cargo boxes and at the same time improving the utilization rate of the vertical space of the storage shelves 270. In some other embodiments, for example, when the storage shelves 270 and warehouse shelves have only one layer, the lifting drive device 232 can be omitted.

[0423] By providing the rotation drive 236, the rotation drive 236 drives the fork 238 to rotate in a vertical direction, which allows the fork 238 to pick up and place cargo boxes from warehouse shelves in different directions, making the pickup mode of the fork 238 more flexible and advantageous for picking up and placing cargo boxes in a complex warehouse environment. In some other embodiments, the rotation drive 236 can be omitted, for example, a cargo box in an empty position on a warehouse shelf or stored on a warehouse shelf is always in the pickup direction of the fork 238, for example, a rail dedicated to the moving component 210 is installed on the warehouse floor, and after the moving component 210 approaches the warehouse shelf, a cargo box in an empty position on a warehouse shelf or stored on a warehouse shelf is in the pickup direction of the fork 238, and the shelf 2701 is part of the transport robot 100, and the shelf 2701 is positioned in the pickup direction of the fork 238.

[0424] The following describes some specific embodiments of the cargo box conveying component 230. It should be noted that the following embodiments are merely exemplary, and any other cargo box conveying component that can meet at least one of the above requirements falls within the scope of protection of the present application.

[0425] The mounting base 234 and the storage shelf 270 are respectively located on two opposite sides of the upright bracket 219. The mounting base 234 is formed by assembling and welding a profile and a plate. Two sliding parts are installed on the mounting base 234, and each sliding part is attached to a corresponding sliding groove and can move along the sliding groove.

[0426] The lifting drive device 232 includes two sets of first sprocket mechanisms, a transmission shaft, and a lifting drive motor. Each set of first sprocket mechanisms is mounted on a corresponding pillar, and both ends of the transmission shaft are fixed coaxially with the drive wheels of the two sets of first sprocket mechanisms. The mounting bases are fixedly connected to the chains of the two sets of first sprocket mechanisms, and the lifting drive motor is used to drive the rotation of the drive shaft to synchronize the two sets of sprockets and to move the mounting base vertically.

[0427] It should be understood that the first sprocket mechanism may be replaced by a pulley mechanism, a gear rack transmission mechanism, etc., depending on the actual situation.

[0428] The rotary drive device 236 includes a second sprocket mechanism and a rotary drive motor. A drive wheel of the second sprocket mechanism is rotatably mounted to the fork 238, a transmission wheel of the second sprocket mechanism is fixedly mounted to the mounting base 234, and the rotary drive motor is used to drive the rotation of the drive wheel, which in turn couples to rotate the fork 238 vertically.

[0429] It should be understood that depending on the actual situation, the second sprocket mechanism may be replaced by a pulley mechanism, a gear set, etc.

[0430] Fork 238 includes a mounting platform 2380 and a telescopic arm device 2382, and telescopic arm device 2382 is attached to mounting platform 2380. Mounting platform 2380 is swivel-mounted on top of mounting base 234, allowing fork 238 to rotate vertically relative to mounting base 234. Pallet 220 is fixedly attached to mounting platform 2380, and telescopic arm device 2382 is used to push a cargo box stored on pallet 220 to an empty position on shelf 2701 or a storage shelf, or to pull a cargo box stored on shelf 2701 or a storage shelf onto pallet 220. In some other embodiments, telescopic arm device 2382 moves a cargo box by lifting or grabbing.

[0431] Two sets of telescopic arm devices 2382 are symmetrically installed on both sides of the pallet 220, and the two sets of telescopic arm devices 2382 work together to push or pull the cargo together. Depending on the actual situation, there may be only one telescopic arm device 2382.

[0432] Each set of telescopic arm devices 2382 includes a telescopic arm 23820, a fixed push rod 23822, and a movable push rod 23824. One end of the telescopic arm 23820 is fixedly attached to the mounting platform 2380, and the other end can be horizontally extended or retracted relative to the mounting platform 2380. The telescopic arm 23820 includes an inner arm, a middle arm, and an outer arm, and the outer arm is fixedly attached to the mounting platform 2380 and is located on one side of the pallet 220. The middle arm is movably attached to one side of the outer arm adjacent to the pallet 220, and can be extended or retracted relative to the outer arm, and the middle arm is driven by a sprocket transmission mechanism. The inner arm is movably attached to one side of the middle arm adjacent to the pallet 220, and the inner arm can extend or retract relative to the middle arm. The inner arm is driven by a movable pulley mechanism, and the pulley of the movable pulley mechanism is attached to the inner arm. Both ends of the sliding rope of the movable pulley are attached to the outer arm and the middle arm, respectively. When the middle arm extends or retracts relative to the outer arm, the inner arm moves in the same direction as the outer arm, and the moving speed of the inner arm is twice that of the middle arm.

[0433] The fixed push rod 23822 protrudes from the other end of the telescopic arm 23820, and the movable push rod 23824 is movably attached to the other end of the telescopic arm 23820. When the telescopic arm 23820 extends or retracts, the movable push rod 23824 and the fixed push rod 23822 both extend or retract. The movable push rod 23824 can retract or protrude from the other end of the telescopic arm 23820 and can be directly driven by a motor. The movable push rod 23824 protruding from the other end of the telescopic arm 23820 is spaced from the fixed push rod 23822, and the distance between them is used to store cargo boxes. In the extension direction of the telescopic arm 23820, the movable push rod 23824 protruding from the other end of the telescopic arm 23820 is located in front of the fixed push rod 23822. The movable push rod 23824 and the fixed push rod 23822 protruding from the other end of the telescopic arm 23820 are both located on the same side of the pallet 220 and the telescopic arm 23820, and are both higher than the position of the pallet 220.

