Handling robots and their picking and placing positioning methods, warehousing systems, storage media and computer programs

Abstract

This application relates to the field of smart warehousing technology and discloses a handling robot, comprising: a structural component installed on the side of a first shelf, capable of moving relative to the first shelf in a first direction along a guide rail on the first shelf, wherein a second storage location is provided on the first shelf; a handling device installed on the structural component, capable of moving relative to the structural component in a second direction; and an identification device installed on the handling device for acquiring an identification code of the first storage location on the second shelf, wherein each storage location on the second shelf is provided with an identification code. When the handling robot performs picking and placing operations on a target storage location, it adjusts the position of the structural component and / or the handling device at least in part based on a first deviation between the identification device and the identification code. The target storage location includes either the first storage location or the second storage location, wherein the second storage location and the first storage location are symmetrically arranged relative to the aisle. This application achieves positioning for picking and placing goods on storage locations on both sides of the shelf based on a single-sided identification code.

Description

[Technical Field]

[0001] This application relates to the field of intelligent warehousing system technology, specifically to a handling robot and its picking and placing positioning method, warehousing system and storage medium. [Previous Technology]

[0002] In warehousing systems in the logistics field, shelves are typically used to store goods, and handling robots are used to perform operations such as picking up, placing, and moving goods on the shelves to realize the flow of goods within the warehousing system. Currently, when handling robots perform picking up and placing operations on shelves, they must first move according to a fixed distance based on the starting position of the handling robot and the position of the target storage location on the shelf.

[0003] However, the existing technology has high requirements for the installation accuracy of the racks. At present, the installation accuracy of the racks cannot fully guarantee that the handling robot can accurately move to the designated location to achieve docking with the target warehouse location. Inaccurate positioning may cause the handling robot to be misaligned with the target warehouse location. [Summary of the Invention]

[0004] In view of the above problems, the present application provides a handling robot, a method for picking up and placing goods in the handling robot, a warehousing system, a computer-readable storage medium and a computer program product, so as to solve the problem of inaccurate picking up and placing of goods in the prior art.

[0005] According to a first aspect of the present application, a handling robot is provided, comprising: a structural member configured to be mounted on the side of a first shelf and capable of moving relative to the first shelf in a first direction along a guide rail on the first shelf, wherein the first direction is parallel to the length direction of the first shelf, and a second storage location is provided on the first shelf; a handling device mounted on the structural member and capable of moving relative to the structural member in a second direction, wherein the second direction is parallel to the height direction of the first shelf; and an identification device mounted on the handling device for acquiring an identification code of a first storage location on the second shelf, wherein each storage location on the second shelf is provided with the identification code, and the second shelf and the first shelf are disposed opposite each other on both sides of an aisle; wherein, when performing a picking and placing task for a target storage location, the handling robot is configured to adjust the position of the structural member and / or the handling device at least in part based on a first deviation between the identification device and the identification code, the target storage location including the first storage location or the second storage location, wherein the second storage location and the first storage location are symmetrically disposed relative to the aisle.

[0006] In some embodiments, when the target storage location is the first storage location, the first deviation includes a first lateral deviation and a first height deviation; the handling robot is configured to: determine the first lateral deviation between the identification device and the identification code; control the structural component to move along the first direction according to the first lateral deviation until the first lateral deviation between the identification device and the identification code is less than or equal to a lateral deviation threshold, so that the handling device is aligned with the target storage location in the first direction; determine the first height deviation between the identification device and the identification code; control the handling device to move along the second direction according to the first height deviation.

[0007] In some embodiments, when the target storage location is the second storage location, the first deviation includes a first lateral deviation. The handling robot is configured to: determine the first lateral deviation between the identification device and the identification code; control the structural member to move along the first direction according to the first lateral deviation and the second lateral deviation until the lateral deviation between the identification device and the target storage location is less than or equal to a lateral deviation threshold, wherein the second lateral deviation is used to characterize the deviation between the first shelf and the second shelf in the first direction, and the value of the second lateral deviation is the deviation between the target storage location and the identification code in the first direction.

[0008] In some embodiments, the handling robot further includes a first sensor and a second sensor, the first sensor and the second sensor being respectively disposed at a first end and a second end of the handling device in the picking and placing direction, the detection surfaces of the first sensor and the second sensor facing the first shelf and the second shelf respectively; the first sensor is configured to identify a first column of the first shelf to obtain a first identification signal when the structural member moves along the first direction, and the second sensor is configured to identify a second column of the second shelf to obtain a second identification signal when the structural member moves along the first direction, so that the handling robot determines the second lateral deviation amount based on the first identification signal and the second identification signal.

[0009] In some embodiments, the transport robot is further configured to: determine a first time when the first identification signal is acquired and a second time when the second identification signal is acquired; determine the difference between the second time and the first time to obtain a sensing time difference; and determine the second lateral deviation based on the sensing time difference and the moving speed of the transport robot in the first direction.

[0010] In some embodiments, the transport robot is further configured to: in response to the first acquisition of an identification signal, begin recording the movement distance of the transport robot in the first direction; in response to the second acquisition of an identification signal, terminate the recording of the movement distance of the transport robot, and determine the recorded movement distance as the second lateral deviation; wherein the first acquisition of an identification signal is one of the first identification signal and the second identification signal, and the second acquisition of an identification signal is the other of the first identification signal and the second identification signal.

[0011] In some embodiments, the handling robot is further configured to: control the structural member to move along the first direction; in response to a first acquisition of an identification signal, determine a third lateral deviation between the identification device and the identification code; in response to a second acquisition of an identification signal, determine a fourth lateral deviation between the identification device and the identification code; and determine a second lateral deviation based on the third lateral deviation and the fourth lateral deviation; wherein the first acquisition of the identification signal is one of the first identification signal and the second identification signal, and the second acquisition of the identification signal is the other of the first identification signal and the second identification signal.

[0012] In some embodiments, the first shelf includes a plurality of first uprights, the second shelf includes a plurality of second uprights, and a plurality of storage locations are provided between every two first uprights. The second lateral deviation obtained by a set of first uprights and second uprights is applied to the plurality of storage locations.

[0013] In some embodiments, the handling robot further includes a first sensor group, which includes two first sensors that are spaced apart at a first end of the handling device along the first direction; the detection surfaces of the two first sensors face the first shelf or the second shelf and are configured to detect the offset of goods on the second storage location or the first storage location; the handling robot is configured to control the structural member to move in the first direction based on the detection data of the offset detection, so as to adjust the position of the handling device relative to the goods.

[0014] In some embodiments, the transport robot is configured to determine the triggering state of the two first sensors based on the identification signals of the two first sensors, and control the structural member to move along the first direction within a preset distance to a position where both first sensors are in an untriggered state, based on the triggering state of the two first sensors. The triggering state includes a triggered state or an untriggered state.

[0015] In some embodiments, the handling device includes a device body, the device body includes a support platform, a first guide member and a second guide member, the support platform is used to support the goods, and the first guide member and the second guide member are distributed on both sides of the support platform; the two first sensors are respectively disposed at the first end of the first guide member and the first end of the second guide member.

[0016] In some embodiments, the conveying device further includes a second sensor group, which includes two second sensors. The second sensor group and the first sensor group are symmetrically arranged along the picking and placing direction of the conveying device, and the two second sensors are spaced apart at the second end of the conveying device along the first direction.

[0017] According to a second aspect of the embodiments of this application, a method for picking and placing goods in a handling robot is provided, characterized in that the method is applied to a handling robot, the handling robot including a structural component, a handling device, and an identification device; the structural component is installed on the side of a first shelf and is capable of moving relative to the first shelf in a first direction along a guide rail on the first shelf; a second storage location is provided on the first shelf, the first direction being parallel to the length direction of the first shelf; the handling device is installed on the structural component and is capable of moving relative to the structural component in a second direction, the second direction being parallel to the height direction of the first shelf; the identification device is installed on the handling device; the method includes: receiving a picking and placing task instruction, the picking and placing task instruction including a target storage location corresponding to the picking and placing task; controlling the handling device to run to the target storage location; and obtaining an identification code of a first storage location on a second shelf through the identification device, the second shelf and the first shelf being arranged opposite each other on both sides of an aisle; The position of the structural component and / or the handling device is adjusted and positioned based at least in part on a first deviation between the identification device and the identification code in order to perform the picking and placing task, wherein the target storage location includes the first storage location or the second storage location, and the second storage location and the first storage location are symmetrically arranged with respect to the aisle.

[0018] In some embodiments, when the target storage location is the first storage location, the first deviation includes a first lateral deviation and a first height deviation; adjusting the position of the structural component and / or the handling device based at least in part on the first deviation between the identification device and the identification code includes: determining the first lateral deviation between the identification device and the identification code; controlling the structural component to move along the first direction according to the first lateral deviation until the first lateral deviation between the identification device and the identification code is less than or equal to a lateral deviation threshold, so that the handling device is aligned with the target storage location in the first direction; determining the first height deviation between the identification device and the identification code; controlling the handling device to move along the second direction according to the first height deviation. In some embodiments, when the target storage location is the second storage location, the first deviation includes a first lateral deviation; adjusting the position of the structural member and / or the handling device based at least in part on the first deviation between the identification device and the identification code includes: determining the first lateral deviation between the identification device and the identification code; controlling the structural member to move along the first direction according to the first lateral deviation and a second lateral deviation until the lateral deviation between the identification device and the target storage location is less than or equal to a lateral deviation threshold, wherein the second lateral deviation is used to characterize the deviation between the first shelf and the second shelf in the first direction, and the value of the second lateral deviation is the deviation between the target storage location and the identification code in the first direction.

[0019] In some embodiments, the handling robot further includes a first sensor and a second sensor, the first sensor and the second sensor being respectively disposed at a first end and a second end of the handling device in the picking and placing direction, the detection surfaces of the first sensor and the second sensor facing the first shelf and the second shelf respectively; the method further includes: controlling the structural member to move along the first direction; acquiring a first identification signal obtained by the first sensor identifying a first column of the first shelf, and a second identification signal obtained by the second sensor identifying a second column of the second shelf; determining a second lateral deviation amount based on the first identification signal and the second identification signal.

[0020] In some embodiments, determining the second lateral deviation amount based on the first identification signal and the second identification signal includes: determining the first time when the first identification signal is acquired and the second time when the second identification signal is acquired; determining the difference between the second time and the first time to obtain a sensing time difference; and determining the second lateral deviation amount based on the sensing time difference and the moving speed of the handling robot in the first direction.

