Picking system

Abstract

A picking system (1000). The picking system (1000) comprises at least one picking robot (100) and at least one automated guided vehicle (200). The picking robot (100) comprises first docking mechanisms (110), and the automated guided vehicle (200) comprises second docking mechanisms (210), wherein the first docking mechanisms (110) are used for being detachably connected to the second docking mechanisms (210). The automated guided vehicle (200) is configured to: when one picking robot (100) has a picking task, move to the picking robot (100) and be docked with the first docking mechanisms (110) of the picking robot (100) by means of the second docking mechanisms (210); and when the docking is completed, pull the picking robot (100) to move. When the picking task has been executed, the second docking mechanisms (210) are controlled to be disconnected from the first docking mechanisms (110).

Description

A picking system

[0001] Priority information

[0002] This application claims priority to the Chinese patent application entitled “A Picking System” filed with the State Intellectual Property Office of China on December 27, 2023, with application number 202311833869.X, the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present application relates to the field of robotics, and more particularly to a picking system. Background Art

[0004] In related technologies, a picking robot consists of a gantry picking mechanism and an automated guided vehicle (AGV). When the picking robot is working, the AGV drives the gantry picking mechanism to a cargo picking station, where the gantry picking mechanism picks goods to facilitate warehousing and outbound delivery.

[0005] However, the operating efficiency of AGVs is much higher than that of gantry picking mechanisms. When picking robots are working, it is very likely that the AGV will complete its work before the gantry picking mechanism has completed its work. The AGV needs to wait until the gantry picking mechanism completes its work before it can proceed to the next work, which reduces the operating efficiency of the warehouse logistics system. Summary of the Invention

[0006] An embodiment of the present application provides a picking system.

[0007] The picking system provided in the embodiment of the present application includes at least one picking robot and at least one automatic guided vehicle. The picking robot includes a first docking mechanism, and the automatic guided vehicle includes a second docking mechanism, and the first docking mechanism is used to be detachably connected to the second docking mechanism. The automatic guided vehicle is used to move toward the picking robot and dock with the first docking mechanism of the picking robot through the second docking mechanism when one of the picking robots has a picking task, and to tow the picking robot to move after the docking is completed, so that the picking robot performs the picking task. After the picking task is completed, the picking robot is driven to move to the unloading area, the second docking mechanism is controlled to disconnect from the first docking mechanism, and the picking robot is moved toward another picking robot and docked with the other picking robot, and the other picking robot is towed to move. The picking robot is used to perform the picking task under the traction of the automatic guided vehicle and perform the unloading task in the unloading area.

[0008] In certain embodiments, the picking robot includes a chassis, the first docking mechanism is disposed beneath the chassis, the automated guided vehicle includes a lifting plate, and the second docking mechanism is disposed upon the lifting plate. The lifting plate is configured to lift upward after the automated guided vehicle moves to a target docking position beneath the chassis, thereby driving the second docking mechanism toward the first docking mechanism to dock with the second docking mechanism. The lifting plate is configured to move downward, driving the second docking mechanism away from the first docking mechanism to disconnect the first and second docking mechanisms.

[0009] In some embodiments, the picking robot includes an identification plate disposed beneath the chassis, and the second docking mechanism includes a distance sensor. After the AGV moves beneath the chassis, the distance sensor is configured to detect the relative position between the second docking mechanism and the identification plate to determine whether the AGV has reached the target docking position.

[0010] In some embodiments, the first docking mechanism includes a first power communication interface, and the second docking mechanism includes a first rack and a second power communication interface, and the second power communication interface is arranged on the first rack; the first rack is used to drive the second power communication interface to move toward the first power communication interface when the second docking mechanism moves toward the first docking mechanism, so that the second power communication interface is connected to the first power communication interface.

[0011] In some embodiments, the first docking mechanism includes a first dust-proof brush, the second docking mechanism includes a second dust-proof brush, the first dust-proof brush is arranged on the first power communication interface, and the second dust-proof brush is arranged on the second power communication interface.

[0012] In some embodiments, the first docking mechanism includes a baffle plate, and the second docking mechanism includes a second rack and a gear, one side of the gear meshing with the first rack, and the other side of the gear meshing with the second rack. The first rack and the second rack are both movably arranged on the lifting plate, the first rack being vertically arranged, and the second power communication interface being arranged at the upper end of the first rack, the upper end of the first rack being located at an opening of the lifting plate, the first rack being able to pass through the opening, and the second rack being vertically arranged through the lifting plate. The lifting plate pushes upward, driving the gear and the second rack to move upward, and after the second rack contacts the baffle plate, the second rack stops moving. As the lifting plate continues to rise, the gear rotates and continues to move upward along the second rack. The first rack moves upward as the gear rotates, pushing the second power communication interface out of the opening until the second power communication interface docks with the first power communication interface.

[0013] In some embodiments, the second docking mechanism includes a spring, one end of which is fixed to the lifting plate and the other end is fixed to the first rack. The upward movement of the first rack compresses the spring. When the lifting plate moves downward, the first rack moves downward under the elastic force of the spring, driving the gear to rotate. The rotation of the gear drives the second rack downward, causing the first and second racks to reset.

[0014] In certain embodiments, the first docking mechanism includes a positioning hole, and the second docking mechanism includes a positioning post, which is disposed on the lifting plate. The lifting plate is configured to lift upward after the AGV moves to the target docking position below the chassis, thereby driving the positioning post toward the positioning hole so that the positioning post is inserted into the positioning hole. The lifting plate is configured to move downward to drive the positioning post out of the positioning hole.