[0434] When the fork 238 removes a cargo box from the pallet 220 and stores it in an empty position on the shelf 2701 or warehouse shelf, the movable push rod 23824 is retracted to the other end of the telescopic arm 23820, the telescopic arm 23820 extends, and the fixed push rod 23822 pushes the cargo box stored on the pallet 220 from the pallet 220 to the empty position on the shelf 2701 or warehouse shelf, and after the cargo box is pushed to the empty position on the shelf 2701 or warehouse shelf, the telescopic arm 23820 retracts.

[0435] When the fork 238 removes a cargo box from the shelf 2701 or warehouse shelf and stores it on the pallet 220, the movable push rod 23824 is retracted to the other end of the telescopic arm 23820, the telescopic arm 23820 extends, the movable push rod 23824 passes over the cargo box, and after the movable push rod 23824 passes over the cargo box, it protrudes from the other end of the telescopic arm 23820, and then the telescopic arm 23820 retracts, and the movable push rod 23824 protruding from the telescopic arm 23820 pulls the cargo box towards the pallet 220, and after the cargo box has been pulled onto the pallet 220, the movable push rod 23824 retracts to the other end of the telescopic arm 23820.

[0436] 10f, the cargo box recognition component 250 includes a cargo recognition device attached to the fork 238, with the lens orientation of the cargo recognition device aligned with the extension direction of the telescopic arm 23820, and used to capture image information of the warehouse shelf or cargo box. The cargo recognition device may be fixedly attached to the mounting platform 2380, and in some other embodiments, the cargo recognition device may be attached to the other end of the telescopic arm 23820 and extend along with the other end of the telescopic arm 23820.

[0437] By obtaining the image information of the warehouse shelf, it is determined whether an empty position on the warehouse shelf or a cargo box stored on the warehouse shelf is located at the same height as the fork 238. Because the position of the shelf is relatively fixed, whether an empty position on the shelf or a cargo box stored on the shelf is located at the same height as the fork 238 can be realized by setting the parameters of the lifting drive device and the rotation drive device in the program, which makes it more efficient, and of course, the empty position on the shelf or the cargo box stored on the shelf can be recognized by the cargo box recognition component.

[0438] In some embodiments, two-dimensional codes are attached to the warehouse shelves, and the forks 238 are initially at their lowest position. The forks 238 gradually rise, and the cargo recognition device also starts scanning the two-dimensional codes from the lowest level. When a specified two-dimensional code is scanned, the forks 238 stop moving up and down, and at this time, an empty position on the warehouse shelf or a cargo box stored on the warehouse shelf is positioned at the same height as the forks. Two-dimensional codes are also attached to the cargo boxes, and after a cargo box stored on the warehouse shelf is positioned at the same height as the forks 238, the forks 238 rotate, and the cargo recognition device scans the two-dimensional code on the cargo box. When the two-dimensional code on the cargo box is relatively completely or centrally positioned in the field of view of the cargo recognition device, the forks 238 stop rotating, and at this time, the forks 238 are aligned with the cargo box stored on the warehouse shelf.

[0439] 10g, cargo transfer component 240 is attached to mounting platform 2380 and rotates around a vertical axis or moves vertically along fork 238, so that cargo boxes stored on shelf 2701 are positioned at the same height as cargo transfer component 240, or cargo transfer component 240 is positioned close to cargo boxes stored on shelf 2701. Cargo transfer component 240 includes a multi-dimensional mechanical joint 2402 and an end effector 2404. One end of multi-dimensional mechanical joint 2402 is attached to mounting platform 2380 and is located on the same side of mounting platform 2380 as pallet 220, and the other end of multi-dimensional mechanical joint 2402 can rotate at multiple angles and move in multiple directions relative to mounting platform 2380. Multi-dimensional mechanical joint 2402 includes a rotating base 24020, a first rotating arm 24022, a second rotating arm 24024, and a three-axis gimbal 24026. The rotating base 24020 has a first rotation axis O1. One end of a first rotating arm 24022 is movably attached to the rotating base 24020, and the first rotating arm 24022 can rotate relative to the rotating base 24020 about a second rotation axis O2, which is perpendicular to the first rotation axis O1. One end of a second rotating arm 24024 is movably attached to the other end of the first rotating arm 24022, and the second rotating arm 24024 can rotate relative to the other end of the first rotating arm 24022 about a third rotation axis O3, which is parallel to the second rotation axis O2. A three-axis gimbal 24026 is attached to the other end of the second rotating arm 24024 and is used to mount the terminal execution device 2404. The rotating base 24020 is mounted on the mounting platform 2380 and is located on the same side of the mounting platform 2380 as the pallet 220, with a first axis of rotation O1 extending along the vertical direction and a second axis of rotation O2 extending along the horizontal direction.

[0440] The terminal execution device 2404 is used to grip or release cargo, and is attached to the other end of the multi-dimensional mechanical joint 2402. In this embodiment, the terminal execution device 2404 is a suction cup device that grips cargo by suction. Depending on the actual situation, the terminal execution device 2404 is not limited to a suction cup device, and a terminal execution device 2404 tailored to the cargo type can be configured according to the different types of cargo. For example, a suction cup device is used to grip solid, boxed cargo with a relatively flat surface, while a mechanical claw is used to grip cargo with an loose shape, such as clothing.

[0441] The specific process by which the cargo transfer component 240 retrieves restocked or returned cargo from a cargo box stored on the storage shelf 270 is as follows: the multi-dimensional mechanical joint 2402 drives the end execution device 2404 to drive it above a cargo box stored on a shelf 2701 of the storage shelf 270, and then the end execution device 2404 grabs the cargo and retrieves it from the cargo box stored on the shelf 2701. Once the end execution device 2404 grabs the cargo, the multi-dimensional mechanical joint 2402 drives the end execution device 2404 to reset it.