[0021] In some embodiments, determining the shelf deviation based on the first identification signal and the second identification signal includes: in response to the first acquisition of an identification signal, starting to record the movement distance of the handling robot in the first direction; in response to the second acquisition of an identification signal, terminating the recording of the movement distance of the handling robot, and determining the recorded movement distance as the second lateral deviation; wherein the first acquisition of an identification signal is one of the first identification signal and the second identification signal, and the second acquisition of an identification signal is the other of the first identification signal and the second identification signal.

[0022] In some embodiments, determining the shelf deviation based on the first identification signal and the second identification signal includes: controlling the structural member to move along the first direction; determining a third lateral deviation between the identification device and the identification code in response to a first acquisition of an identification signal; determining a fourth lateral deviation between the identification device and the identification code in response to a second acquisition of an identification signal; and determining a second lateral deviation based on the third lateral deviation and the fourth lateral deviation; wherein the first acquisition of an identification signal is one of the first identification signal and the second identification signal, and the second acquisition of an identification signal is the other of the first identification signal and the second identification signal.

[0023] In some embodiments, the first shelf includes a plurality of first uprights, the second shelf includes a plurality of second uprights, and a plurality of storage locations are provided between every two first uprights. The second lateral deviation obtained by a set of first uprights and second uprights is applied to the plurality of storage locations.

[0024] In some embodiments, the handling robot further includes a first sensor group, the first sensor group including two first sensors, the two first sensors being spaced apart along the first direction at a first end of the handling device; the detection surfaces of the two first sensors facing the first shelf or the second shelf; after adjusting the position of the structural component and / or the handling device based at least in part on a first deviation between the identification device and the identification code, the method further includes: acquiring a third identification signal and a fourth identification signal from the two first sensors respectively; determining whether the two first sensors are triggered based on the third identification signal and the fourth identification signal; and adjusting the handling device based on whether the two first sensors are triggered.

[0025] In some embodiments, the two first sensors include a first first sensor and a second first sensor; adjusting the conveying device according to whether the two first sensors are triggered includes: if the first first sensor is triggered and the second first sensor is not triggered, then controlling the structural member to move in the first direction in the direction from the second first sensor to the first first sensor within a first preset distance, until both first sensors are not triggered; if the first first sensor is not triggered and the second first sensor is triggered, then controlling the structural member to move in the first direction in the direction from the first first sensor to the second first sensor within a second preset distance, until both first sensors are not triggered.

[0026] In some embodiments, before adjusting the position of the structural member and / or the transport device based at least in part on a first deviation between the identification device and the identification code, the method further includes: determining the center point coordinates of the identification code; obtaining the center point coordinates of the identification device; and calculating the offset between the center point coordinates of the identification code and the center point coordinates of the identification device to obtain the first deviation.

[0027] According to the cooperative manufacturer aspect of the embodiments of this application, a handling robot is provided, including: at least one processor and a memory; the memory stores computer execution instructions; the at least one processor executes the computer execution instructions stored in the memory, causing the at least one processor to perform the picking and placing positioning method of the handling robot as described in any of the above embodiments.

[0028] According to a fourth aspect of the embodiments of this application, a warehousing system is provided, including a first shelf, a second shelf, and a handling robot; the second shelf and the first shelf are disposed opposite to each other on both sides of an aisle; the first shelf includes a second storage location, and the first shelf is provided with a guide rail along a first direction, the first direction being parallel to the length direction of the first shelf; each storage location on the second shelf is provided with an identification code, and the second shelf includes a first storage location, the second storage location and the first storage location are symmetrically disposed relative to the aisle; The handling robot includes a structural component, a handling device, and an identification device. The structural component is mounted on the side of the first shelf and is movable relative to the first shelf in a first direction along the guide rails of the first shelf. The handling device is mounted on the structural component and is movable relative to the structural component in a second direction, which is parallel to the height direction of the first shelf. The identification device is mounted on the handling device and is used to acquire the identification code of the first storage location. When performing a pick-and-place task for a target storage location, the handling robot is configured to adjust the position of the structural component and / or the handling device based at least in part on a first deviation between the identification device and the identification code of the first storage location. The target storage location includes either the first storage location or the second storage location.

[0029] According to a fifth aspect of the present application, a computer-readable storage medium is provided, wherein the storage medium stores executable instructions, which, when executed on an electronic device, cause the electronic device to perform the picking and placing positioning method of the handling robot as described in any of the above embodiments.

[0030] According to a sixth aspect of the present application, a computer program product is provided, including a computer program that, when executed by a processor, implements the picking and placing positioning method of the handling robot as described in any of the above embodiments.

[0031] In this embodiment of the application, a handling robot is installed on one of two rows of shelves arranged opposite each other on both sides of an aisle, and an identification code is set on the other row of shelves. An identification device is installed on the handling device of the handling robot. This identification device can obtain the first deviation between the handling robot's handling device and the identification code of a certain storage location on the opposite shelf. Based on this first deviation, the position of the handling device can be adjusted to complete the retrieval and placement operations of the storage location with the identification code or the opposite storage location. Accurate positioning of the handling robot can be achieved without requiring extremely high installation precision on the shelves. Moreover, positioning for retrieval and placement of goods at storage locations on both sides of the shelf is achieved based on a single-sided identification code, resulting in a simple structure and reduced costs.

[0032] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and in order to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application.

Implementation Method

[0034] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. The following embodiments are only used to illustrate the technical solution of this application more clearly, and are therefore only examples, and should not be used to limit the scope of protection of this application.

[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having” and any variations thereof in the specification and claims of this application and the foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0036] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0037] The reference to "embodiment" herein means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0038] In the description of the embodiments of this application, the term "and / or" is merely a description of the relationship between related objects, indicating any combination of the listed objects. For example, "A and / or B" can represent three situations: A exists, A and B exist simultaneously, or B exists. In addition, the character " / " in this document generally indicates that the related objects before and after are in an "or" relationship.

[0039] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple groups" refers to two or more (including two groups), and "multiple pieces" refers to two or more (including two pieces).

[0040] In the description of the embodiments of this application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "lateral", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0041] In the description of the embodiments of this application, unless otherwise expressly specified and limited, the technical terms "installation," "connection," "linking," and "fixation" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; they can refer to the internal connection of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0042] In the warehousing system, multiple storage locations are set on the shelves for placing goods. A handling robot can be installed on the shelves on one side of the aisle. The handling robot can move along the tracks on the shelves to realize the picking and placing of goods on the shelves on both sides of the aisle.

[0043] Currently, when a handling robot performs picking and placing operations on goods on a shelf, it is necessary to first determine the target storage location for this operation. Then, based on the robot's starting position and the target storage location, the robot moves and positions itself according to a fixed distance value. The handling robot moves via a track and picks and places goods via a handling device.

[0044] However, existing technology requires high installation accuracy of shelves. The shelves need to have extremely high installation accuracy so that the handling robot can reach the designated position of the shelf according to the pre-planned fixed distance value. If the shelf installation accuracy is not high, there is a positional deviation between the handling robot and the shelf. It cannot be fully guaranteed that the handling robot will move to the designated location accurately and accurately connect with the target warehouse location, which may cause the handling robot to be misaligned with the target warehouse location.

[0045] Moreover, the handling robot can perform picking and placing operations on the shelves on both sides of the aisle, so it is necessary to locate the storage positions on both sides of the shelves. If the handling robot is equipped with positioning devices for picking and placing goods on the storage positions on both sides of the shelves, the structure is complex and the cost is high.

[0046] To solve the above-mentioned technical problems, embodiments of this application provide a handling robot, a method for retrieval and placement of goods by the handling robot, a warehousing system, a computer-readable storage medium, and a computer program product. In two rows of shelves arranged opposite each other on both sides of an aisle, a handling robot is installed on one row of shelves, and an identification code is set on the other row of shelves. An identification device is installed on the handling device of the handling robot. This identification device can obtain a first deviation between the handling device of the handling robot and the identification code by recognizing the identification code of a certain storage location on the opposite shelf. Based on this first deviation, the position of the handling device can be adjusted to complete the retrieval and placement operation of the storage location with the identification code or the opposite storage location. Accurate positioning of the handling robot can be achieved without requiring extremely high installation precision on the shelves. Moreover, positioning for retrieval and placement of goods at storage locations on both sides of the shelves is achieved based on a single-sided identification code, resulting in a simple structure and reduced costs.

[0047] Some embodiments of this application will be described in detail below with reference to the accompanying drawings. Where there is no conflict between the embodiments, the following embodiments and the features in the embodiments can be combined with each other.

[0048] Referring to Figures 1 and 2, this application embodiment provides a warehousing system 1. The warehousing system 1 includes a rack 300. For ease of description, a coordinate axis with three directions is established. The three directions are the first direction X, the second direction Z, and the supplier direction Y. The first direction X, the second direction Z, and the supplier direction Y are perpendicular to each other. Specifically, the second direction Z is perpendicular to the first direction X and the supplier direction Y, and the first direction X is perpendicular to the supplier direction Y and the second direction Z. Among them, the first direction X is parallel to the length direction of the rack 300, the second direction Z is parallel to the height direction of the rack 300, and the supplier direction Y is parallel to the depth direction of the rack 300.

[0049] The shelf 300 is used for storing goods. The shelf 300 has a storage layer 303 for storing goods. The storage layer 303 has multiple storage locations 304 in the first direction X (only some storage locations 304 are shown in the figure), so that goods can be placed in the corresponding storage locations 304, realizing the storage of goods on the storage layer 303. When multiple goods are located on the storage layer 303, there is a gap between adjacent goods to facilitate the retrieval of goods.

[0050] It should be noted that the goods can be a carrier for carrying goods or the goods themselves. Goods can be industrial parts, electronic accessories or products, pharmaceuticals, clothing and accessories, food, books, etc. The carrier can be a container or other structure capable of holding goods. This application does not further limit the carrier and the goods.

[0051] The number of storage layers 303 is N. N can be 1. Alternatively, N can be greater than or equal to 2, and N storage layers 303 are stacked along the second direction Z to increase the amount of goods that the shelf 300 can store. When N is greater than or equal to 2, N can be 2, 3, 4, etc. In this application, the number of storage layers 303 is not further limited.

[0052] The number of shelves 300 can be multiple to increase the storage capacity of the storage system 1. Some of the shelves among the multiple shelves 300 can be interconnected along the first direction X. Some of the shelves among the multiple shelves 300 can also be spaced apart along the direction Y of the cooperating manufacturers. An aisle 200 is formed between two shelves 300 spaced apart along the direction Y of the cooperating manufacturers. For example, as shown in Figures 1 and 2, the first shelf 301 and the second shelf 302 are arranged opposite each other on both sides of the aisle 200. The first shelf 301 is provided with multiple second storage locations 3042, and the second shelf 302 is provided with multiple first storage locations 3041.