[0015] In some embodiments, the second docking mechanism includes a strain gauge disposed inside the positioning post, the strain gauge being configured to detect contact pressure of the positioning post. The automated guided vehicle is configured to determine a connection state between the positioning post and the positioning hole based on the contact pressure.

[0016] In some embodiments, the picking robot includes a first energy storage battery, and the automated guided vehicle includes a second energy storage power supply. When the first docking mechanism is connected to the second docking mechanism, the first energy storage power supply can charge the second energy storage power supply, or the first energy storage power supply can receive power from the second energy storage power supply.

[0017] When the first docking mechanism is connected to the second docking mechanism, the AGV and the picking robot can temporarily form a single unit. If the picking robot's battery is low, the AGV can supply power to the picking robot, thereby extending its battery life. If the AGV's battery is low, the picking robot can charge the AGV, thereby extending its battery life.

[0018] An embodiment of the present application provides a picking system. The picking system includes at least one picking robot and at least one automatic guided vehicle. The picking robot includes a first docking mechanism, the automatic guided vehicle includes a second docking mechanism, and the first docking mechanism is used to be detachably connected to the second docking mechanism. The automatic guided vehicle is used to move toward the picking robot and dock with the first docking mechanism of the picking robot through the second docking mechanism when a picking robot has a picking task, and to tow the picking robot to move after the docking is completed, so that the picking robot performs the picking task. After the picking task is completed, the picking robot is driven to move to the unloading area, the second docking mechanism is controlled to disconnect from the first docking mechanism, and the picking robot is moved toward another picking robot and dock with the other picking robot, and the other picking robot is towed to move. The picking robot is used to perform picking tasks under the traction of the automatic guided vehicle and perform unloading tasks in the unloading area. After the connection between the first docking mechanism and the second docking mechanism is disconnected, the automatic guided vehicle can move to other positions on its own without having to wait for a picking robot to complete its work before performing the next work. The flexible and changeable combination method improves the utilization rate of the automatic guided vehicle, can save the number of automatic guided vehicles put into use in the picking system, reduce the cost of the picking system, and improve the operating efficiency of the warehousing and logistics system.

[0019] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0021] FIG1 is a schematic diagram of a picking system according to certain embodiments of the present application;

[0022] FIG2 is a front view of the docking of a picking robot and an automatic guided vehicle according to certain embodiments of the present application;

[0023] FIG3 is a top view of the docking of a picking robot and an automatic guided vehicle according to certain embodiments of the present application;

[0024] FIG4 is a schematic diagram of a first docking mechanism structure and a second docking mechanism structure in certain embodiments of the present application;

[0025] FIG5 is a schematic structural diagram of a picking robot according to certain embodiments of the present application;

[0026] FIG6 is a schematic diagram of the operation of a picking system according to certain embodiments of the present application;

[0027] FIG7 is a schematic diagram of the warehousing operation of the picking system according to certain embodiments of the present application;

[0028] FIG8 is a schematic diagram of the outbound operation of the picking system according to certain embodiments of the present application;

[0029] FIG9 is a schematic diagram of a transfer assembly driving a picking robot to move according to certain embodiments of the present application. DETAILED DESCRIPTION

[0030] The embodiments of the present application are described in detail below. The embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and are not to be construed as limiting the present application.

[0031] In related technologies, a picking robot consists of a gantry picking mechanism and an automated guided vehicle (AGV). When the picking robot is working, the AGV drives the gantry picking mechanism to a cargo picking station, where the gantry picking mechanism picks goods to facilitate warehousing and outbound delivery.

[0032] However, the operating efficiency of AGVs is much higher than that of gantry picking mechanisms. When picking robots are working, it is very likely that the AGV will complete its work before the gantry picking mechanism has completed its work. The AGV needs to wait until the gantry picking mechanism completes its work before it can proceed to the next work, which reduces the operating efficiency of the warehouse logistics system.

[0033] 1 , the picking system 1000 provided in an embodiment of the present application includes at least one picking robot 100 and at least one automated guided vehicle 200. The picking robot 100 includes a first docking mechanism 110, and the automated guided vehicle 200 includes a second docking mechanism 210. The first docking mechanism 110 is configured to be detachably connected to the second docking mechanism 210. When a picking robot 100 has a picking task, the automated guided vehicle 200 is configured to move toward the picking robot 100 and dock with the first docking mechanism 110 of the picking robot 100 through the second docking mechanism 210. After docking is completed, the automated guided vehicle 200 tows the picking robot 100 to move so that the picking robot 100 performs the picking task. After the picking task is completed, the picking robot 100 is driven to move to the unloading area, the second docking mechanism 210 is controlled to disconnect from the first docking mechanism, and the picking robot 100 moves toward another picking robot 100 to dock with the other picking robot 100, and tow the other picking robot 100 to move. The picking robot 100 is used to perform picking tasks under the traction of the automatic guided vehicle 200 and perform unloading tasks in the unloading area.

[0034] Specifically, the automatic guided vehicle 200 is detachably connected to the picking robot 100. The automatic guided vehicle 200 can be separated from the picking robot 100, and the automatic guided vehicle 200 can also be connected to the picking robot 100.

[0035] The picking robot 100 has an independent control system and power supply system, and the picking robot 100 can independently perform the picking task of loading goods or the unloading task of unloading goods.

[0036] The Automated Guided Vehicle (AGV) 200 has the ability to self-move and can carry the picking robot 100 to a target location. The target location can be a designated location for the picking robot 100 to perform its tasks. The picking robot 100 needs to perform its tasks at the target location. The AGV 200 also has navigation and positioning capabilities, which can determine the target location and carry the picking robot 100 to the target location.