[0442] The process by which the cargo transfer component 240 places the retrieved restocked or returned cargo into a cargo box on the pallet 220 is specifically as follows: the multi-dimensional mechanical joint 2402 drives the end execution device 2404 to move it above the cargo box stored on the pallet 220, and then the end execution device 2404 releases the cargo, causing the cargo to fall into the cargo box stored on the pallet 220. Depending on the actual situation, for example, if the cargo is a fragile item, in order to prevent the cargo from being damaged by falling, the multi-dimensional mechanical joint 2402 drives the end execution device 2404 to move it above the cargo box stored on the pallet 220, and then the multi-dimensional mechanical joint 2402 drives the end execution device 2404 to extend it into the cargo box stored on the pallet 220, and then the end execution device 2404 releases the cargo, preventing the cargo from being damaged by falling.

[0443] 10d and 10g, the cargo recognition component 260 includes a first cargo recognition device 262, a second cargo recognition device 264, and a third cargo recognition device 266.

[0444] The first cargo recognition device 262 is used to recognize cargo in cargo boxes stored on the pallet 220 .

[0445] The first cargo recognition device 262 is fixedly attached to the mounting platform 2380. The first cargo recognition device 262 includes a first camera 2620 and a camera bracket 2622. The camera bracket 2622 is rod-shaped and is located on the same side of the mounting platform 2380 as the pallet 220, with one end of the camera bracket 2622 fixedly attached to the mounting platform 2380 and the other end of the camera bracket 2622 being higher than the pallet 220. The first camera 2620 is attached to the other end of the camera bracket 2622 and is used to recognize cargo in cargo boxes stored on the pallet 220 by acquiring image information of the cargo in the cargo boxes stored on the pallet 220.

[0446] The second cargo recognition device 264 can be used to recognize cargo in a cargo box stored on the storage shelf 270. Specifically, the second camera moves along with the other end of the multi-dimensional mechanical joint 2402 to acquire cargo image information in the cargo box stored on the shelf 2701, thereby recognizing the cargo in the cargo box stored on the shelf 2701.

[0447] The second cargo recognition device 264 can further be used to recognize cargo in cargo boxes stored on the pallet 220 by obtaining cargo image information in the cargo boxes stored on the pallet 220. Specifically, the second cargo recognition device 264 is fixedly attached to the other end of the multidimensional mechanical joint 2402 and can move along with the other end of the multidimensional mechanical joint 2402. The second cargo recognition device 264 includes a second camera. The second camera is attached to the other end of the multidimensional mechanical joint 2402 and can move along with the other end of the multidimensional mechanical joint 2402.

[0448] The third cargo recognition device 266 is used to recognize cargo in cargo boxes stored on the storage shelves. The third cargo recognition device 266 includes a third camera 2660. The multiple third cameras 2660 are attached to the upright brackets 219 so as to be distributed along the vertical direction, and each third camera 2660 is used to recognize cargo in the cargo boxes stored on one of its corresponding shelves 2701 by acquiring cargo image information in the cargo boxes stored on its corresponding shelf 2701. Each third camera 2660 can be hung from one of its corresponding beams 2192, and its corresponding shelf 2701 is located below the beam 2192.

[0449] Here, we will explain in detail how each cargo recognition device (i.e., the first, second, and third cargo recognition devices) recognizes cargo in a cargo box. The cargo image information includes cargo SKU (stock keeping unit) information and cargo location information. A barcode containing SKU information is affixed to the cargo, and a barcode containing the specified SKU information is marked by scanning the barcode within the camera's field of view. The cargo to which the barcode is affixed is either a restock or return cargo (in a cargo box stored on a storage shelf) or a cargo that has already been restocked or returned (in a cargo box stored on a pallet). Since the positions of cargo boxes stored on a pallet or storage shelf are basically fixed, the position of the restock or return cargo within the cargo box is determined based on the position of the marked barcode within the camera's field of view, and the cargo recognition device then completes the task of recognizing the cargo in the cargo box.

[0450] Based on the principles by which the cargo recognition devices recognize cargo, the differences between the first, second, and third cargo recognition devices will now be further explained. The first cargo recognition device is designed to recognize cargo in cargo boxes stored on pallets. However, since the first cargo recognition device is fixed to the fork's upright bracket, when cargo is relatively dispersed within a cargo box, the first camera of the first cargo recognition device can more accurately capture the position information of each cargo in the cargo box, but when cargo is relatively concentrated within the cargo box, the accuracy of the first camera capturing the position information of each cargo in the cargo box decreases. The third cargo recognition device is fixed to a storage shelf and is similar to the first cargo recognition device. When cargo is relatively dispersed within cargo boxes stored on a shelf, the third camera of the third cargo recognition device can more accurately capture cargo image information within the cargo box, but when cargo is relatively concentrated within the cargo boxes stored on a shelf, the accuracy of the third camera of the third cargo recognition device capturing the position information of each cargo in the cargo box decreases. Therefore, by attaching the second cargo recognition device to the other end of the cargo forwarding component and moving the second cargo recognition device along the other end of the cargo forwarding component, the cargo forwarding component drives the second cargo recognition device to move closer to each cargo in the cargo box, thereby improving the accuracy with which the second camera of the second cargo recognition device captures each cargo image information in the cargo box. Therefore, in some other embodiments, when the cargo positions in the cargo box are relatively dispersed, the second cargo recognition device can be omitted.

[0451] Since the third cargo recognition device and the second cargo recognition device are both used to recognize cargo in cargo boxes stored on storage shelves, in order to improve recognition efficiency, the third cargo recognition device recognizes the cargo in the cargo box before the second cargo recognition device, and if the third cargo recognition device has already recognized the location information and SKU information of the cargo in the cargo box (when the locations of the cargo are relatively dispersed), the second cargo recognition device will recognize the SKU information of the cargo in the cargo box according to the location information and SKU information provided by the third cargo recognition device, and if matching SKU information is found, the location information of the cargo can be determined, without needing to recognize the location information of the cargo again. If the location information of the cargo is not recognized by the third cargo recognition device, the second cargo recognition device will need to recognize the location information and SKU information of the cargo.

[0452] The second cargo recognition device is further used to recognize the SKU information of the cargo grabbed by the terminal execution device, thereby matching it with the specified SKU information to determine whether the terminal execution device grabbed the wrong cargo.