[0053] A series of technologies have been developed for handling the picking and placing of goods on shelves using transport robots. These technologies not only improve work efficiency and reduce labor costs, but also significantly enhance the safety and accuracy of goods handling. Referring to Figures 2 and 3, the transport robot 100 can be located within an aisle 200 and installed on a first shelf 301 on one side of the aisle 200, enabling it to perform picking and placing operations on shelves 300 (first shelf 301 and second shelf 302) on both sides of the aisle 200. The picking and placing operations can include picking and placing operations. In the picking operation, the transport robot 100 can move goods from storage location 304 to its own interior. In the placing operation, the transport robot 100 can move goods from its own interior to storage location 304.

[0054] The handling robot 100 typically has a handling device 20 to perform picking and placing operations on the shelf 300, thereby realizing the handling function of the handling robot 100. Specifically, the handling device 20 can move relative to the shelf 300 along the first direction X and the second direction Z to perform picking and placing operations on any storage location 304 of the shelf 300.

[0055] Currently, when the handling robot 100 performs picking and placing operations on the goods on the shelf 300, it moves according to a fixed distance based on its starting position and the position of the goods. However, the existing technology requires high installation precision for the shelf 300. The shelf 300 needs extremely high installation precision for the handling robot 100 to reach the designated position on the shelf 300 according to the pre-planned fixed distance. If the installation precision of the shelf 300 is not high, there may be a positional deviation between the handling robot 100 and the shelf 300, making it impossible to completely guarantee that the handling robot 100 accurately moves to the designated location to dock with the goods, potentially causing misalignment between the handling robot 100 and the goods.

[0056] Therefore, referring to Figure 4, this application embodiment provides a handling robot 100. The aforementioned warehousing system 1 includes the handling robot 100. The handling robot 100 is capable of performing pick-up and drop-off operations on goods at any storage location 304 of the shelves 300 (including the first shelf 301 and the second shelf 302). The handling robot 100 includes a structural component 10, a handling device 20, and an identification device 30.

[0057] The structure of the handling robot 100 will be further described below with reference to the accompanying drawings and embodiments.

[0058] Referring to Figure 4, and also to Figures 1 to 3, the structural member 10 is configured to be installed on the side of the first shelf 301 and is movable relative to the first shelf 301 in the first direction X along the guide rail 305 on the first shelf 301. This allows the handling robot 100 to move in the first direction X while being installed on the side of the first shelf 301 via the structural member 10, and to move in the first direction X via the movement of the structural member 10 along the guide rail 305 on the first shelf 301. The structural member 10 can be a fixing member of the handling robot 100, and this fixing member does not move in the second direction Z. For example, the structural member 10 can be a column, etc.

[0059] Referring to Figure 6, the first shelf 301 has two opposing guide rails 305 in the second direction Z. The number of guide rails 305 can also be one or more. The length direction of the guide rails 305 is parallel to the first direction X. The two guide rails 305 are respectively installed on the sides of any two storage layers 303. Referring to Figures 3 and 4, specifically, the guide rails 305 can be installed on the side of the storage layer 303 facing the handling robot 100. The handling robot 100 also includes wheels 11. The structural component 10 is connected to the wheels 11 at positions corresponding to the guide rails 305, and the wheels 11 are configured to move along the guide rails 305. The handling robot 100 also includes a motor connected to the wheels 11, which can drive the wheels 11 to move along the guide rails 305, thereby simultaneously moving the structural component 10, realizing the movement of the structural component 10 relative to the first shelf 301 in the first direction X. The walking wheel 11 is connected to the structural component 10 and can rotate relative to the structural component 10 so that the walking wheel 11 can move along the guide rail 305. For details, please refer to the structure of the existing handling robot 100, which will not be described in detail here. The method of driving the walking wheel 11 by the motor is well known to those skilled in the art and will not be described in detail here.

[0060] The handling device 20 is mounted on the structural member 10 and can move relative to the structural member 10 along the second direction Z, so that the handling device 20 can move to different positions on the structural member 10 along the second direction Z. Furthermore, since the structural member 10 is mounted on the first shelf 301 and the handling device 20 is mounted on the structural member 10, when the structural member 10 moves relative to the first shelf 301 along the first direction X, it can simultaneously move the handling device 20. Thus, through the movement of the handling device 20 along the structural member 10 in the second direction Z, and in conjunction with the movement of the structural member 10 relative to the first shelf 301 in the first direction X, the handling device 20 can move to any storage location 304 on the first shelf 301 and the opposite second shelf 302 to perform pick-and-place operations. The storage location 304 corresponding to the handling device 20 performing the pick-and-place operation is called the target storage location. The height direction of the structural member 10 of the handling robot 100 is perpendicular to the first direction X and parallel to the second direction Z.

[0061] The height of the structural component 10 generally needs to meet the requirement that the handling device 20 can move along the second direction Z on the structural component 10 to the height of each storage layer 303 of the first shelf 301. For example, the bottom of the structural component 10 is not higher than the height of the bottom storage layer of the first shelf 301, and the top of the structural component 10 is not lower than the height of the top storage layer 303 of the first shelf 301. The handling device 20 can be mounted on the structural component 10 by means of sliding, etc., so that the handling device 20 can move relative to the structural component 10 along the second direction Z under the drive of the handling robot 100. The driving method of the handling robot 100 on the handling device 20 is also well known to those skilled in the art and will not be described in detail here.

[0062] The number of structural components 10 can be one or two. Referring to Figures 3 and 4, when there are two structural components 10, they can be spaced apart along the first direction X. The handling device 20 can be mounted on the two structural components 10 and located between them. Compared to a single structural component 10, having two structural components 10 not only enhances the stability of the handling device 20 mounted on the structural component 10, but also enhances the stability of the handling device 20 when it moves with the structural component 10 in the first direction X. The structure of the handling robot 100 will be further described below using two structural components 10 as an example.

[0063] Please refer to Figure 7. In this embodiment of the application, each first storage location 3041 on the second shelf 302 is provided with an identification code 400. That is, each first storage location 3041 on the opposite shelf (second shelf 302) of the first shelf 301 where the handling robot 100 is installed is provided with an identification code 400.

[0064] Referring to Figures 4, 5A, and 5B, the identification device 30 is installed on the handling device 20 to obtain the identification code 400 of the first storage location 3041 on the second shelf 302. It should be noted that the identification device 30 can be fixed to a mounting bracket 50, which is installed and fixed to the handling device 20, so that the identification device 30 can be installed on the handling device 20 through the mounting bracket 50.

[0065] The shape of the mounting bracket 50 is not limited; it can be a flat plate, an L-shaped plate, a U-shaped plate, or any other structure that allows the identification device 30 to be mounted on the transport device 20. As shown in Figures 5B and 5C, in the embodiment shown in the figures, the mounting bracket 50 is L-shaped and includes a first mounting part 51 and a second mounting part 52. The first mounting part 51 and the second mounting part 52 are two mutually perpendicular and connected flat plates, integrally formed. Of course, the first mounting part 51 and the second mounting part 52 can also be fixedly connected by various known connectors. The identification device 30 is fixed to the first mounting part 51 by a fastener, and the second mounting part 52 is fixed to the bottom of the transport device 20 by a fastener. The second mounting part 52 can also be fixed to the top or side of the transport device 20. The fastener can be a threaded fastener. In addition, the identification device 30 and the second mounting part 52 can also be fixed by welding, bonding, or other methods that can achieve fixation.

[0066] When performing a pick-up and drop-off task for a target storage location, the handling robot 100 is configured to adjust the position of the structural component 10 and / or the handling device 20 based at least in part on a first deviation between the identification device 30 and the identification code 400.

[0067] The target storage location can be the first storage location 3041 on the second shelf 302 or the second storage location 3042 on the first shelf 301. The second storage location 3042 and the first storage location 3041 are symmetrically arranged with respect to the aisle 200.

[0068] Specifically, when the handling device 20 performs the picking and placing operation, firstly, the position of the structural component 10 and / or the handling device 20 is adjusted based on the first deviation amount to align with the target storage location. Then, in some examples, the height of the handling device 20 is lowered during the picking operation so that the handling device 20 can pick up the goods smoothly without interfering with the goods or storage location 304. In other examples, the height of the handling device 20 is raised during the placing operation so that the handling device 20 can place the goods smoothly in the storage location 304 without interfering with the goods or storage location 304.

[0069] The identification device 30 can be a camera device, which may include, but is not limited to, a camera. The identification code 400 can be a QR code, barcode, square, rectangle, circle, rhombus, or other symmetrical shape about the origin. Such a shape is symmetrical on both the x-axis and y-axis. The identification device 30 can acquire the image information of the identification code 400 so that the handling robot 100 can determine the first deviation between the identification device 30 and the identification code 400 based on the image information. That is, the first deviation between the center of the identification component of the identification device 30 and the center of the identification code 400. The identification component refers to the component in the identification device 30 used to directly acquire the image information of the identification code 400. For example, if the identification device 30 is a camera, then the identification component is the lens of the camera, and the center of the identification component is the center of the lens.

[0070] The position of the identification code 400 of each first storage location 3041 is configured such that when the transport device 20 is aligned with the first storage location 3041, the center of the identification component of the identification device 30 is aligned or approximately aligned with the center of the identification code 400. For example, if the identification device 30 is a camera device, when the transport device 20 is aligned with the first storage location 3041, the center of the camera lens is aligned with the center of the identification code 400. In this way, the position of the transport device 20 can be adjusted based on the first deviation between the identification device 30 and the identification code 400. When the center of the identification component of the identification device 30 is aligned or approximately aligned with the center of the identification code 400, that is, when the first deviation between the two is within an acceptable error range, it means that the transport device 20 is aligned with the target storage location.

[0071] The identification code 400 can be set on the side of the storage layer 303 facing the aisle 200. Regarding the position of the identification code 400 in the second direction Z, the identification code 400 of each first storage location 3041 can be set on the side of the storage layer itself, or on the side of the upper storage layer above the storage layer in the second direction Z, as long as the center of the identification component of the identification device 30 is aligned or approximately aligned with the center of the identification code 400 when the transport device 20 is aligned with the first storage location 3041. For example, as shown in Figure 8, the identification device 30 is set at the bottom of the transport device 20, and the identification code 400 of each storage location is set on the side of the storage layer 3031 itself; as shown in Figure 9, the identification device 30 is set at the top of the transport device 20, and the identification code 400 of each storage location is set on the side of the upper storage layer 3032 above the storage layer 3031 in the second direction Z.

[0072] Regarding the position of the identification code 400 in the first direction X, it is also necessary to ensure that when the transport device 20 is aligned with the first storage location 3041, the center of the identification component of the identification device 30 is aligned or approximately aligned with the center of the identification code 400 set in the first storage location 3041. For example, as shown in FIG10, the identification device 30 is set on the left side of the transport device 20, and the identification code 400 of the first storage location 3041 is also set on the left side of the storage location; as shown in FIG11, the identification device 30 is set at the center of the transport device 20, and the identification code 400 of the first storage location 3041 is also set at the center of the storage location.