[0037] When the picking robot 100 needs to move to a specific target location to perform work, the first docking mechanism 110 of the picking robot 100 is connected to the second docking mechanism 210 of the automatic guided vehicle 200, and the automatic guided vehicle 200 carries the picking robot 100 and moves to the target location.

[0038] When the picking robot needs to perform a picking task, the automatic guided vehicle 200 first moves to the position of the picking robot 100, and is connected to the first docking mechanism 110 of the picking robot 100 through the second docking mechanism 210. The automatic guided vehicle 200 carries the picking robot 100 and moves to the picking area.

[0039] When the AGV 200 needs to carry the picking robot 100 to the unloading area, the AGV 200 first moves to the position of the picking robot 100 and connects with the first docking mechanism 110 of the picking robot 100 via the second docking mechanism 210. The AGV 200 then carries the picking robot 100 to the unloading area.

[0040] A picking robot 100 can be connected to multiple AGVs 200 at different times. When the picking robot 100 needs to perform a picking task, it can connect to one AGV 200, which guides the picking robot 100 to the picking area. When the picking robot 100 needs to perform an unloading task, it can connect to another AGV 200, which guides the picking robot 100 to the unloading area.

[0041] The automatic guided vehicle 200 can also be docked with multiple picking robots 100 at different times. After the automatic guided vehicle 200 carries the picking robot 100 and moves to the target position, the automatic guided vehicle 200 can be separated from the picking robot 100, and the automatic guided vehicle 200 can move to other positions on its own. After the second docking mechanism 210 is disconnected from the first docking mechanism 110, the automatic guided vehicle 200 is no longer constrained by the picking robot 100. The automatic guided vehicle 200 can search for other picking robots 100 that need to be carried and moved by the automatic guided vehicle 200, dock with another picking robot 100, and carry another picking robot 100 to another target position, so that the other picking robot 100 can perform the corresponding business at the target position. The working efficiency of the warehousing and logistics system is improved.

[0042] For example, robot A1 can be a picking robot 100 performing unloading operations, while robot A2 can be a picking robot 100 performing loading operations. The AGV 200 can carry robot A1 to the unloading area. After the AGV 200 moves to the unloading area, the second docking mechanism 210 of the AGV 200 disconnects from the first docking mechanism 110 of robot A1. Robot A1 then unloads goods in the unloading area, while robot A2 moves to the loading area to load goods. The AGV 200 then moves under the base 120 of robot A2, where its second docking mechanism 210 connects with the first docking mechanism 110 of robot A2, and then drives robot A2 to another target location.

[0043] The automatic guided vehicle 200 is not restricted by a certain picking robot 100, and the combination method is flexible and changeable, which improves the utilization rate of the automatic guided vehicle 200, can save the number of automatic guided vehicles 200 put into use in the picking system 1000, and reduce the cost of the picking system 1000.

[0044] 2 and 3 , in some embodiments, the picking robot 100 includes a chassis 120, a first docking mechanism 110 disposed below the chassis 120, and an automated guided vehicle 200 includes a lifting plate 220, on which a second docking mechanism 210 is disposed. The lifting plate 220 is configured to lift upward after the automated guided vehicle 200 moves to a target docking position below the chassis 120, thereby driving the second docking mechanism 210 toward the first docking mechanism 110 to dock with the second docking mechanism 210. The lifting plate 220 is configured to move downward, driving the second docking mechanism 210 away from the first docking mechanism 110 to disconnect the first docking mechanism 110 from the second docking mechanism 210.

[0045] The lifting plate 220 can elevate the position of the second docking mechanism 210 to achieve docking between the second docking mechanism 210 and the first docking mechanism.

[0046] Specifically, the picking robot 100 includes a chassis 120, with a first docking mechanism 110 disposed beneath the chassis 120. The automated guided vehicle (AGV) includes a lift plate, with a second docking mechanism disposed on the lift plate. When the AGV 200 is at the target docking position, the first docking mechanism 110 and the second docking mechanism 210 can accurately dock.

[0047] When the picking robot 100 needs to move, the AGV 200 moves to the target docking position below the base 120 of the picking robot 100. The lifting plate 220 pushes upward, driving the second docking mechanism 210 to move toward the first docking mechanism 110, thereby docking the first docking mechanism 110 with the second docking mechanism 210.

[0048] The lifting plate 220 simultaneously raises the position of the picking robot 100 while raising the second docking mechanism 210. When the AGV 200 carries the picking robot 100, there is a certain distance between the picking robot 100 and the ground. This prevents the picking robot 100 from direct contact with the ground, preventing friction with the ground that could damage the picking robot 100 and also preventing noise from ground friction.

[0049] After the picking robot 100 moves to the target position, when the first docking mechanism 110 needs to be disconnected from the second docking mechanism 210, the lifting plate 220 is used to move downward to drive the second docking mechanism 210 away from the first docking mechanism 110, so that the first docking mechanism 110 is disconnected from the second docking mechanism 210.

[0050] 2 and 3 , in some embodiments, the picking robot 100 includes an identification plate 122. The identification plate 122 is disposed beneath the chassis 120, and the second docking mechanism 210 includes a distance sensor 211. After the AGV 200 moves beneath the chassis 120, the distance sensor 211 detects the relative position between the second docking mechanism 210 and the identification plate 122 to determine whether the AGV 200 has reached the target docking position.

[0051] The distance sensor 211 is used to determine whether the AGV 200 has moved to the target docking position. After the AGV 200 has moved to the target docking position, the lifting plate 220 can drive the second docking mechanism 210 to move toward the first docking mechanism 110 so that the first docking mechanism 110 and the second docking mechanism 210 dock.