[0453] 11a, in the embodiment of the present application, the various components and components of the transport robot 20 in the above embodiment may correspond to specific physical devices. For example, the cargo transport component 230 may include a fork, the cargo transfer component 240 may include a robot arm, and the storage shelf 270 may be used to preset containers for carrying various cargo, such as cargo boxes or bag baskets. The standing bracket 219 may be a standing bracket that supports the fork, the cargo transfer component, or the storage shelf, and the fork, the cargo transfer component, and the storage shelf may all be attached to the standing bracket. Referring to FIG. 11a, the transport robot 20 includes a cargo transfer component 201, a storage shelf 202, a standing bracket 203, and a fork 204. Wherein, the cargo transfer component 201 can be attached to the fork 204, the fork 204 can be slidably connected to the upright bracket 203, and the cargo transfer component 201 can move up and down on the upright bracket according to the fork 204; the cargo transfer component 201 can be slidably connected to the upright bracket 203, and the upright bracket 203 can include upright posts on both sides; when the cargo transfer component 201 is slidably connected to the upright bracket 203, there can be one or two cargo transfer components 201, each slidably connected to the upright post of the upright bracket 203, and the cargo transfer component 201 can move up and down on the upright posts; as shown in Figure 11b, a schematic diagram of the cargo transfer component 203 slidably connected to the upright bracket 203; a storage shelf 202 is attached to the upright bracket 203, of which there can be multiple storage shelves 202 and they can be arranged in layers on one side of the upright bracket 203, in which case the fork 204 is installed on the other side of the upright bracket 203.

[0454] 12, which is a structural schematic diagram of another transport robot 20 provided by an embodiment of the present application. In the embodiment of the present application, the various components and components of the transport robot 20 in the above embodiment may correspond to specific physical devices. For example, the cargo transport component 230 may include a mounting platform, the cargo transfer component 240 may be a robot arm, and the storage shelf 270 may be used as a container for carrying various preset cargoes, such as a cargo box or a back basket. The standing bracket 219 may be a standing bracket for supporting the fork, the cargo transfer component, and the storage shelf, and the fork, the cargo transfer component, and the storage shelf may all be attached to the standing bracket. Referring to FIG. 12, the transport robot 20 includes a cargo transfer component 201, a storage shelf 202, a standing bracket 203, and a mounting platform 205. Wherein, the cargo transfer component 201 can be mounted on a mounting platform 205, the mounting platform 205 is slidably connected to an upright bracket 203, and the cargo transfer component 201 can move up and down on the upright bracket according to the mounting platform 205; the cargo transfer component 201 can be slidably connected to the upright bracket 203, and the upright bracket 203 can include upright posts on both sides; when the cargo transfer component 201 is slidably connected to the upright bracket 203, there can be one or two cargo transfer components 201, each slidably connected to the upright posts of the upright bracket 203, and the cargo transfer component 201 can move up and down on the upright posts; the storage shelf 202 is mounted on the upright bracket 203, and there may be multiple storage shelves 202, and they can be arranged in layers on one side of the upright bracket 203, in which case the mounting platform 205 is installed on the other side of the upright bracket 203.

[0455] In a situation where there are multiple storage shelves 202, the shelves can be divided into restock or return storage shelves and temporary cargo storage shelves, of which the restock or return storage shelves are used to store restock or return goods, and the temporary cargo storage shelves are used to store restock or return goods that do not correspond to cargo boxes, i.e., the goods picked up and placed by the cargo forwarding component do not belong to the restock or return goods that should be placed in the cargo box.

[0456] In the implementation of the present application, the mounting platform 205 cannot transfer the cargo box, unlike the fork 204, so the cargo transfer component 201 is used to move the cargo box to the mounting platform, and the sliding mechanism can move the mounting platform up and down vertically, thereby moving the cargo box on the mounting platform to a height position corresponding to the storage shelf, so that the cargo transfer component can remove the cargo to be picked up from the cargo box and place it on the storage shelf. In addition, the mounting platform 205 can also rotate, so that the mounting platform can be easily positioned with the cargo box on the shelf to transfer the cargo box.

[0457] In an embodiment of the present application, suction cups or mechanical claws may be installed on the cargo transfer component 201, and the suction cups can be used to suck out cargo or the mechanical claws can be used to grab cargo. The suction cups or mechanical claws may be installed at the end of the cargo transfer component and can be replaced with different cargoes.

[0458] In an embodiment of the present application, in order to recognize the position of the cargo in the cargo box, a cargo recognition device may photograph the cargo in the cargo box. At the same time, in order to ensure the accuracy of the cargo taken or placed by the cargo forwarding component, the cargo recognition device may photograph the product information of the cargo, where the cargo recognition device may be attached to the cargo forwarding component, the fork and / or the mounting platform, and the cargo recognition device may photograph image information of the restocked or returned cargo in the cargo box, where the image information includes position information of the restocked or returned cargo in the cargo box, inventory unit information of the restocked or returned cargo, shape of the restocked or returned cargo, image feature points of the restocked or returned cargo, color information and / or volume information of the restocked or returned cargo.

[0459] In the embodiment of the present application, the transport robot 20 further includes a moving chassis that allows the transport robot 20 to move along a planned path. The planned path may be a path for restocking or returning goods, which may be planned by the processing terminal 10 and transmitted to the transport robot in the form of a command, for example, the processing terminal 10 transmits a restocking or returning command to the transport robot, which causes the transport robot to perform a corresponding movement, thereby realizing the restocking or returning.

[0460] In the application scenarios and related equipment shown in Figures 9 to 12, the restocking or return method provided by the embodiments of the present application can be used to perform pickup operations through a cargo forwarding component, improving restocking or return efficiency and improving the flexibility of restocking or return.

[0461] 18 is a flowchart of a restocking or return method provided by an embodiment of the present application. As shown in FIG. 18, the restocking or return method is applied to the transport robot described above, and the restocking or return method includes the following steps:

[0462] In S101, a restocking or return instruction is received, and the restocking or return instruction includes restocking or return location information, restocking or return goods type information, and / or restocking or return goods product information.