[0073] When the target storage location is the first storage location 3041 of the second shelf 302, the structural component 10 of the handling robot 100 can be controlled to move in the first direction X to the storage location column on the first shelf 301 opposite to the first storage location 3041. Then, the handling device 20 can be controlled to move in the second direction Z to the height of the first storage location 3041. The handling device 20 achieves pre-alignment with the target storage location. At this time, the identification code 400 of the first storage location 3041 is within the recognition range of the identification device 30, and the identification device 30 can obtain the identification code 400 of the first storage location 3041.

[0074] When the target storage location is the second storage location 3042 of the first shelf 301, the structural component 10 of the handling robot 100 can be controlled to move in the first direction X to the storage location column where the second storage location 3042 is located, and then the handling device 20 can be controlled to move in the second direction Z to the height of the second storage location 3042. The handling device 20 achieves pre-alignment with the target storage location. At this time, the identification code 400 of the first storage location 3041, which is symmetrically arranged with respect to the aisle 200 relative to the second storage location 3042, is within the recognition range of the identification device 30, and the identification device 30 can obtain the identification code 400 of the first storage location 3041.

[0075] The pre-alignment of the handling device 20 with the target storage location can be achieved by moving the handling robot 100 according to a fixed distance value, or by other existing technologies. These methods are well known to those skilled in the art and will not be described in detail here.

[0076] The first deviation between the identification device 30 and the identification code 400 can be determined by the following method: determining the center point coordinates of the identification code 400; obtaining the center point coordinates of the identification device 30; calculating the offset between the center point coordinates of the identification code 400 and the center point coordinates of the identification device 30 to obtain the first deviation.

[0077] For example, the identification device 30 is a camera, and the identification code 400 is a QR code. The first deviation between the identification device 30 and the identification code 400 is determined, which is also the offset between the camera center and the QR code center. First, the camera captures an image containing the QR code; then, the captured QR code image is processed using a QR code recognition library (such as ZXing, ZBar, OpenCV, etc.) to identify the QR code and its position, and the bounding box of the QR code can be obtained; based on the position of the bounding box, the coordinates of the center point of the QR code are calculated. If the QR code is standard, a small positioning point (finder pattern) is usually placed at its center, which can be used as a reference point; the camera center is usually the center point of the image. In this embodiment, a fixedly installed camera is used, so this point can be determined during installation, or it can be determined from the captured image; the coordinates of the QR code center point are compared with the coordinates of the camera center point, and the offset between the two in the image coordinate system is calculated, thereby obtaining the offset between the camera center and the QR code center.

[0078] As before, the movement of the structural component 10 relative to the shelf 300 along the first direction X can drive the conveying device 20 to move simultaneously, and the conveying device 20 can move relative to the structural component 10 along the second direction Z; therefore, when it is necessary to adjust the position of the conveying device 20 in the first direction X, it can be achieved by moving the structural component 10 along the guide rail 305 of the first shelf 301 in the first direction X; when it is necessary to adjust the position of the conveying device 20 in the second direction Z, it can be achieved by moving the conveying device 20 itself along the structural component 10 in the second direction Z.

[0079] By recognizing the identification code 400 on the second shelf 302 through the identification device 30 of the handling robot 100, accurate positioning of the handling robot 100 can be achieved without the shelf 300 having extremely high installation precision. Although the identification code 400 is only set on the first storage position 3041 of the second shelf 302, since the second storage position 3042 of the first shelf 301 and the first storage position 3041 of the second shelf 302 correspond one-to-one on both sides of the aisle 200, by recognizing the identification code 400, positioning can be achieved both when the target storage position is the first storage position 3041 of the second shelf 302 and when the target storage position is the second storage position 3042 of the first shelf 301.

[0080] In this embodiment of the application, in two rows of shelves arranged opposite each other on both sides of the aisle 200, a handling robot 100 is installed on the first shelf 301, and an identification code 400 is set on the second shelf 302. An identification device 30 is installed on the handling device 20 of the handling robot 100. The identification device 30 can obtain the first deviation between the handling device 20 of the handling robot 100 and the identification code 400 by identifying the identification code 400 of the first storage location 3041 on the second shelf 302. Thus, the position of the handling device 20 can be adjusted according to the first deviation to complete the picking and placing operation of the storage location with the identification code or the opposite storage location. The handling robot 100 can be accurately positioned without the shelf 300 having extremely high installation accuracy. At the same time, when performing picking and placing operations on goods in the target storage location, the probability of misalignment during the picking and placing process of the handling device 20 is reduced, thereby improving the accuracy and handling efficiency of the handling robot 100 in picking and placing goods. Moreover, the identification code on one side enables the location of goods when picking up or putting down goods on both sides of the shelf, reducing the cost of labeling.

[0081] In the first scenario, the handling robot 100 performs a picking and placing operation on the first storage location 3041 on the second shelf 302, with the target storage location being the first storage location 3041 on the second shelf 302; in the second scenario, the handling robot 100 performs a picking and placing operation on the second storage location 3042 on the first shelf 301, with the target storage location being the second storage location 3042 on the first shelf 301. The following sections will use these two scenarios as examples to illustrate the picking and placing positioning of the handling robot 100.

[0082] First scenario: The first deviation includes a first lateral deviation and a first height deviation. The handling robot 100 is configured to: determine the first lateral deviation between the identification device 30 and the identification code 400; control the structural component 10 to move along the first direction X according to the first lateral deviation until the first lateral deviation between the identification device 30 and the identification code 400 is less than or equal to the lateral deviation threshold, so that the handling device 20 is aligned with the target storage location in the first direction X (step a); determine the first height deviation between the identification device 30 and the identification code 400; control the handling device 20 to move along the second direction Z according to the first height deviation (step b).

[0083] As mentioned above, when the target storage location is the first storage location 3041 of the second shelf 302, the structural component 10 of the handling robot 100 can be controlled to move in the first direction X to the storage location column on the first shelf 301 opposite to the first storage location 3041. Then, the handling device 20 can be controlled to move in the second direction Z to the height of the first storage location 3041. The handling device 20 achieves pre-alignment with the target storage location. At this time, the identification code 400 of the first storage location 3041 is within the recognition range of the identification device 30. The identification device 30 can obtain the identification code 400 of the first storage location 3041. Then, the position of the handling device 20 can be finely adjusted at least partially based on the first lateral deviation and the first height deviation between the identification device 30 and the identification code 400. During the fine-tuning of the position of the conveying device 20: when the control component 10 moves along the first direction X, the component 10 can be moved by a first lateral deviation. Then, the identification code 400 is reacquired and the first lateral deviation between the identification device 30 and the identification code 400 is redefined. If the adjusted first lateral deviation is less than or equal to the lateral deviation threshold, the error adjustment is considered complete, and the adjustment ends. Otherwise, the adjustment steps are repeated (the first lateral deviation is the redefined value) until the first lateral deviation between the identification device 30 and the identification code 400 is less than or equal to the lateral deviation threshold. The method of controlling the conveying device 20 to move along the second direction Z can also be similar, at least partially based on the first height deviation between the identification device 30 and the identification code 400 to adjust the height of the conveying device 20.

[0084] Since the handling robot 100 performs picking and placing operations on the warehouse location on the opposite shelf in the first scenario, that is, the handling robot 100 and the second shelf 302 where the target warehouse location is located may not be set on the same plane (same ground), there may be different ground settlement issues. It cannot be guaranteed that there will be no height deviation when the handling device 20 is moved to the target warehouse location in the second direction Z according to a fixed distance value. Therefore, in the first scenario, the first deviation includes not only the first lateral deviation but also the first height deviation. The values ​​of the first lateral deviation and the first height deviation can include positive and negative values ​​to determine the adjustment direction of the handling device 20. For example, when the first lateral deviation is negative, it indicates that the identification device 30 is offset relative to the identification code 400 to the first side in the first direction, and the conveying device 20 needs to be moved to the second side in the first direction; when the first lateral deviation is positive, it indicates that the identification device 30 is offset relative to the identification code 400 to the second side in the first direction, and the conveying device 20 needs to be moved to the first side in the first direction; when the first height deviation is positive, it indicates that the identification device 30 is offset relative to the identification code 400 to the first side in the second direction, and the conveying device 20 needs to be moved to the second side in the second direction; when the first height deviation is negative, it indicates that the identification device 30 is offset relative to the identification code 400 to the second side in the second direction, and the conveying device 20 needs to be moved to the first side in the second direction.

[0085] As shown in Figure 12, the first lateral deviation is +dx, that is, the identification device 30 is deflected to the right by dx relative to the identification code 400. Therefore, the structural component 10 is moved by dx in the negative x-axis direction (i.e., adjusted to the left by dx) to align the handling device 20 with the target storage location. As shown in Figure 13, the first lateral deviation is -dx, that is, the identification device 30 is deflected to the left by dx relative to the identification code 400. Therefore, the structural component 10 is moved by dx in the positive x-axis direction (i.e., adjusted to the right by dx) to align the handling device 20 with the target storage location. As shown in Figure 12, the first height deviation is +dz, that is, the identification device 30 is offset upwards by dz relative to the identification code 400. Then, the transport device 20 is moved dz in the negative z-axis direction (that is, adjusted downwards by dz) so that the transport device 20 is aligned with the target storage location. As shown in Figure 13, the first height deviation is -dz, that is, the identification device 30 is offset downwards by dz relative to the identification code 400. Then, the transport device 20 is moved dz in the positive z-axis direction (that is, adjusted upwards by dz) so that the transport device 20 is aligned with the target storage location.

[0086] When determining that the first lateral deviation is less than or equal to the lateral deviation threshold, and when determining that the first height deviation is less than or equal to the height deviation threshold, the determination can be made solely based on the absolute value of the first lateral deviation or the first height deviation.

[0087] This application embodiment does not restrict the execution order of step a and step b. Step a can be executed first and then step b, or step b can be executed first and then step a.

[0088] In some embodiments, after fine-tuning the horizontal and vertical directions based on the first lateral deviation and the first height deviation, the handling device 20 may optionally be moved a short distance vertically to facilitate picking up and placing goods. For example, after fine-tuning the position of the handling device 20 based on the first lateral deviation and the first height deviation, the handling device 20 is aligned with the target storage location. When the handling device 20 needs to retrieve goods from the target storage location, the handling device 20 moves downwards by a predetermined specific distance (e.g., 10 mm) from the aligned position, or when the handling device 20 needs to place goods on the target storage location, the handling device 20 moves upwards by a predetermined specific distance (e.g., 10 mm) from the aligned position.