[0052] Specifically, when the picking robot 100 needs to move, the AGV 200 moves under the base of the picking robot 100. After the AGV 200 moves under the chassis 120, the distance sensor 211 sends a detection signal to detect the relative position between the second docking mechanism 210 and the identification plate 122.

[0053] The detection signal emitted by the distance sensor 211 can be a line laser signal, an ultrasonic signal, or other detection signal. The detection signal is transmitted to the identification plate 122 and then reflected back. The distance sensor 211 can determine the distance between the distance sensor 211 and the identification plate 122, that is, the distance between the second docking mechanism 210 and the identification plate 122, based on the time at which the detection signal is transmitted and the time at which the detection signal is emitted.

[0054] The distance sensor 211 can send corresponding detection signals to multiple identification positions on the identification plate 122, detect the distance between the second docking mechanism 210 and the multiple identification positions, and determine the relative position between the second docking mechanism 210 and the identification plate 122 based on the distance between the second docking mechanism 210 and the multiple identification positions.

[0055] Since the position of the identification plate 122 is determined, the position of the second docking mechanism 210 can be determined after determining the relative position between the second docking mechanism 210 and the identification plate 122. After determining the position of the second docking mechanism 210, the position of the automated guided vehicle 200 can be determined to determine whether the automated guided vehicle 200 has moved to the target docking position.

[0056] Referring to Figure 4, in some embodiments, the first docking mechanism 110 includes a first power communication interface 111, the second docking mechanism 210 includes a second power communication interface 212 and a first rack 2131, and the second power communication interface 212 is arranged on the first rack 2131; the first rack 2131 is used to drive the second power communication interface 212 to move toward the first power communication interface 111 when the second docking mechanism 210 moves toward the first docking mechanism 110, so as to connect the second power communication interface 212 to the first power communication interface 111.

[0057] The first rack 2131 is used to drive the second power communication interface 212 to move toward the first power communication interface 111 , so that the second power communication interface 212 is connected to the first power communication interface 111 .

[0058] Specifically, the picking robot 100 has an independent control system and power supply system, and the picking robot 100 can independently perform the tasks of loading or unloading goods. The automatic guided vehicle 200 also has an independent control system and power supply system, and the automatic guided vehicle 200 can move independently.

[0059] The power communication line 214 of the AGV 200 can be connected via the first rack 2131 and the second power communication interface 212. The first power communication interface 111 can be the communication interface of the picking robot 100, and the second power communication interface 212 can be the communication interface of the AGV 200. When the first power communication interface 111 and the second power communication interface 212 are connected, the control system of the picking robot 100 and the control system of the AGV 200 communicate with each other, and the AGV 200 and the picking robot 100 can temporarily operate as a single entity.

[0060] The first power communication interface 111 can be a power interface for the picking robot 100, and the second power communication interface 212 can be a power interface for the automatic guided vehicle 200. When the first power communication interface 111 and the second power communication interface 212 are connected, the picking robot 100 can charge the automatic guided vehicle 200, and the automatic guided vehicle 200 can also charge the picking robot 100.

[0061] 4 , in some embodiments, the first docking mechanism 110 includes a first dust-proof brush 112 , and the second docking mechanism 210 includes a second dust-proof brush 215 . The first dust-proof brush 112 is disposed on the first power communication interface 111 , and the second dust-proof brush 215 is disposed on the second power communication interface 212 .

[0062] The dust-proof brush can effectively prevent dust and other impurities from entering the power communication interface, reducing the risk of dust and other impurities causing clogging of the power communication interface and erosion of internal components by dust.

[0063] Specifically, the first dust-proof brush 112 is provided on the first power communication interface 111, and the second dust-proof brush 215 is provided on the second power communication interface 212. The first dust-proof brush 112 is provided to prevent dust and other impurities from entering the first power communication interface 111, and the second dust-proof brush 215 is provided to prevent dust and other impurities from entering the second power communication interface 212.

[0064] 4 , in some embodiments, the first docking mechanism 110 includes a blocking plate 113, and the second docking mechanism 210 includes a second rack 2133 and a gear 2132. One side of the gear 2132 meshes with the first rack 2131, and the other side of the gear 2132 meshes with the second rack 2133. Both the first rack 2131 and the second rack 2133 are movably mounted on the lifting plate 220. The first rack 2131 is vertically mounted, and the second power supply and communication interface 212 is mounted at the upper end of the first rack 2131. The upper end of the first rack 2131 is located in an opening in the lifting plate 220, through which the first rack 2131 can pass. The second rack 2133 is vertically mounted through the lifting plate 220. The lifting plate 220 is lifted upward, driving the gear 2132 and the second rack 2133 upward. After the second rack 2133 contacts the blocking plate 113, the second rack 2133 stops moving. As the lifting plate 220 continues to rise, the gear 2132 rotates and continues to move upward along the second rack 2133. The first rack 2131 moves upward as the gear 2132 rotates, pushing the second power communication interface 212 out of the opening until the second power communication interface 212 is docked with the first power communication interface 111.

[0065] After the second rack 2133 moves upward and contacts the blocking plate 113 , the second rack 2133 stops moving to prevent the second rack 2133 from continuing to move upward due to inertia, so that the upward moving position of the second rack 2133 is basically consistent with the rising moving position of the lifting plate 220 .

[0066] Specifically, during the ascending process of the jacking plate 220 , the jacking plate 220 first drives the second rack 2133 to move upward, causing the gear 2132 to rotate, and then causing the first rack 2131 to move upward as the gear 2132 rotates.