[0463] In an embodiment of the present application, a restocking or return command can be transmitted from a processing terminal to a transport robot. The transport robot receives the restocking or return command, analyzes it, and recognizes information contained in the command, such as restocking or return location information, restocking or return cargo type information, and product information. The restocking or return location information may include the location of the cargo box receiving the restocking or return cargo. The cargo box location may be a different location on a warehouse shelf. The location information may be a three-dimensional spatial coordinate or may be determined by a code on the cargo box, such as a two-dimensional code. The restocking or return cargo type information may include stock keeping unit information (SKU information), which can determine the name, quantity, model number, etc. of the restocking or return cargo. The SKU information for the cargo in the cargo box may be the same or different for different cargo boxes. The SKU information may be expressed in the form of a barcode. The product information of the restocking or return cargo may include information on the shape, volume, image features, color, and / or weight of the restocking or return cargo. The product information may be expressed in the form of letters, numbers, or images.

[0464] In the embodiment of the present application, for different types of transport robots, due to differences in structure, different method steps can be performed after receiving a restocking or return order. For example, for a transport robot including a standing bracket and a fork, and a cargo forwarding component attached to the fork, the method may include: directing the forks to move to a first location according to the restock or return location information; and directing the fork or the cargo transfer component to move a second cargo box receiving the restock or return cargo from a second location to the first location.

[0465] For a transport robot including an upright bracket and a fork, with at least one of the cargo transfer components slidably coupled to the upright bracket, the method includes: directing the fork to move to a first location according to the restock or return location information; directing the forks to move a second cargo box receiving the restock or return cargo from a second location to the first location; or The cargo forwarding component further includes moving to the first location and directing a second cargo box receiving the restock or return cargo to be moved from the second location to the first location.

[0466] For a transport robot including an upright bracket and a mounting platform, with a cargo transfer component mounted on the mounting platform, the method includes: instructing the mounting platform to move to a first position according to the restock or return location information; and directing the cargo forwarding component to move a second cargo box receiving the restock or return cargo from a second location to the first location.

[0467] For a transport robot including an upright bracket and a mounting platform, with at least one of the cargo transfer components slidably connected to the upright bracket, the method includes: directing the mounting platform to move to a first location according to the restock or return location information; The cargo forwarding component further includes moving to the first location and directing a second cargo box receiving the restock or return cargo to be moved from the second location to the first location.

[0468] In an embodiment of the present application, the various types of transport robots may further include at least one storage shelf, and when the transport robot includes one storage shelf, the method may include: directing a freight forwarding component to perform a restock or return pick and place operation in accordance with said restock or return instruction; The method further includes instructing the cargo transfer component to remove cargo from the storage shelf or a first cargo box preset on the storage shelf and place the cargo in the second cargo box; When the transport robot includes a plurality of storage shelves, the transport robot further includes a rotation drive device, and the rotation drive device drives the fork or mounting platform to rotate around a vertical direction, and the plurality of storage shelves are hierarchically arranged on the upright bracket, and the storage shelves include a temporary cargo storage shelf and a restocking or return storage shelf, and the method includes: directing the fork or cargo forwarding component to move the second cargo box from the first location to the temporary cargo storage shelf and directing the fork or cargo forwarding component to transport the first cargo box to the original location of the second cargo box; or The method further includes instructing the cargo forwarding component to remove cargo from the storage shelf or a first cargo bin preset on the storage shelf and place it in the second cargo bin.

[0469] In an embodiment of the present application, when the fork or the mounting platform further includes a rotation drive device, and the rotation drive device drives the fork or the mounting platform to rotate around a vertical direction, and the transport robot includes a plurality of storage shelves hierarchically arranged on the upright bracket, and the storage shelves include a temporary cargo storage shelf and a restocking or return storage shelf, the method further comprises: directing the forks or cargo transfer component to move the second cargo box from the first location to a temporary cargo storage bin and directing the forks, mounting platform, or cargo transfer component to move the first cargo box to a third location corresponding to the temporary cargo storage bin; Or, directing the fork, mounting platform, or cargo transfer component to first move the first cargo box to a temporary cargo storage shelf at a top location before the fork or cargo transfer component moves to a first location; and further directing the forks or mounting platform and cargo transfer component to move the second cargo box from the first location to a third location corresponding to the temporary cargo storage shelf after the forks or cargo transfer component have moved the second cargo box from the second location to the first location.

[0470] In an embodiment of the present application, the transport robot navigates to the location of the corresponding second cargo box for receiving the restocked or returned goods according to the restocking or return location information through ground two-dimensional code map navigation or other navigation methods, thereby easily removing the restocked or returned goods from the first cargo box on the storage shelf and placing it in the second cargo box. At the same time, to remove the cargo box from the shelf, the fork or mounting platform needs to be moved to a first position, which is generally at the same height as the cargo box for receiving the restocked or returned goods, and the location of the second cargo box is a second position. The second cargo box for receiving the restocked or returned goods can be moved from the second position to the first position by a telescopic arm of the fork or a cargo transfer component. After the fork or mounting platform moves to the first position, the telescopic arms of the fork can be extended to clamp the second cargo box, or the cargo transfer component can grasp the second cargo box. If the fork or mounting platform is not aligned with the second cargo box, the two-dimensional code on the shelf can be scanned to adjust the attitude of the transport robot to align with the second cargo box. After the second cargo box receiving the restocked or returned cargo is moved from the second position to the first position, the cargo transfer component can remove the restocked or returned cargo from the first cargo box on the storage shelf and place it in the second cargo box. The storage shelf can be located at the same height as the first position and within the range of the cargo transfer component's removal position, for example, the first position and the storage shelf position can be located on both sides of the vertical bracket. When two or more storage shelves are present, the fork or mounting platform can move the second cargo box from the first position to a third position corresponding to the storage shelf, whereby the cargo transfer component removes the restocked or returned cargo from the first cargo box on the corresponding storage shelf and places it in the second cargo box. Since there are multiple storage shelves, the third position can be determined according to the storage shelves, and the third position and the storage shelf position are located at the same height, for example, on both sides of the upright bracket.