[0089] Second Scenario: For cases where the installation of shelves on both sides of aisle 200 is identical and the center lines of the same storage location on both sides are on the same straight line, there is no deviation between the storage locations on both sides. In this case, the second scenario can use a method similar to the first scenario to position the handling robot 100 for picking and placing goods. Since the handling robot 100 performs picking and placing operations on the storage location on its own side of the shelf in the second scenario, that is, the handling robot 100 and the first shelf 301 where the target storage location is located are set on the same plane (same ground), there is no problem of different ground settlement. It can be ensured that when the handling device 20 is moved to the height of the target storage location in the second direction Z according to a fixed distance value, there is no height deviation. Therefore, in the second scenario, the first deviation amount can only include the first lateral deviation amount, that is, only the first lateral deviation amount needs to be determined, and the first height deviation amount does not need to be determined.

[0090] If there are installation differences between the shelves on both sides of the aisle 200, resulting in different shelf tilts, the center lines of the same storage location on both sides of the shelves are not on the same straight line, i.e., there is a lateral deviation between the two storage locations. In this case, when adjusting the position of the handling device 20, it is necessary to compensate for the lateral deviation between the first shelf 301 and the second shelf 302 based on the first lateral deviation amount to improve the accuracy of picking and placing goods. The handling robot 100 is configured to: determine the first lateral deviation amount between the identification device 30 and the identification code 400; control the structural component 10 to move along the first direction X according to the first lateral deviation amount and the second lateral deviation amount until the lateral deviation amount between the identification device 30 and the target storage location is less than or equal to the lateral deviation threshold. Wherein, the second lateral deviation amount is used to characterize the deviation between the first shelf 301 and the second shelf 302 in the first direction X, and the value of the second lateral deviation amount is the deviation between the target storage location and the identification code 400 in the first direction X.

[0091] The lateral deviation between the identification device 30 and the target storage location refers to the lateral deviation between the center of the identification device and the center of the target storage location in the first direction X. The deviation between the target storage location and the identification code 400 in the first direction X refers to the deviation between the center of the target storage location and the center of the identification code 400 in the first direction X.

[0092] The position of the handling device 20 is adjusted according to the first lateral deviation and the second lateral deviation. The first lateral deviation is the deviation between the identification device 30 and the identification code 400, that is, the deviation between the handling device 20 and the first storage location 3041 on the second shelf 302. The second lateral deviation is the deviation between the first shelf 301 and the second shelf 302. The deviation between the handling device 20 and the target storage location on the first shelf 301 can be determined by combining the first lateral deviation and the second lateral deviation. The position of the handling device 20 is then adjusted according to this deviation until the handling device 20 is aligned with the target storage location in the first direction X.

[0093] For the second scenario, the difference between the first and second lateral deviations can be calculated first. Then, the adjustment direction is determined based on the sign of the difference, and the corresponding value is adjusted in that direction based on the value of the difference. As shown in Figure 14, the current target storage location is the storage location on the first shelf 301 corresponding to the identification code 400 shown in the figure. The second lateral deviation is +dx2 (the first shelf 301 is dx2 to the right relative to the second shelf 302), and the first lateral deviation is -dx1, that is, the identification device 30 is dx1 to the left relative to the identification code 400. (-dx1)-(+dx2)=-(dx1+dx2), the result is negative, the adjustment direction is to adjust in the positive x-axis direction (that is, to the right), and the adjustment value is (dx1+dx2). The adjustment principle for other scenarios is the same, and will not be repeated here.

[0094] The following describes how the second lateral deviation is determined.

[0095] As shown in Figures 15 and 16, the handling robot 100 also includes a first sensor 41 and a second sensor 42. The first sensor 41 and the second sensor 42 are respectively disposed at the first end and the second end of the handling device 20 in the picking and placing direction. The detection surfaces of the first sensor 41 and the second sensor 42 face the first shelf 301 and the second shelf 302 respectively.

[0096] Referring to Figure 16, the first sensor 41 is configured to identify the first upright 3011 of the first shelf 301 and obtain a first identification signal when the structural member 10 moves along the first direction X. The second sensor 42 is configured to identify the second upright 3021 of the second shelf 302 and obtain a second identification signal when the structural member 10 moves along the first direction X. This allows the handling robot 100 to determine a second lateral deviation based on the first and second identification signals. This solution uses the shelf uprights as a reference and indirectly derives the deviation of the shelves on both sides by measuring the deviation of the uprights on both sides.

[0097] The first sensor 41 and the second sensor 42 are time-of-flight (ToF) sensors or other sensors that can generate identification signals when a target object is sensed, such as photoelectric sensors, infrared sensors, ultrasonic sensors, etc.

[0098] In some embodiments, the handling robot 100 determines the first time when it acquires the first identification signal and the second time when it acquires the second identification signal; determines the difference between the second time and the first time to obtain the sensing time difference; and determines the second lateral deviation based on the sensing time difference and the moving speed of the handling robot 100 in the first direction X.

[0099] For example, the first time is t1, the second time is t2, the sensing time difference is t2-t1, the moving speed of the handling robot 100 in the first direction X is v, and the second lateral deviation is v*(t2-t1).

[0100] In some embodiments, in response to the first acquisition of an identification signal, the handling robot 100 begins to record the movement distance of the handling robot 100 in the first direction X; in response to the second acquisition of an identification signal, it stops recording the movement distance of the handling robot 100 and determines the recorded movement distance as a second lateral deviation; wherein the first acquisition of an identification signal is one of the first identification signal and the second identification signal, and the second acquisition of an identification signal is the other of the first identification signal and the second identification signal.

[0101] The walking distance of the walking wheel 11 can be recorded by installing an encoder on the walking wheel 11 of the handling robot 100 or the motor shaft that drives the walking wheel 11; the moving distance of the handling robot 100 can also be measured by an inertial measurement unit, wheel speed odometer, laser rangefinder, etc.

[0102] In some embodiments, the handling robot 100 controls the structure 10 to move along a first direction X; in response to the first acquisition of an identification signal, it determines a third lateral deviation between the identification device 30 and the identification code 400; in response to the second acquisition of an identification signal, it determines a fourth lateral deviation between the identification device 30 and the identification code 400; and determines a second lateral deviation based on the third lateral deviation and the fourth lateral deviation; wherein the first acquisition of the identification signal is one of the first identification signal and the second identification signal, and the second acquisition of the identification signal is the other of the first identification signal and the second identification signal.

[0103] For example, the third lateral deviation is dx3, the fourth lateral deviation is dx4, and the second lateral deviation is dx4 - dx3. Ideally, there is no deviation between the two shelves, and dx3 = dx4. If the measured dx4 - dx3 = 0, that is, the second lateral deviation is 0, then there is no need to compensate for the second lateral deviation when adjusting the handling device 20 to align the handling device 20 with the target storage location in the first direction X. However, in reality, the existence of shelf deviation will make dx4 - dx3 ≠ 0, so it is necessary to compensate for the second lateral deviation when adjusting the handling device 20 to align the handling device 20 with the target storage location in the first direction X.

[0104] In some embodiments, if each storage location 304 on the first shelf 301 and the second shelf 302 has a column on at least one side, and the columns on both sides are correspondingly arranged, then a second lateral deviation can be determined for each storage location 304. If the first shelf 301 includes multiple first columns 3011, the second shelf 302 includes multiple second columns 3021, multiple second storage locations 3042 are arranged between every two first columns 3011, and the second shelf 302 has the same structure as the first shelf 301, then a second lateral deviation can be determined for the multiple second storage locations 3042 between two adjacent first columns 3011 on the first shelf 301. The second lateral deviation obtained through a set of first columns 3011 and second columns 3021 can be applied to the multiple second storage locations 3042. This solution uses the shelf columns as a reference and indirectly obtains the overall deviation of each set of shelves on both sides (shelves on the same side, the middle area between two adjacent columns constitutes a set of shelves) by measuring the column deviation of the shelves on both sides.

[0105] In theory, when performing a retrieval operation, if the goods are placed in the center of storage location 304, the handling device 20 will be aligned with the goods after being adjusted to be aligned with the target storage location in the above manner. In reality, there may be cases where the goods are placed off-center and not in the center of storage location 304, which will cause the goods to collide with some parts of the handling device 20 when they are retrieved.

[0106] For example, in some embodiments, referring to Figures 5A and 15, the handling device 20 includes a support platform 21, a first guide member 22, and a second guide member 23. The support platform 21 is used to support goods. The support platform 21 may include two synchronously rotating belt drive elements to facilitate the movement of goods within the handling device 20. It should be noted that the support platform 21 may also be a support plate, etc. In this application, the structure of the support platform 21 is not further limited. The first guide member 22 and the second guide member 23 are distributed on both sides of the support platform 21 to guide the direction of movement of goods within the handling device 20.

[0107] Since the first guide 22 and the second guide 23 are distributed on both sides of the support platform 21 of the handling device 20 and play a guiding role for the goods, if the handling device 20 is not aligned with the goods, the goods may collide with some parts of the handling device 20 (such as the first guide 22, the second guide 23, etc.) during the process of pulling the goods back from the shelf to the handling robot 100.

[0108] As shown in FIG. 15, the handling robot includes a first sensor group, which includes two first sensors 41. The two first sensors 41 are spaced apart along a first direction X at a first end of the handling device 20. The detection surfaces of the two first sensors 41 face the first shelf 301 and are configured to detect the offset of goods on the second storage location 3042. The handling robot 100 is configured to control the structural member 10 to move in the first direction X based on the detection data of the offset detection, so as to adjust the position of the handling device 20 relative to the goods. In some embodiments, two second sensors 42 are disposed at a second end of the handling device 20, the detection surfaces of the two second sensors 42 face the second shelf 302, and are configured to detect the offset of goods on the first storage location 3041.

[0109] By adjusting the position of the handling device 20 relative to the goods in the above manner, the misalignment between the handling device 20 and the goods during the picking up of goods is avoided, which would cause the goods to collide with the handling device 20, thereby further improving the accuracy and handling efficiency of the handling robot 100 in picking up and placing goods.

[0110] The first sensor 41 used to determine the second lateral deviation is the same first sensor 41 used to adjust the position of the handling device 20 relative to the goods. Using the same sensor to perform different functions eliminates the need for new components, thus simplifying the structure of the handling robot 100 and reducing costs. The process of determining the second lateral deviation requires no human intervention; automated measurement can be achieved through software coding, which is more efficient than manual measurement. Automated measurement by the handling robot 100 itself allows for better control of errors (measurement error less than ±3mm) compared to manual measurement, and the consistency of single measurement data is higher than that of manual measurement.