[0067] The second power communication interface 212 is provided at the upper end of the first rack 2131, and the upper end of the first rack 2131 is located at the opening of the lifting plate 220. As the lifting plate 220 rises, the upper end of the first rack 2131 gradually rises, allowing the first rack 2131 to pass through the opening and drive the second power communication out of the opening until the second power communication interface 212 is connected to the first power communication interface 111.

[0068] The second dust-proof brush 215 can be disposed above the opening. During the ascending process of the lifting plate 220, the first rack 2131 can pass through the second dust-proof brush 215 above the opening and drive the second power communication to be ejected from the opening until the second power communication interface 212 is docked with the first power communication interface 111.

[0069] The first docking mechanism 110 includes a baffle plate 113. When the lifting plate 220 is lifted, the second rack 2133 moves upward and contacts the baffle plate 113, whereupon the second rack 2133 stops moving, thereby preventing the second rack 2133 from continuing to move upward due to inertia. As a result, the upward movement position of the second rack 2133 is substantially consistent with the upward movement position of the lifting plate 220.

[0070] 4 , in some embodiments, the second docking mechanism 210 includes a spring 216, one end of which is fixed to the lifting plate 220 and the other end is fixed to the first rack 2131. The upward movement of the first rack 2131 compresses the spring 216. When the lifting plate 220 moves downward, the first rack 2131 moves downward under the elastic force of the spring 216, driving the gear 2132 to rotate. The rotation of the gear 2132 drives the second rack 2133 downward, causing the first rack 2131 and the second rack 2133 to return to their original positions.

[0071] When the first docking mechanism 110 and the second docking mechanism 210 are disconnected, the spring 216 can reset the first docking mechanism 110 and the second docking mechanism 210 .

[0072] Specifically, one end of the spring 216 is fixed to the lifting plate 220, and the other end is fixed to the first rack 2131. When the first docking mechanism 110 and the second docking mechanism 210 are docked, the first rack 2131 moves upward, compressing the spring 216. When the first docking mechanism 110 and the second docking mechanism 210 are disconnected, the lifting plate 220 moves downward, and the first rack 2131 moves downward under the elastic force of the spring 216, driving the gear 2132 to rotate. The rotation of the gear 2132 drives the second rack 2133 downward, causing the first rack 2131 and the second rack 2133 to reset, thereby resetting the first docking mechanism 110 and the second docking mechanism 210.

[0073] 4 , in some embodiments, the first docking mechanism 110 includes a positioning hole 114, and the second docking mechanism 210 includes a positioning post 217. The positioning post 217 is disposed on a lifting plate 220. After the AGV 200 moves to the target docking position below the chassis, the lifting plate 220 is configured to lift upward, driving the positioning post 217 toward the positioning hole 114 so that the positioning post 217 is inserted into the positioning hole 114. The lifting plate 220 is configured to move downward, driving the positioning post 217 out of the positioning hole 114.

[0074] When the first docking mechanism 110 and the second docking mechanism 210 are docked, the positioning posts 217 and the positioning holes 114 are used to fix the connection between the first docking mechanism 110 and the second docking mechanism 210 .

[0075] Specifically, when the first docking mechanism 110 and the second docking mechanism 210 are docked, the lifting plate 220 pushes upward, driving the positioning post 217 to move toward the positioning hole 114, so that the positioning post 217 is inserted into the positioning hole 114. The raised portion on the upper surface of the positioning post 217 matches the positioning hole 114, preventing the positioning post 217 from slipping out of the positioning hole 114.

[0076] When the first docking mechanism 110 and the second docking mechanism 210 are disconnected, the lifting plate 220 moves downward, driving the positioning column 217 to leave the positioning hole 114 .

[0077] 4 , in some embodiments, the second docking mechanism 210 includes a strain gauge 218 disposed within the positioning post 217 . The strain gauge 218 is configured to detect contact pressure during positioning. The AGV 200 determines the connection between the positioning post 217 and the positioning hole 114 based on the contact pressure.

[0078] The strain gauge 218 is used to detect the contact pressure of the positioning post, and the automatic guided vehicle 200 is used to determine the connection status of the positioning post 217 and the positioning hole 114 based on the contact pressure.

[0079] Specifically, one or more strain gauges 218 may be provided. The multiple strain gauges 218 may be provided at multiple different positions inside the positioning column 217 to detect contact pressure at multiple positions on the positioning column.

[0080] The AGV 200 can determine the connection status between the positioning post 217 and the positioning hole 114 based on the detected contact pressure. For example, when the contact pressure is very low, it can be considered that the contact pressure between the positioning post 217 and the positioning hole 114 is low, and the connection status between the positioning post 217 and the positioning hole 114 is poor. When the contact pressure is relatively high, it can be considered that the contact pressure between the positioning post 217 and the positioning hole 114 is high, and the connection status between the positioning post 217 and the positioning hole 114 is good.

[0081] The automated guided vehicle 200 can determine the connection status between the positioning column 217 and the positioning hole 114 based on the multiple contact pressures detected. For example, one strain gauge 218 can be located on the left side of the positioning column 217, and another strain gauge 218 can be located on the right side of the positioning column 217. If the contact pressures detected by the two strain gauges 218 are inconsistent, it can be assumed that the forces on the left and right sides of the positioning column 217 are inconsistent, and the connection status between the positioning column 217 and the positioning hole 114 is poor. If the contact pressures detected by the two strain gauges 218 are substantially consistent, it can be assumed that the forces on the left and right sides of the positioning column 217 are substantially consistent, and the connection status between the positioning column 217 and the positioning hole 114 is good.