[0471] In S103, instruct the freight forwarding component to perform a pick and place operation of the restock or return freight and / or the first freight box according to the restock or return instruction.

[0472] In the embodiments of the present application, the information included in the restocking or return command may be different, for example, the type information of the restocking or return goods and / or the product information of the restocking or return goods may be different. The different information in the restocking or return command may also instruct the goods forwarding component to perform the pick-up and placement operation of the restocking or return goods in different ways. For example, when the restocking or return command includes information to restock the entire box, the fork or the goods forwarding component may be instructed to place the first goods box in an empty position on the fixed shelf for the goods box, or the fork or the goods forwarding component may be instructed to move the second goods box stored on the fixed shelf to a temporary goods storage shelf of the transport robot, and then place the first goods box in the original position of the second goods box on the fixed shelf.

[0473] If the inventory quantity unit information in the first cargo box on the storage shelf where the restocked or returned cargo is located is the same, the cargo forwarding component can be instructed to remove the restocked or returned cargo from the first cargo box on the storage shelf and place it in the second cargo box; if the inventory quantity unit information in the first cargo box on the storage shelf where the restocked or returned cargo is located is different, image information of the first cargo box of the restocked or returned cargo can be obtained, and cargo that matches the inventory quantity unit information in the restocked or returned command can be determined according to the image information of the first cargo box of the restocked or returned cargo, and the cargo forwarding component can be instructed to remove the cargo from the first cargo box and place it in the second cargo box.

[0474] In an embodiment of the present application, the image information includes location information of the restocked or returned cargo in the first cargo box, inventory unit information of the restocked or returned cargo, shape of the restocked or returned cargo, image feature points of the restocked or returned cargo, color information and / or volume information of the restocked or returned cargo.

[0475] In an embodiment of the present application, image information of the first cargo box of restocked or returned cargo can be obtained by a cargo recognition device, where the cargo recognition device can be attached to the cargo forwarding component, or the cargo recognition device can be attached to the forks, or the cargo recognition device can be attached to the mounting platform, or the cargo forwarding component and the forks, or the cargo recognition device can be attached to the cargo forwarding component and the mounting platform, and the cargo recognition device can be a video camera, etc.

[0476] acquiring image information of a first container of the restock or return cargo, acquiring image information of the first cargo box of the restock or return cargo taken by each of the cargo recognition devices of the cargo transfer component, fork, or mounting platform; Or, acquiring image information of the first cargo box of the restocked or returned cargo taken by a cargo recognition device of the fork and cargo forwarding component; Or, and acquiring image information of the first cargo box of the restock or return cargo captured by a cargo recognition device of the mounting platform and cargo transfer component.

[0477] In an embodiment of the present application, the product information includes shape, volume, image feature, color, and / or weight information of the restocked or returned goods, the storage shelf includes a restocked or returned goods storage shelf and a temporary goods storage shelf, and a third goods box is preset in the temporary goods storage shelf, and the method includes: If it is not possible to determine cargo that matches the inventory unit information and / or product information in the restocking or return order based on image information acquired by each of the cargo recognition devices attached to the cargo transfer component, the mounting platform, or the fork, instructing the cargo transfer component to retrieve the cargo from the first cargo box; subsequently acquiring image information by a cargo recognition device located on the cargo forwarding component, a cargo recognition device located on the forks, or a cargo recognition device located on the mounting platform; The method further includes: if it is determined based on the image information that the cargo acquired by the cargo forwarding component is cargo that does not match the inventory unit information and / or product information in the restocking or return order, placing the cargo acquired by the cargo forwarding component in a temporary cargo storage shelf or a third cargo box in the temporary cargo storage shelf; otherwise, placing it in the corresponding second cargo box.

[0478] In an embodiment of the present application, in accordance with a restocking or return command, the cargo forwarding component may be instructed to perform a pick-up and placement operation for a first cargo box, for example, by placing the entire first cargo box on a fixed shelf to realize a restocking or return operation for the entire box cargo. When performing a restocking or return operation for the entire box cargo, the first cargo box may be placed on the fixed shelf at an empty position for storing the cargo box, and the first cargo box may be placed on the fixed shelf at a cargo box position for storing the second cargo box. Before being placed at the second cargo box position on the fixed shelf, the second cargo box needs to be transferred to a temporary cargo storage shelf of the transport robot, wherein the transport robot includes a rotation drive device, and the rotation drive device drives the fork or mounting platform to rotate in a vertical direction.

[0479] In an embodiment of the present application, the restocking or return command may include one or more of restocking or return location information, restocking or return cargo type information, and product information of the restocking or return cargo, and the transport robot can instruct the cargo forwarding component to perform a pick-up and placement operation of the restocking or return cargo and / or the first cargo box according to the specific information in the restocking or return command, for example, the product information or the type information of the cargo to be picked up.

[0480] In an embodiment of the present application, a transport robot receives a restocking or return command, the restocking or return command including restocking or return location information, restocking or return cargo type information, and / or product information, and instructs a cargo forwarding component to perform a pick-up and placement operation of the restocking or return cargo and / or the first cargo box according to the restocking or return command. The technical solution of the present application enables the cargo forwarding component to perform a pick-up and placement operation of the restocking or return cargo and / or the first cargo box, thereby increasing the flexibility of restocking or returns and improving the efficiency of restocking or returns.

[0481] To further illustrate embodiments of the present application, specific examples of specific information included in a restock or return order are provided below.