[0111] In some embodiments, the handling robot 100 is configured to determine the triggering state of the two first sensors 41 based on the recognition signals of the two first sensors 41, and control the structural member 10 to move along the first direction X within a preset distance to a position where both first sensors 41 are in an untriggered state based on the triggering state of the two first sensors 41; wherein, the triggering state includes a triggered state or an untriggered state.

[0112] For ease of explanation, the two first sensors 41 are divided into a first first sensor 411 and a second first sensor 412. The first first sensor 411 acquires a third identification signal, and the second first sensor 412 acquires a fourth identification signal. The third and fourth identification signals can be used to determine whether the first first sensor 411 and the second first sensor 412 are triggered. By determining whether the first first sensor 411 and the second first sensor 412 are triggered, the positional relationship between the goods and the handling device 20 can be accurately determined, and then the handling device 20 can be adjusted to achieve accurate goods retrieval.

[0113] In some embodiments, if the first sensor 411 is triggered and the second sensor 412 is not triggered, the control structure 10 moves within a first preset distance in the first direction X toward the direction from the second sensor 412 to the first sensor 411, until neither of the two sensors 41 is triggered. If the first sensor 411 is not triggered and the second sensor 412 is triggered, the control structure 10 moves within a second preset distance in the first direction X toward the direction from the first sensor 411 to the second sensor 412, until neither of the two sensors 41 is triggered.

[0114] It is understood that the first preset distance and the second preset distance can be determined according to the actual situation. The first preset distance and the second preset distance can be the same or different. This application does not impose any specific restrictions on this.

[0115] Please continue referring to Figure 15. In some embodiments, the conveying device 20 further includes a second sensor group, which includes two second sensors 42 (a first second sensor 421 and a second second sensor 422, respectively). The second sensor group and the first sensor group are symmetrically arranged along the picking and placing direction of the conveying device 20. The two second sensors 42 are spaced apart along the first direction X at the second end of the conveying device 20. That is, the conveying device 20 and the adjacent side of each shelf are respectively provided with a first sensor group and a second sensor group to detect the offset of the conveying device 20 from the goods on the corresponding shelf. The structure and working principle of the two second sensors 42 in the second sensor group are the same as those of the two first sensors 41. Please refer to the description of the two first sensors 41 above, which will not be repeated here.

[0116] The ToF detection method of two first sensors 41 and two second sensors 42 will be described below with reference to specific examples in Figures 17 to 20. Exemplarily, the inter-cell spacing is 30 mm, the ToF detection distance is set to 150 mm, and the field of view (FOV) is set to 5°. It should be understood that the above information is illustrative and this application does not impose specific limitations. The figures use two first sensors 41 as an example for illustration; the working principle of the second sensors 42 is similar.

[0117] Exemplarily, Figure 17 is a schematic diagram of the positional relationship between a handling device and goods provided in an embodiment of this application. The handling device in Figure 17 includes a first first sensor 411 and a second first sensor 412. As shown in Figure 17, the normal positional relationship between the goods and the handling device is such that there is no offset between the handling device and the goods. Before picking up the goods, neither the first first sensor 411 nor the second first sensor 412 is triggered. In this case, when the handling device picks up the goods, there will be no collision between the goods and the handling device when the goods move onto the handling device due to the offset of the goods.

[0118] Examplely, FIG18 is a schematic diagram of the positional relationship between another handling device and goods provided in an embodiment of the present application. The handling device in FIG18 includes a first first sensor 411 and a second first sensor 412. FIG18 shows the state of the goods angle offset. Before picking up the goods, the first first sensor 411 is triggered, and the second first sensor 412 is not triggered.

[0119] Exemplarily, FIG19 is a schematic diagram of the positional relationship between a handling device and goods provided in another embodiment of the present application. The handling device in FIG19 includes a first first sensor 411 and a second first sensor 412. FIG19 shows the state of horizontal displacement of goods. Before picking up the goods, the first first sensor 411 is triggered and the second first sensor 412 is not triggered.

[0120] Figures 18 and 19 show the state where the first sensor 411 is triggered and the second sensor 412 is not triggered. Then, the control structure moves within the first preset distance in the first direction X toward the direction from the second sensor 412 to the first sensor 411, that is, it moves to the left until the picking conditions are met.

[0121] Exemplarily, FIG20 is a schematic diagram of the positional relationship between a handling device and goods provided in another embodiment of the present application. The handling device in FIG20 includes a first first sensor 411 and a second first sensor 412. FIG20 shows the state of horizontal displacement of the goods. Before picking up the goods, the second first sensor 412 is triggered, while the first first sensor 411 is not triggered. If the first first sensor 411 is not triggered and the second first sensor 412 is triggered, then the control structure moves within a second preset distance in the first direction X toward the direction from the first first sensor 411 to the second first sensor 412, that is, it moves to the right until the picking conditions are met.

[0122] For example, the first preset distance and the second preset distance are set to 30mm, that is, the maximum distance of lateral movement is set to 30mm in this application. If the handling device moves the maximum distance of 30mm and the first sensor 411 and the second sensor 412 are not triggered, the handling robot will report an error.

[0123] In some embodiments, when the conveying device 20 includes a first guide 22 and a second guide 23, two first sensors 41 are respectively disposed at the first end of the first guide 22 and the first end of the second guide 23. Based on the triggering states of the first sensor 411 and the second sensor 412, it is determined whether the handling device 20 is offset relative to the goods. If the first sensor 411 is not triggered and the second sensor 412 is triggered, it is determined that the detection range of the second sensor 412 is blocked by the goods. Since the first sensor 411 and the second sensor 412 are respectively installed on the first guide 22 and the second guide 23, and the first guide 22 and the second guide 23 are distributed on both sides of the support platform 21 of the handling device 20, they guide the goods. Therefore, if the second sensor 412 is in the triggered state, when picking up the goods, during the process of pulling the goods back from the shelf to the handling robot 100, it may collide with the components near the installation position of the second sensor 412 on the handling device 20 (such as the second guide 23). Therefore, when the second sensor 412 is in the triggered state, the handling device 20 needs to move in the first direction X in the direction from the first sensor 411 to the second sensor 412. During the fine-tuning process, the maximum adjustment distance is limited to prevent picking errors caused by excessive adjustment distance during the adjustment of the relative position of the handling device 20 and the goods. If neither of the two first sensors 41 is triggered within the limited adjustment distance, the adjustment is confirmed to be complete, ensuring accurate, safe and reliable picking.

[0124] The two second sensors 42 can also be disposed at the first end of the first guide 22 and the first end of the second guide 23, similar to the two first sensors 41.

[0125] Figure 21 shows a flowchart of the picking and placing positioning method of the handling robot provided in the embodiment of this application. The method is applied to the handling robot or the control unit (e.g., processor) in the handling robot. The handling robot includes a structural component, a handling device, and an identification device. The structural component is installed on the side of a first shelf and can move relative to the first shelf in a first direction along a guide rail on the first shelf. A second storage space is provided on the first shelf, and the first direction is parallel to the length direction of the first shelf. The handling device is installed on the structural component and can move relative to the structural component in a second direction, which is parallel to the height direction of the first shelf, that is, the second direction is generally a vertical direction. The identification device is installed on the handling device. The handling robot can also be the handling robot in any of the above embodiments.

[0126] As shown in Figure 21, the method includes the following steps: Step 2101: Receive a pick-up and place-out task instruction, which includes the target storage location corresponding to the pick-up and place-out task; Step 2102: Control the handling device to run to the target storage location; Step 2103: Obtain the identification code of the first storage location on the second shelf through the identification device; wherein, each storage location on the second shelf is equipped with an identification code, and the second shelf and the first shelf are set opposite to each other on both sides of the aisle, and the handling robot can move in the aisle; Step 2104: Adjust and position the structural components and / or the handling device at least in part based on the first deviation between the identification device and the identification code to execute the pick-up and place-out task.

[0127] The target storage location includes either a first storage location or a second storage location. The second storage location and the first storage location are symmetrically arranged relative to the roadway.

[0128] In some embodiments, when the target storage location is the first storage location, the first deviation includes a first lateral deviation and a first height deviation.

[0129] Adjusting the position of the structural component and / or the handling device based at least in part on a first deviation between the identification device and the identification code includes: determining a first lateral deviation between the identification device and the identification code; controlling the structural component to move along a first direction according to the first lateral deviation until the first lateral deviation between the identification device and the identification code is less than or equal to a lateral deviation threshold, so that the handling device is aligned with the target storage location in the first direction; determining a first height deviation between the identification device and the identification code; and controlling the handling device to move along a second direction according to the first height deviation.

[0130] The transport device can be controlled to move along the second direction according to the first height deviation amount until the first height deviation amount between the identification device and the identification code is less than or equal to the height deviation threshold, so that the transport device is aligned with the target storage location in the second direction.

[0131] In some embodiments, after the handling device is aligned with the target storage location in the second direction, the handling device can move a predetermined distance (e.g., 10 mm) in the vertical direction to facilitate the handling device in picking up and placing goods. For example, after the handling device is aligned with the target storage location in the second direction, when the handling device needs to retrieve goods from the target storage location, the handling device continues to move downward a predetermined specific distance (e.g., 10 mm), or when the handling device needs to place goods on the target storage location, the handling device continues to move upward a predetermined specific distance (e.g., 10 mm).

[0132] In some embodiments, when the target storage location is a second storage location, the first deviation includes a first lateral deviation; adjusting the position of the structural component and / or the handling device based at least in part on the first deviation between the identification device and the identification code includes: determining the first lateral deviation between the identification device and the identification code; controlling the structural component to move along a first direction according to the first lateral deviation and the second lateral deviation until the lateral deviation between the identification device and the target storage location is less than or equal to a lateral deviation threshold, wherein the second lateral deviation is used to characterize the deviation between the first shelf and the second shelf in the first direction, and the value of the second lateral deviation is the deviation between the target storage location and the identification code in the first direction.

[0133] In some embodiments, the handling robot further includes a first sensor and a second sensor, which are respectively disposed at a first end and a second end of the handling device in the picking and placing direction, and the detection surfaces of the first sensor and the second sensor face the first shelf and the second shelf, respectively; the method further includes: controlling the structural member to move along a first direction; acquiring a first identification signal obtained by the first sensor identifying a first column of the first shelf, and a second identification signal obtained by the second sensor identifying a second column of the second shelf; determining a second lateral deviation amount based on the first identification signal and the second identification signal. In some embodiments, determining the second lateral deviation amount based on the first identification signal and the second identification signal includes: determining a first time when the first identification signal is acquired and a second time when the second identification signal is acquired; determining the difference between the second time and the first time to obtain a sensing time difference; determining the second lateral deviation amount based on the sensing time difference and the moving speed of the handling robot in the first direction.