[0082] When the first docking mechanism 110 and the second docking mechanism 210 need to be docked, the strain gauge is used to determine the connection status between the positioning post 217 and the positioning hole 114. If the connection between the positioning post 217 and the positioning hole 114 is determined to be poor, the automated guided vehicle 200 will issue a corresponding alarm message, indicating that the first docking mechanism 110 and the second docking mechanism 210 cannot be docked.

[0083] When it is determined that the connection state between the positioning column 217 and the positioning hole 114 is good, the first docking mechanism 110 and the second docking mechanism 210 are docked, and the automatic guided vehicle 200 can drive the picking robot 100 to move.

[0084] When the first docking mechanism 110 and the second docking mechanism 210 need to be separated, the connection status of the positioning post 217 and the positioning hole 114 is determined based on the strain gauge to determine whether the positioning post 217 is separated from the positioning hole 114. If it is determined that the positioning post 217 is not separated from the positioning hole 114, the automatic guided vehicle 200 will issue a corresponding alarm prompt message to indicate that the first docking mechanism 110 and the second docking mechanism 210 have not been separated successfully.

[0085] When it is determined that the positioning column 217 is separated from the positioning hole 114, the first docking mechanism 110 and the second docking mechanism 210 are separated successfully, and the automatic guided vehicle 200 can be separated from the picking robot 100 and move to other locations on its own.

[0086] 5 , specifically, the picking robot 100 further includes a first energy storage power supply 130, a first control system 140, a temporary storage platform 150, a telescopic member 160, and a rotating member 170. The first energy storage power supply 130 is the power source of the picking robot 100 and is used to power the picking robot 100. The control system is used to control the operation of each module of the picking robot 100. The temporary storage platform 150 is used to store goods. The picking robot 100 further includes a fork and a lifting member. The fork is used to pick goods. The lifting member, the telescopic member 160, and the rotating member 170 can realize functions such as reciprocating lifting and lowering of the fork, rotating ±90°, and hooking with the fork.

[0087] 5 , in some embodiments, the picking robot 100 includes a first energy storage power supply 130, and the automatic guided vehicle 200 includes a second energy storage power supply. When the first docking mechanism 110 is connected to the second docking mechanism 210, the first energy storage power supply 130 can charge the second energy storage power supply, or the first energy storage power supply 130 can receive electrical energy provided by the second energy storage power supply.

[0088] In some embodiments, the automatic guided vehicle 200 includes a second energy storage power supply, and the picking robot 100 includes a first energy storage power supply 130. When the second docking mechanism 210 is connected to the first docking mechanism 110, the second energy storage power supply can charge the first energy storage power supply 130, or the second energy storage power supply can receive electrical energy provided by the first energy storage power supply 130.

[0089] When the first docking mechanism 110 and the second docking mechanism 210 are connected, the AGV 200 and the picking robot 100 can temporarily form a single unit. If the picking robot 100 is running low on power, the AGV 200 can supply power to the picking robot 100, thereby increasing the battery life of the picking robot 100. If the AGV 200 is running low on power, the picking robot 100 can charge the AGV 200, thereby increasing the battery life of the AGV 200.

[0090] Specifically, the first energy storage power supply 130 is the power supply for the picking robot 100, and the second energy storage power supply is the power supply for the automated guided vehicle 200. When the picking robot 100 is low on power, the second energy storage power supply can supply power to the first energy storage power supply 130. When the automated guided vehicle 200 is low on power, the first energy storage power supply 130 can charge the second energy storage power supply.

[0091] 5 , in some embodiments, the picking robot 100 includes a temporary storage platform 150 . The temporary storage platform 150 is used to store goods, and the picking robot 100 is used to unload goods from the temporary storage platform 150 to a target location, or load goods from a target location onto the temporary storage platform 150 .

[0092] Specifically, when the picking robot 100 needs to load goods, the AGV 200 first carries the picking robot 100 to the loading area. After the AGV 200 reaches the loading area, the connection between the AGV 200 and the picking robot 100 is disconnected, and the AGV 200 can move to another location on its own. The picking robot 100 then loads the goods onto the temporary storage platform 150 in the loading area.

[0093] When the picking robot 100 needs to unload goods, the AGV 200 first carries the picking robot 100 to the unloading area. After the AGV 200 moves to the unloading area, the connection between the AGV 200 and the picking robot 100 is disconnected, and the AGV 200 can move to another location on its own, while the picking robot 100 unloads the goods from the temporary storage platform 150 to the unloading area.

[0094] 5 , in some embodiments, the picking robot 100 includes a lifting member and a fork. The fork is connected to the lifting member, and the lifting member is used to drive the fork up or down so that the fork can unload goods from the temporary storage platform 150 to a target location, or load goods from the target location onto the temporary storage platform 150.

[0095] The fork can be used as a device for the picking robot 100 to grab goods. The lifting member can drive the fork up or down to change the position of the fork, so that the fork can reach a specific position to grab goods, so that the picking robot 100 can realize the business of loading or unloading goods.

[0096] Specifically, when the picking robot 100 is loading goods, the lifting member can drive the fork to move up or down to a specific temporary storage platform 150, and load the goods on the specific temporary storage platform 150. When the picking robot 100 is unloading goods, the lifting member can drive the fork to move up or down to a specific temporary storage platform 150, and grab the goods on the specific temporary storage platform 150, so that the picking robot 100 can unload the goods on the specific temporary storage platform 150 to the corresponding unloading area.

[0097] 5 , in some embodiments, the picking robot 100 includes a telescopic member 160, with a fork connected to the telescopic member 160. The telescopic member 160 is used to extend or retract the fork, so that the fork can unload goods from the temporary storage platform 150 to a target location, or load goods from a target location onto the temporary storage platform 150.