[0482] Figure 19 is a flowchart of a restocking or return method for restocking or returning cargo having the same inventory quantity information in a first cargo box provided by an embodiment of the present application. As shown in Figure 19, the restocking or return method is applied to the transport robot described above. In this embodiment, a transport robot in which a cargo forwarding component is fixed to a fork and a cargo recognition device is attached to the cargo forwarding component is used as an example. The method includes the following steps:

[0483] In S111, a restocking or return command is received, the restocking or return command including restocking or return location information and restocking or return cargo type information, where the restocking or return cargo type information includes inventory quantity unit information, and the cargo in the first cargo box has the same inventory quantity unit information. In an embodiment of the present application, the SKU information in the first cargo box where the restocking or return cargo is located is the same, so the cargo forwarding component does not need to sort the cargo during the process of picking and placing it, and a single large cargo can be directly picked up by the cargo forwarding component. For a single small cargo, the cargo forwarding component can easily grab the cargo. A cargo recognition device in the cargo forwarding component can capture image information of the cargo in the first cargo box, the image information may include the position of the restocking or return cargo in the first cargo box, and the cargo is grabbed according to the captured position.

[0484] In an embodiment of the present application, after receiving a restocking or return command, the transport robot analyzes the restocking or return command and instructs the transport robot to perform corresponding processing according to the analyzed command information, and these processing include instructing the transport robot to move according to the restocking or return position, instructing the fork and cargo forwarding component to perform related operations, for example, moving the cargo box, grabbing the cargo, etc.

[0485] In S112, the fork is instructed to move to a first position according to the restock or return location information.

[0486] In an embodiment of the present application, the restocking or return location information includes the location of the second cargo box that will receive the restocking or return goods, for example, three-dimensional information about the second cargo box location. Before the forks move to the first position, the transport robot may move to the vicinity of the second cargo box that will receive the restocking or return goods according to the restocking or return location information, and further check the accuracy of the second cargo box location according to the information on the second cargo box, for example, the code information on the second cargo box, and adjust the robot's posture according to the code information on the second cargo box, for example, the two-dimensional code information, thereby easily aligning the forks with the second cargo box.

[0487] In the present embodiment, the first position is generally located at the same height as a second cargo box for receiving restocked or returned cargo, and the horizontal distance between the first position and the second cargo box is within the extension range of the telescopic arms of the forks, so that the second cargo box can be moved to the first position when the forks are extended from the telescopic arms.

[0488] In S113, a fork or the cargo forwarding component is instructed to move a second cargo box receiving the restock or return cargo from a second location to the first location.

[0489] In an embodiment of the present application, after the fork moves to the first position, a telescopic arm on the fork may move a second cargo box for receiving the restocked or returned cargo from the second position to the first position, and a cargo forwarding component may move the second cargo box for receiving the restocked or returned cargo from the second position to the first position, where the second position is the location of the second cargo box, which is generally on a shelf in a warehouse and can be determined by three-dimensional spatial coordinates.

[0490] In S114, image information of the restocked or returned cargo in the first cargo box photographed by the cargo recognition device is acquired, and according to the image information of the restocked or returned cargo in the first cargo box, the cargo forwarding component is instructed to remove the restocked or returned cargo from the first cargo box and place the removed restocked or returned cargo in the second cargo box.

[0491] In an embodiment of the present application, since the restocked or returned goods have the same SKU information, to prevent the goods from being picked up by the goods forwarding component, a goods recognition device in the goods forwarding component can capture image information of the restocked or returned goods in the first goods box, the image information including the position of the restocked or returned goods in the first goods box, and instruct the goods forwarding component to remove the restocked or returned goods from the first goods box. The pickup method can be to use a suction cup in the goods forwarding component to suck out the goods or to use a mechanical claw to grab the goods. After the goods are removed, they can be placed in a second goods box. In this case, the first goods box on the storage shelf can be at the same height as the first position and can be located on both sides of the fork and the upright bracket, or can be at a different height from the first position. In this case, the fork needs to be used to move the second goods box to a position at the same height as the first goods box on the storage shelf, so that the goods forwarding component can easily remove the restocked or returned goods from the first goods box and place them in the second goods box.

[0492] In S115, after the cargo forwarding component completes the pick-and-place operation of the preset number of restock or return cargo for the second cargo box, the fork or cargo forwarding component is instructed to return the second cargo box to its original location or place it in another location.

[0493] In an embodiment of the present application, after the cargo forwarding component has completed the pick-up and placement operation of a preset number of restock or return cargoes for the second cargo box, i.e., after it has already completed the pick-up and placement operation for any cargo that needs to be replenished or returned to the second cargo box, it instructs the fork to move to a first position, i.e., a height position corresponding to the original position of the second cargo box, and instructs the fork or cargo forwarding component to return the cargo box to the original position of the cargo box or place it in another position. The number of restock or return cargoes that need to be picked up and placed from the first cargo box can be determined by the information included in the restock or return order, for example, the restock or return order may include information on different numbers of restock or return cargoes for different second cargo boxes.

[0494] In S116, if the restocking or return location information includes multiple second cargo box location information and the restocking or return goods are restocked or returned to the multiple second cargo boxes, the current second cargo box is returned to its original position or another position, and then the restocking or return goods are sequentially delivered to other second cargo box locations according to the other second cargo box location information, thereby completing the restocking or return of all goods.

[0495] In an embodiment of the present application, if the restocked or returned goods from a first cargo box cannot be accommodated in one second cargo box, multiple second cargo boxes are required to receive the restocked or returned goods. In this case, the restocked or returned goods location information in the restocked or returned goods command may include location information for multiple second cargo boxes, and the restocked or returned goods from the first cargo box can be removed and placed in the second cargo boxes at the multiple locations. After the cargo forwarding component completes the removal and placement operation of the restocked or returned goods from one second cargo box, the second cargo box can be returned to its original location. Then, the transport robot can sequentially arrive at the locations of the other second cargo boxes where the restocked or returned goods need to be placed according to the location information of the other second cargo boxes, thereby completing the restocking or return of all the goods.