[0134] In some embodiments, determining the shelf deviation based on the first identification signal and the second identification signal includes: in response to the first acquisition of the identification signal, starting to record the movement distance of the handling robot in a first direction; in response to the second acquisition of the identification signal, terminating the recording of the movement distance of the handling robot, and determining the recorded movement distance as a second lateral deviation; wherein the first acquisition of the identification signal is one of the first identification signal and the second identification signal, and the second acquisition of the identification signal is the other of the first identification signal and the second identification signal.

[0135] In some embodiments, determining the shelf deviation based on the first identification signal and the second identification signal includes: controlling the structural member to move along a first direction; determining a third lateral deviation amount between the identification device and the identification code in response to the first acquisition of the identification signal; determining a fourth lateral deviation amount between the identification device and the identification code in response to the second acquisition of the identification signal; and determining a second lateral deviation amount based on the third lateral deviation amount and the fourth lateral deviation amount; wherein the first acquisition of the identification signal is one of the first identification signal and the second identification signal, and the second acquisition of the identification signal is the other of the first identification signal and the second identification signal.

[0136] In some embodiments, the first shelf includes a plurality of first uprights, the second shelf includes a plurality of second uprights, and a plurality of storage locations are provided between every two first uprights. The second lateral deviation obtained through a set of first uprights and second uprights is applied to the plurality of storage locations.

[0137] In some embodiments, the handling robot further includes a first sensor group, the first sensor group including two first sensors, the two first sensors being spaced apart along a first direction at a first end of the handling device; the detection surfaces of the two first sensors facing a first shelf or a second shelf; after adjusting the position of the structural component and / or the handling device based at least in part on a first deviation between the identification device and the identification code, the method further includes: acquiring a third identification signal and a fourth identification signal from the two first sensors respectively; determining whether the two first sensors are triggered based on the third identification signal and the fourth identification signal; and adjusting the handling device based on whether the two first sensors are triggered.

[0138] In some embodiments, the two first sensors include a first first sensor and a second first sensor; adjusting the conveying device according to whether the two first sensors are triggered includes: if the first first sensor is triggered and the second first sensor is not triggered, then the control structure moves in a first direction within a first preset distance toward the direction from the second first sensor to the first first sensor, until neither of the two first sensors is triggered; if the first first sensor is not triggered and the second first sensor is triggered, then the control structure moves in a first direction within a second preset distance toward the direction from the first first sensor to the second first sensor, until neither of the two first sensors is triggered.

[0139] In some embodiments, before adjusting the position of the structural member and / or the handling device in part based on a first deviation between the identification device and the identification code, the method further includes: determining the center point coordinates of the identification code; obtaining the center point coordinates of the identification device; and calculating the offset between the center point coordinates of the identification code and the center point coordinates of the identification device to obtain the first deviation.

[0140] The specific implementation process and beneficial effects of the above-mentioned embodiment of the picking and placing positioning method of the handling robot can be referred to the aforementioned embodiment of the handling robot, and will not be described in detail here.

[0141] Figure 22 shows a schematic diagram of the structure of the handling robot provided in the embodiment of this application. The specific embodiments of this application do not limit the specific implementation of the handling robot.

[0142] As shown in Figure 22, the handling robot 100 may include a processor 2202 and a memory 2204.

[0143] The processor 2202 is used to execute the computer program 2206, specifically the relevant steps in the above embodiment of the picking and placing positioning method for the handling robot.

[0144] Specifically, computer program 2206 may include computer-executable instructions.

[0145] The processor 2202 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application. The electronic device includes one or more processors, which may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.

[0146] Memory 2204 for storing computer program 2206. Memory 2204 may include high-speed RAM memory and may also include non-volatile memory, such as at least one disk memory.

[0147] This application provides a computer-readable storage medium storing at least one executable instruction. When the executable instruction is executed on an electronic device, it causes the electronic device to perform the operation of the picking and placing positioning method of the handling robot as described above. The computer-readable storage medium is a non-volatile storage medium.

[0148] This application provides a computer program product, including a computer program, which, when executed by a processor, implements the operation of the picking and placing positioning method of the handling robot as described in the above embodiment.

[0149] This application provides a computer program that can be called by a processor to enable an electronic device to perform the picking and placing positioning method of the handling robot as described above.

[0150] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system, or other device. Various general-purpose systems can also be used in conjunction with the teachings herein. The required structure for constructing such systems is apparent from the above description. Furthermore, the embodiments of this application are not directed to any particular programming language. It should be understood that the content of this application described herein can be implemented using various programming languages, and the above description of specific languages ​​is for the purpose of disclosing the best mode of implementation of this application.

[0151] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of this application may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0152] Similarly, it should be understood that, in order to streamline this application and aid in understanding one or more of the various aspects of the invention, in the above description of exemplary embodiments of this application, various features of the embodiments of this application are sometimes grouped together in a single embodiment, figure, or description thereof. However, this method of disclosure should not be construed as reflecting an intention that the claimed application requires more features than are expressly recited in each claim.

[0153] Those skilled in the art will understand that the modules in the device of the embodiments can be modified in a self-adaptive manner and placed in one or more devices different from that embodiment. Modules, units, or elements in the embodiments can be combined into a single module, unit, or element, and can be divided into multiple sub-modules, sub-units, or sub-elements. Except where at least some of such features and / or processes or units are mutually exclusive, any combination can be used to combine all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all processes or units of any method or device so disclosed. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature that serves the same, equivalent, or similar purpose.

[0154] It should be noted that the above embodiments are illustrative of this application and not restrictive of it, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. This application can be implemented by means of hardware comprising several different elements and by means of a computer with appropriate programming. In unit claims listing several means, several of these means may be embodied by the same hardware item. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be construed as limiting the order of execution. [Simplified Explanation of the Diagram]

[0033] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the accompanying drawings: Figure 1 is a structural schematic diagram of the warehousing system provided in an embodiment of this application; Figure 2 is a side view of the warehousing system provided in an embodiment of this application; Figure 3 is a structural schematic diagram of the first shelf and handling robot provided in an embodiment of this application; Figure 4 is a structural schematic diagram of the handling robot provided in an embodiment of this application; Figure 5A is a structural schematic diagram of the handling device and identification device provided in an embodiment of this application; Figure 5B is a structural schematic diagram of the handling device and identification device provided in an embodiment of this application from another perspective; Figure 5C is an enlarged view of point A in Figure 5B; Figure 6 is a structural schematic diagram of the first shelf provided in an embodiment of this application; Figure 7 is a partial structural schematic diagram of the second shelf provided in an embodiment of this application; Figure 8 is a schematic diagram of the positional relationship between the handling device, identification device, and identification code provided in an embodiment of this application; Figure 9 is a schematic diagram of the positional relationship between the handling device, identification device, and identification code provided in an embodiment of this application; Figure 10 is a schematic diagram of the positional relationship between the handling device, identification device, and identification code provided in an embodiment of this application; Figure 11 is a schematic diagram of the positional relationship between the handling device, identification device, and identification code provided in an embodiment of this application; Figure 12 is a schematic diagram of the deviation between the identification device and identification code provided in an embodiment of this application; Figure 13 is a schematic diagram of the deviation between the identification device and identification code provided in an embodiment of this application. Figure 14 is a schematic diagram of the deviation between the first and second shelves, the identification device, and the identification code provided in the embodiment of this application; Figure 15 is a top view of the handling device and the identification device provided in the embodiment of this application; Figure 16 is a schematic diagram of the measurement of the second lateral deviation provided in the embodiment of this application; Figure 17 is a schematic diagram of the positional relationship between a handling device and goods provided in the embodiment of this application; Figure 18 is a schematic diagram of the positional relationship between another handling device and goods provided in the embodiment of this application; Figure 19 is a schematic diagram of the positional relationship between yet another handling device and goods provided in the embodiment of this application; Figure 20 is a schematic diagram of the positional relationship between yet another handling device and goods provided in the embodiment of this application; Figure 21 is a flowchart of the picking and placing positioning method of the handling robot provided in the embodiment of this application; Figure 22 shows a structural block diagram of the handling robot provided in the embodiment of this application.

Claims

1. A handling robot, characterized in that it comprises: A structural component, configured to be mounted on the side of a first shelf and movable relative to the first shelf in a first direction along a guide rail on the first shelf, wherein the first direction is parallel to the length direction of the first shelf, and a second storage location is provided on the first shelf; a handling device, mounted on the structural component and movable relative to the structural component in a second direction, the second direction being parallel to the height direction of the first shelf; and an identification device, mounted on the handling device, for acquiring an identification code of a first storage location on a second shelf, wherein each storage location on the second shelf is provided with the identification code, and the second shelf and the first shelf are arranged opposite each other on both sides of an aisle; wherein, when performing a picking and placing task for a target storage location, the handling robot is configured to adjust the position of the structural component and / or the handling device at least partially based on a first deviation between the identification device and the identification code, wherein the target storage location includes either the first storage location or the second storage location, and the second storage location and the first storage location are symmetrically arranged relative to the aisle; wherein, when the target storage location is the second storage location, the first deviation includes a first lateral deviation, and the handling robot is configured as follows: Determine the first lateral deviation between the identification device and the identification code; control the structural component to move along the first direction based on the first lateral deviation and the second lateral deviation, until the lateral deviation between the identification device and the target storage location is less than or equal to a lateral deviation threshold, wherein the second lateral deviation is used to characterize the deviation between the first shelf and the second shelf in the first direction, and the value of the second lateral deviation is the deviation between the target storage location and the identification code in the first direction.

2. The handling robot as described in claim 1, wherein, When the target storage location is the first storage location, the first deviation includes a first lateral deviation and a first height deviation; the handling robot is configured to: determine the first lateral deviation between the identification device and the identification code; control the structural component to move along the first direction according to the first lateral deviation until the first lateral deviation between the identification device and the identification code is less than or equal to a lateral deviation threshold, so that the handling device is aligned with the target storage location in the first direction; determine the first height deviation between the identification device and the identification code; control the handling device to move along the second direction according to the first height deviation.

3. The handling robot as described in claim 1, wherein, The handling robot further includes a first sensor and a second sensor, which are respectively disposed at a first end and a second end of the handling device in the picking and placing direction. The detection surfaces of the first sensor and the second sensor face the first shelf and the second shelf, respectively. The first sensor is configured to identify a first column of the first shelf to obtain a first identification signal when the structural member moves along the first direction, and the second sensor is configured to identify a second column of the second shelf to obtain a second identification signal when the structural member moves along the first direction, so that the handling robot can determine the second lateral deviation based on the first identification signal and the second identification signal.

4. The handling robot as described in claim 3, wherein, The transport robot is further configured to: determine the first time when the first identification signal is acquired and the second time when the second identification signal is acquired; The difference between the second time and the first time is determined to obtain the sensing time difference; The second lateral deviation is determined based on the sensing time difference and the moving speed of the transport robot in the first direction.