[0098] The telescopic member 160 can drive the fork to extend or shorten to change the position of the fork, so that the fork can reach a specific position to grab the goods, so that the picking robot 100 can realize the business of loading or unloading goods.

[0099] Specifically, when the picking robot 100 is loading goods, the telescopic member 160 can drive the fork to extend or shorten and move to a specific temporary storage platform 150, and then load the goods on the specific temporary storage platform 150. When the picking robot 100 is unloading goods, the telescopic member 160 can drive the fork to extend or shorten and move to a specific temporary storage platform 150, and then grab the goods on the specific temporary storage platform 150, so that the picking robot 100 can unload the goods on the specific temporary storage platform 150 to the corresponding unloading area.

[0100] 5 , in some embodiments, the picking robot 100 includes a rotating member 170, and a fork is connected to the rotating member 170. The rotating member 170 is used to rotate the fork so that the fork unloads goods from the temporary storage platform 150 to a target location, or loads goods from a target location onto the temporary storage platform 150.

[0101] The rotating member 170 can drive the fork to rotate to change the position of the fork, so that the fork can reach a specific position to grab the goods, so that the picking robot 100 can realize the business of loading or unloading goods.

[0102] Specifically, when the picking robot 100 is loading goods, the rotating member 170 can drive the fork to rotate and move to a specific temporary storage platform 150, and load the goods on the specific temporary storage platform 150. When the picking robot 100 is unloading goods, the rotating member 170 can drive the fork to rotate and move to a specific temporary storage platform 150, and grab the goods on the specific temporary storage platform 150, so that the picking robot 100 can unload the goods on the specific temporary storage platform 150 to the corresponding unloading area.

[0103] 6 and 7 , in some embodiments, when the first docking mechanism 110 of the picking robot 100 is connected to the second docking mechanism 210 of the automatic guided vehicle 200, the automatic guided vehicle 200 is used to drive the picking robot 100 to move to the warehousing station, so that the picking robot 100 loads the goods from the warehousing sorting and conveying device 310 at the warehousing station onto the temporary storage platform 150 of the picking robot 100.

[0104] Specifically, when the first docking mechanism 110 of the picking robot 100 is connected to the second docking mechanism 210 of the AGV 200, the AGV 200 can drive the picking robot 100 to the inbound station. The inbound sorting and conveying device 310 transports the goods to the inbound station, where human workers can coordinate with the picking robot 100 to perform inbound picking, eliminating the need for additional inbound workstations. This reduces the cost of using the picking system 1000.

[0105] 6 and 8 , when the first docking mechanism 110 is connected to the second docking mechanism 210 , the automatic guided vehicle 200 is also used to drive the picking robot 100 to move to the outbound station, so that the picking robot 100 unloads the goods stored on the temporary storage platform 150 to the outbound sorting and conveying device 320 at the outbound station, and ships the goods out of the warehouse through the outbound sorting and conveying device 320 .

[0106] Specifically, after the picking robot 100 completes the task of picking boxes from the shelf, the first docking mechanism 110 of the picking robot 100 connects to the second docking mechanism 210 of the automated guided vehicle 200. The automated guided vehicle 200 is used to drive the picking robot 100 to the outbound station. The picking robot 100 needs to ship the goods out of the warehouse via the outbound sorting and conveying device 320. Human workers can cooperate with the picking robot 100 at the outbound station to perform the outbound work, eliminating the need for an additional outbound workstation to perform the work, thereby reducing the cost of using the picking system 1000.

[0107] 6 and 9 , in some embodiments, the picking system 1000 further includes a transfer component 400 . When the picking robot 100 unloads goods to an empty state at the outbound station, the transfer component 400 is used to drive the picking robot 100 to move to the inbound station.

[0108] When the picking robot 100 unloads the goods to an empty position at the outbound station, the transfer component 400 is used to drive the picking robot 100 to move to the inbound station. The picking robot 100 can then cooperate with manual labor to perform the work of picking goods for inbound storage at the inbound station. No additional waiting time is required, which can improve the working efficiency of the picking system 1000.

[0109] Specifically, station B can be a warehousing station, and station A can be a shipping station. The picking robot 100 at station A can perform the task of shipping goods out of the warehouse, and the goods loaded by the picking robot 100 can be shipped out of the warehouse via the shipping sorting and conveying device 320. After the picking robot 100 at station A has completed unloading, it becomes unloaded. The picking robot 100 is then moved from station A to station B via the horizontal transfer assembly 400 at the bottom, and the loading and shipping operations are carried out at station B. This cycle repeats without requiring additional waiting time, thereby improving the efficiency of the picking system 1000.

[0110] An embodiment of the present application provides a picking system 1000. The picking system 1000 includes at least one picking robot 100 and at least one automatic guided vehicle 200. The picking robot 100 includes a first docking mechanism 110, and the automatic guided vehicle 200 includes a second docking mechanism 210, and the first docking mechanism 110 is used to be detachably connected to the second docking mechanism 210. The automatic guided vehicle 200 is used to move toward the picking robot 100 and dock with the first docking mechanism 110 of the picking robot 100 through the second docking mechanism 210 when a picking robot 100 has a picking task, and after the docking is completed, it tows the picking robot 100 to move so that the picking robot 100 performs the picking task. After the picking task is completed, it drives the picking robot 100 to move to the unloading area, controls the second docking mechanism 210 to disconnect from the first docking mechanism, moves toward another picking robot 100 and docks with the other picking robot 100, and tows the other picking robot 100 to move. The picking robot 100 is used to perform picking tasks while being towed by an AGV 200, and to unload goods in the unloading area. After the first docking mechanism 110 and the second docking mechanism 210 are disconnected, the AGV 200 can move to another location on its own, eliminating the need to wait for a separate picking robot 100 to complete its task before proceeding to the next task. This flexible and diverse combination improves the utilization rate of the AGV 200, reduces the number of AGVs 200 deployed in the picking system 1000, reduces the cost of the picking system 1000, and improves the operational efficiency of the warehouse logistics system.