[0496] In an embodiment of the present application, a restocking or return order is received, and a cargo forwarding component is instructed to perform a pick-up and placement operation of the restocking or return goods according to the restocking or return location information contained in the restocking or return order and the same SKU information of the restocking or return goods. At the same time, a cargo recognition device is used to obtain image information of the restocking or return goods in a first cargo box, and the cargo forwarding component is instructed to pick up the restocking or return goods from the first cargo box and place the picked-up restocking or return goods in the second cargo box. Since the SKU information of the restocking or return goods in the first cargo box is the same, the cargo forwarding component needs to recognize the product information during the pick-up process, which is beneficial to the cargo forwarding component's quick and accurate restocking or return and improves the efficiency of restocking or return.

[0497] Figure 20 is a flowchart of a restocking or return method for cargo having different inventory information in a first cargo box provided by an embodiment of the present application. As shown in Figure 20, the restocking or return method is applied to the transport robot described above. Hereinafter, the transport robot described in the embodiment includes at least one cargo forwarding component slidably connected to the vertical bracket of the transport robot, and both the cargo forwarding component and the fork are equipped with a cargo recognition device. At the same time, the transport robot includes a plurality of storage shelves, and the plurality of storage shelves include a restocking or return storage shelf and a temporary cargo storage shelf, and a third cargo box is preset in the temporary cargo storage shelf. The method includes the following steps:

[0498] In S121, a restocking or return command is received, and the restocking or return command includes restocking or return location information and restocking or return cargo type information, where the restocking or return cargo type information includes inventory quantity unit information, and the restocking or return cargo in the first cargo box has different inventory quantity unit information.

[0499] In an embodiment of the present application, the cargo in the first cargo box containing the restocked or returned cargo has different SKU information. During the pickup process of the cargo forwarding component, recognition of the SKU information can be enhanced, thereby easily determining where to place the removed cargo, for example, whether to place it in the second cargo box or in a temporary cargo storage shelf or a third cargo box in the temporary cargo storage shelf. During the SKU information recognition process, image information can be captured by a cargo recognition device installed in the cargo forwarding component, and the image information may include the SKU information of the cargo. By comparing the SKU information in the restocking or return order with the SKU information captured by the cargo recognition device, it is determined whether the removed cargo needs to be placed in the second cargo box.

[0500] In S122, the fork is instructed to move to a first position according to the restock or return location information.

[0501] In an embodiment of the present application, the restocking or return location information includes the location of the second cargo box that will receive the restocking or return goods, for example, three-dimensional information about the second cargo box location. Before the fork moves to the first position, the transport robot may move to the vicinity of the second cargo box that will receive the restocking or return goods according to the restocking or return location information, and further check the accuracy of the second cargo box location according to the information on the second cargo box, for example, the code information on the second cargo box, and adjust the posture of the robot according to the code information on the second cargo box, for example, the two-dimensional code information, thereby aligning the fork to the second cargo box.

[0502] In the present embodiment, the first position is generally located at the same height as a second cargo box for receiving restocked or returned cargo, and the horizontal distance between the first position and the second cargo box is within the extension range of the telescopic arms of the forks, so that the second cargo box can be moved to the first position when the telescopic arms of the forks are extended.

[0503] At S123, the cargo forwarding component moves to the first location and commands a second cargo box to receive the restock or return cargo to be moved from the second location to the first location.

[0504] In the embodiment of the present application, the cargo transfer component is slidably connected to the upright bracket. Therefore, whe...

Claims

1. Standing bracket and a pallet for storing the first cargo box; a fork supported by the upright bracket and to which the pallet is attached, the fork being used to remove the first cargo box from one of the warehouse shelf and the pallet and store it in the other; a storage shelf used to store the second cargo box; a cargo transfer component attached to the upright bracket and used to remove cargo from one of the first cargo box stored on the pallet and the second cargo box stored on the storage shelf and store it in the other; The transport robot, wherein the upright bracket is positioned between the fork and the storage shelf.

2. The fork is located in front or behind the upright bracket in the moving direction of the transport robot, 2. The transport robot according to claim 1, wherein the storage shelf is located behind or in front of the upright bracket in a moving direction of the transport robot.

3. The transport robot described in claim 1, characterized in that the cargo transfer component is rotatably attached to the standing bracket and is used to remove cargo from the first cargo box, rotate toward the second cargo box, and place the cargo in the second cargo box.

4. The transport robot described in claim 1, characterized in that the cargo transfer component is rotatably attached to the standing bracket and is used to remove cargo from the second cargo box, rotate toward the first cargo box, and place the cargo in the first cargo box.

5. The cargo transfer component includes a multi-dimensional mechanical joint and an end execution device; The transport robot according to any one of claims 1 to 4, characterized in that the end execution device is attached to the multi-dimensional mechanical joint, the multi-dimensional mechanical joint is used to drive the multi-angle rotation and multi-directional movement of the end execution device, and the end execution device is used to grab cargo.

6. The transport robot described in Claim 5, characterized in that the terminal execution device is a suction cup device and is used to adsorb cargo.

7. A transport robot as described in claim 1, characterized in that it further includes a third cargo recognition device attached to the vertical bracket and used to acquire image information of the cargo in the second cargo box stored on the storage shelf.

8. The transport robot described in Claim 7, characterized in that the image information includes at least one of position information of the cargo in the second cargo box, inventory quantity unit information of the cargo, shape of the cargo, image feature points of the cargo, color information of the cargo, and volume information of the cargo.

9. The transport robot as described in claim 1, further comprising a moving component used to carry the standing bracket and move on the warehouse floor.

10. A vertical bracket; a pallet for storing the first cargo box; a fork supported by the upright bracket and to which the pallet is attached, the fork being used to remove the first cargo box from one of the warehouse shelf and the pallet and store it in the other; a storage shelf used to store the second cargo box; a cargo transfer component attached to the upright bracket and used to remove cargo from one of the first cargo box stored on the pallet and the second cargo box stored on the storage shelf and store it in the other; a cargo recognition device attached to the upright bracket and used to acquire image information of the cargo in the second cargo box stored on the storage shelf.

Images