5. The handling robot as described in claim 3, wherein, The transport robot is further configured to: in response to the first acquisition of an identification signal, begin recording the distance the transport robot moves in the first direction; in response to the second acquisition of an identification signal, terminate the recording of the distance the transport robot moves, and determine the recorded distance as the second lateral deviation; wherein the first acquisition of an identification signal is one of the first identification signal and the second identification signal, and the second acquisition of an identification signal is the other of the first identification signal and the second identification signal.

6. The handling robot as described in claim 3, wherein, The transport robot is further configured to: control the structural component to move along the first direction; in response to a first acquisition of an identification signal, determine a third lateral deviation between the identification device and the identification code; in response to a second acquisition of an identification signal, determine a fourth lateral deviation between the identification device and the identification code; and determine a second lateral deviation based on the third lateral deviation and the fourth lateral deviation; wherein the first acquisition of the identification signal is one of the first identification signal and the second identification signal, and the second acquisition of the identification signal is the other of the first identification signal and the second identification signal.

7. The handling robot as described in any one of claims 3-6, wherein, The first shelf includes a plurality of first uprights, the second shelf includes a plurality of second uprights, and a plurality of storage locations are provided between every two first uprights. The second lateral deviation obtained by using a set of first uprights and second uprights is applied to the plurality of storage locations.

8. The handling robot as requested in item 1 or 2, wherein, The handling robot further includes a first sensor group, which includes two first sensors spaced apart at a first end of the handling device along the first direction; the detection surfaces of the two first sensors face the first shelf or the second shelf and are configured to detect the offset of goods on the second storage location or the first storage location; the handling robot is configured to control the structural components to move in the first direction based on the detection data of the offset detection, so as to adjust the position of the handling device relative to the goods.

9. The handling robot as described in claim 8, wherein, The transport robot is configured to determine the triggering state of the two first sensors based on their identification signals, and control the structural component to move along the first direction within a preset distance to a position where both first sensors are in an untriggered state, based on the triggering state of the two first sensors. The triggering state includes either a triggered state or an untriggered state.

10. The handling robot as described in claim 8, wherein, The handling device includes a device body, which includes a support platform, a first guide member, and a second guide member. The support platform is used to support the goods, and the first guide member and the second guide member are distributed on both sides of the support platform. The two first sensors are respectively disposed at the first end of the first guide member and the first end of the second guide member.

11. The handling robot as described in claim 8, wherein, The conveying device further includes a second sensor group, which includes two second sensors. The second sensor group and the first sensor group are symmetrically arranged along the picking and placing direction of the conveying device, and the two second sensors are spaced apart at the second end of the conveying device along the first direction.

12. A method for picking up and placing goods in a handling robot, characterized in that the method is applied to a handling robot, the handling robot comprising a structural component, a handling device, and a recognition device; the structural component is mounted on the side of a first shelf and is capable of moving relative to the first shelf in a first direction along a guide rail on the first shelf, the first direction being parallel to the length direction of the first shelf; the handling device is mounted on the structural component and is capable of moving relative to the structural component in a second direction, the second direction being parallel to the height direction of the first shelf; The identification device is mounted on the conveying device; the method includes: Upon receiving a pick-up and place order instruction, the instruction includes a target storage location corresponding to the pick-up and place order; controlling the handling device to move to the target storage location; obtaining the identification code of the first storage location on the second shelf through the identification device, the second shelf and the first shelf being arranged opposite each other on both sides of the aisle; adjusting and positioning the structural component and / or the handling device at least partially based on a first deviation between the identification device and the identification code to execute the pick-up and place order task, wherein the target storage location includes the first storage location or the second storage location, the second storage location and the first storage location being symmetrically arranged relative to the aisle; wherein, when the target storage location is the second storage location, the first deviation includes a first lateral deviation; adjusting the position of the structural component and / or the handling device at least partially based on the first deviation between the identification device and the identification code includes: determining the first lateral deviation between the identification device and the identification code; The structural component is controlled to move along the first direction based on the first lateral deviation and the second lateral deviation until the lateral deviation between the identification device and the target storage location is less than or equal to the lateral deviation threshold. The second lateral deviation is used to characterize the deviation between the first shelf and the second shelf in the first direction, and the value of the second lateral deviation is the deviation between the target storage location and the identification code in the first direction.

13. The method as described in claim 12, wherein, When the target storage location is the first storage location, the first deviation includes a first lateral deviation and a first height deviation; adjusting the position of the structural component and / or the handling device based at least in part on the first deviation between the identification device and the identification code includes: determining the first lateral deviation between the identification device and the identification code; controlling the structural component to move along the first direction according to the first lateral deviation until the first lateral deviation between the identification device and the identification code is less than or equal to a lateral deviation threshold, so that the handling device is aligned with the target storage location in the first direction; determining the first height deviation between the identification device and the identification code; and controlling the handling device to move along the second direction according to the first height deviation.

14. The method as described in claim 12, wherein, The handling robot further includes a first sensor and a second sensor, which are respectively disposed at a first end and a second end of the handling device in the picking and placing direction, and the detection surfaces of the first sensor and the second sensor face the first shelf and the second shelf, respectively; the method further includes: controlling the structural component to move along the first direction; acquiring a first identification signal obtained by the first sensor identifying a first column of the first shelf, and a second identification signal obtained by the second sensor identifying a second column of the second shelf; and determining a second lateral deviation amount based on the first identification signal and the second identification signal.

15. The method as described in claim 14, wherein, The step of determining the second lateral deviation based on the first identification signal and the second identification signal includes: determining the first time when the first identification signal is acquired and the second time when the second identification signal is acquired; determining the difference between the second time and the first time to obtain a sensing time difference; and determining the second lateral deviation based on the sensing time difference and the moving speed of the handling robot in the first direction.

16. The method as described in claim 14, wherein, The step of determining the shelf deviation based on the first identification signal and the second identification signal includes: in response to the first acquisition of an identification signal, starting to record the movement distance of the handling robot in the first direction; in response to the second acquisition of an identification signal, stopping the recording of the movement distance of the handling robot, and determining the recorded movement distance as the second lateral deviation; wherein the first acquisition of an identification signal is one of the first identification signal and the second identification signal, and the second acquisition of an identification signal is the other of the first identification signal and the second identification signal.

17. The method as described in claim 14, wherein, The step of determining the shelf deviation based on the first identification signal and the second identification signal includes: controlling the structural component to move along the first direction; determining a third lateral deviation between the identification device and the identification code in response to the first acquisition of an identification signal; determining a fourth lateral deviation between the identification device and the identification code in response to the second acquisition of an identification signal; and determining a second lateral deviation based on the third lateral deviation and the fourth lateral deviation; wherein the first acquired identification signal is one of the first identification signal and the second identification signal, and the second acquired identification signal is the other of the first identification signal and the second identification signal.

18. The method as described in any one of claims 14-18, wherein, The first shelf includes a plurality of first uprights, the second shelf includes a plurality of second uprights, and a plurality of storage locations are provided between every two first uprights. The second lateral deviation obtained by using a set of first uprights and second uprights is applied to the plurality of storage locations.

19. The method as described in claim 13 or 14, wherein, The handling robot further includes a first sensor group, which includes two first sensors spaced apart at a first end of the handling device along the first direction; the detection surfaces of the two first sensors face the first shelf or the second shelf; after adjusting the position of the structural component and / or the handling device based at least in part on a first deviation between the identification device and the identification code, the method further includes: acquiring a third identification signal and a fourth identification signal from the two first sensors respectively; determining whether the two first sensors are triggered based on the third identification signal and the fourth identification signal; and adjusting the handling device based on whether the two first sensors are triggered.

20. The method as described in claim 19, wherein, The two first sensors include a first first sensor and a second first sensor; The step of adjusting the conveying device based on whether the two first sensors are triggered includes: if the first first sensor is triggered and the second first sensor is not triggered, then controlling the structural member to move in the first direction in the direction from the second first sensor to the first first sensor within a first preset distance, until both first sensors are not triggered; if the first first sensor is not triggered and the second first sensor is triggered, then controlling the structural member to move in the first direction in the direction from the first first sensor to the second first sensor within a second preset distance, until both first sensors are not triggered.

21. The method as described in claim 12, wherein, Before adjusting the position of the structural member and / or the transport device based at least in part on a first deviation between the identification device and the identification code, the method further includes: determining the center point coordinates of the identification code; obtaining the center point coordinates of the identification device; and calculating the offset between the center point coordinates of the identification code and the center point coordinates of the identification device to obtain the first deviation.

22. A transport robot, characterized in that it comprises: At least one processor and memory; The memory stores computer-executed instructions; The at least one processor executes computer execution instructions stored in the memory, causing the at least one processor to perform the picking and placing positioning method of the handling robot as described in any one of claims 12-21.

23. A warehousing system, characterized in that it comprises a first shelf, a second shelf, and a handling robot; the second shelf and the first shelf are arranged opposite each other on both sides of an aisle; the first shelf includes a second storage location, and the first shelf is provided with a guide rail along a first direction, the first direction being parallel to the length direction of the first shelf; each storage location on the second shelf is provided with an identification code, the second shelf includes a first storage location, and the second storage location and the first storage location are symmetrically arranged with respect to the aisle; the handling robot includes a structural component, a handling device, and an identification device; the structural component is installed on the side of the first shelf and is capable of moving relative to the first shelf in the first direction along the guide rail of the first shelf; the handling device is installed on the structural component and is capable of moving relative to the structural component in a second direction, the second direction being parallel to the height direction of the first shelf; the identification device is installed on the handling device and is used to acquire the identification code of the first storage location; wherein, When performing a pick-and-place task for a target storage location, the handling robot is configured to adjust the position of the structural component and / or the handling device based at least in part on a first deviation between the identification device and the identification code of the first storage location, wherein the target storage location includes the first storage location or the second storage location; wherein, when the target storage location is the second storage location, the first deviation includes a first lateral deviation, and the handling robot is configured to: determine the first lateral deviation between the identification device and the identification code; control the structural component to move along the first direction according to the first lateral deviation and the second lateral deviation, until the lateral deviation between the identification device and the target storage location is less than or equal to a lateral deviation threshold, wherein the second lateral deviation is used to characterize the deviation between the first shelf and the second shelf in the first direction, and the value of the second lateral deviation is the deviation between the target storage location and the identification code in the first direction.

24. A computer-readable storage medium, characterized in that the computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, implement the picking and placing positioning method of a handling robot as described in any one of claims 12-21.

25. A computer program product, comprising a computer program, characterized in that, when the computer program is executed by a processor, it implements the picking and placing positioning method of a handling robot as described in any one of claims 12-21.

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