[0111] In the description of this specification, the reference terms "one embodiment," "some embodiments," "illustrative embodiments," "example," "specific example," or "some examples" mean that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the exemplary expressions of the above terms do not necessarily refer to the same embodiment or example. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification, as well as features of different embodiments or examples, unless they are mutually inconsistent.

[0112] Furthermore, the term "connection" should be interpreted broadly. For example, it can include fixed connection, detachable connection, or integral connection; it can include direct connection, indirect connection through an intermediate medium, and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0113] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0114] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application belong.

[0115] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A picking system, wherein, The picking system includes at least one picking robot and at least one automated guided vehicle; The picking robot includes a first docking mechanism, and the automated guided vehicle includes a second docking mechanism. The first docking mechanism is used for detachably connecting with the second docking mechanism; The automated guided vehicle is configured to move towards the picking robot and dock with the first docking mechanism of the picking robot through the second docking mechanism when the picking robot has a picking task. After docking, it pulls the picking robot to move so that the picking robot can perform the picking task. After the picking task is completed, it drives the picking robot to move to the unloading area, controls the second docking mechanism to disconnect from the first docking mechanism, moves towards another picking robot and docks with the other picking robot, and pulls the other picking robot to move; The picking robot is configured to perform the picking task under the traction of the automated guided vehicle and perform the unloading task in the unloading area.

2. The picking system according to claim 1, wherein, The picking robot includes a chassis, and the first docking mechanism is arranged under the chassis. The automated guided vehicle includes a lifting plate, and the second docking mechanism is arranged on the lifting plate; The lifting plate is configured to lift upwards after the automated guided vehicle moves to the target docking position under the chassis, driving the second docking mechanism to move towards the first docking mechanism so that the first docking mechanism docks with the second docking mechanism; The lifting plate is configured to move downwards, driving the second docking mechanism away from the first docking mechanism so that the first docking mechanism disconnects from the second docking mechanism.

3. The picking system according to claim 2, wherein, The picking robot includes an identification plate, and the identification plate is arranged under the chassis. The second docking mechanism includes a distance sensor; After the automated guided vehicle moves under the chassis, the distance sensor is used to detect the relative position between the second docking mechanism and the identification plate to determine whether the automated guided vehicle has moved to the target docking position.

4. The picking system according to claim 2, wherein, The first docking mechanism includes a first power communication interface, the second docking mechanism includes a first rack and a second power communication interface, and the second power communication interface is arranged on the first rack; The first rack is configured to drive the second power communication interface to move towards the first power communication interface when the second docking mechanism moves towards the first docking mechanism, so that the second power communication interface connects with the first power communication interface.

5. The picking system according to claim 4, wherein, The first docking mechanism includes a first dust brush, the second docking mechanism includes a second dust brush, the first dust brush is arranged on the first power communication interface, and the second dust brush is arranged on the second power communication interface.

6. The picking system according to claim 4, wherein, The first docking mechanism includes a grid baffle. The second docking mechanism includes a second rack and a gear. One side of the gear meshes with the first rack, and the other side of the gear meshes with the second rack. Both the first rack and the second rack are movably arranged on the lifting plate. The first rack is vertically arranged. The second power communication interface is arranged at the upper end of the first rack. The upper end of the first rack is located at the opening of the lifting plate, and the first rack can pass through this opening. The second rack passes through the lifting plate and is vertically arranged. The lifting plate jacks up, driving the gear and the second rack to move upward. After the second rack contacts the grid baffle, the second rack stops moving. During the continuous upward movement of the lifting plate, the gear rotates and continues to move upward along the second rack. The first rack moves upward as the gear rotates, pushing the second power communication interface out of the opening until the second power communication interface is docked with the first power communication interface.

7. The picking system according to claim 6, wherein, The second docking mechanism includes a spring. One end of the spring is fixed on the lifting plate, and the other end is fixed on the first rack. The upward movement of the first rack can compress the spring. When the lifting plate moves downward, the first rack moves downward under the elastic force of the spring, driving the gear to rotate. The rotation of the gear drives the second rack to move downward, so that the first rack and the second rack return to their original positions.

8. The picking system according to claim 2, wherein, The first docking mechanism includes a positioning hole, and the second docking mechanism includes a positioning post. The positioning post is arranged on the lifting plate. The lifting plate is used to jack up after the automatic guided vehicle moves to the target docking position under the chassis, driving the positioning post to move towards the positioning hole, so that the positioning post is inserted into the positioning hole. The lifting plate is used to move downward, driving the positioning post to leave the positioning hole.

9. The picking system according to claim 8, wherein, The second docking mechanism includes a strain gauge. The strain gauge is arranged inside the positioning post and is used to detect the contact pressure of the positioning post. The automatic guided vehicle is used to determine the connection state between the positioning post and the positioning hole according to the contact pressure.

10. The picking system according to claim 1, wherein, The picking robot includes a first energy storage battery, and the automatic guided vehicle includes a second energy storage power supply. When the first docking mechanism is connected to the second docking mechanism, the first energy storage power supply can charge the second energy storage power supply, or the second energy storage power supply can charge the first energy storage power supply.

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