Chassis, pallet transport robot and method, electronic device, and storage medium

Abstract

A pallet transport robot and method, an electronic device, and a storage medium. The pallet transport robot comprises a chassis (20), a gantry (30), and a goods retrieval assembly (40) arranged on the gantry (30) and capable of moving up and down, wherein the bottom of the chassis (20) is provided with first detection assemblies (10) for detecting a ground pallet; the goods retrieval assembly (40) is provided with a second detection assembly (50) for detecting a non-ground pallet; and a goods retrieval direction of the goods retrieval assembly (40) is perpendicular to a moving direction of the chassis (20). Also disclosed is a structure of the chassis (20) capable of being applied to the transport robot. The present invention can implement detection of both the ground pallet and the non-ground pallet.

Description

A chassis, a pallet handling robot, a method, electronic equipment, and a storage medium. Technical Field

[0001] This application relates to the field of warehousing equipment technology, and in particular to a chassis, pallet handling robot, method, electronic device and storage medium. Background Technology

[0002] AGVs (Automated Guided Vehicles), also known as unmanned transport vehicles, automated guided vehicles, or laser-guided vehicles, are characterized by their driverless operation. Equipped with an automated guidance system, AGVs can automatically travel along a predetermined route without human guidance, transporting goods or materials from the starting point to the destination.

[0003] In existing technologies, goods are generally placed on pallets, and AGVs transport goods by picking up the pallets with forks. However, current AGVs can only recognize the handling of pallets at high positions. When handling pallets on the ground, the forks are lowered to the ground and picked up along the ground. However, for grid pallets, the pallet edge is blocked between the pallet socket and the ground, making it impossible to pick up the pallets along the ground. The AGV cannot recognize the socket of the grid pallet on the ground, resulting in low pallet recognition efficiency and poor pallet type compatibility.

[0004] In addition, existing AGVs are equipped with four omnidirectional wheels at the bottom to support the vehicle body. However, during the process of picking up goods, the front of the vehicle is relatively heavy, which can easily cause the vehicle to tilt forward, resulting in the AGV overturning and reducing the reliability of the AGV operation. Summary of the Invention

[0005] To address the aforementioned shortcomings, this application provides a pallet handling robot, method, electronic device, and storage medium that can identify both ground pallets and non-ground pallets, thereby improving identification efficiency and pallet compatibility.

[0006] This application also provides a chassis and a handling robot, which can improve the reliability of AGV operation.

[0007] The first aspect of this application provides a pallet handling robot, including a chassis, a mast, and a picking component mounted on the mast and capable of vertical movement. The chassis has a first detection component at its bottom for detecting ground pallets; the picking component has a second detection component for detecting non-ground pallets; and the picking direction of the picking component is perpendicular to the walking direction of the chassis.

[0008] Preferably, the second detection component extends electrically under the control of the control unit and / or extends mechanically as the picking component rises.

[0009] Preferably, the second detection component includes a sliding rod, with a detection end provided on one side of the sliding rod near the ground, and the other side mounted on the picking component via a mounting base.

[0010] Preferably, the picking component includes forks that can extend and retract along the mast, and the second detection component moves back and forth with the extension and retraction of the forks.

[0011] Preferably, the picking component includes a front fixed frame and a rear fixed frame. The front fixed frame is provided with a fork for picking up goods, and the second detection component is provided on the rear fixed frame. When the fork is extended, the second detection component does not move back and forth with the fork.

[0012] Preferably, the fork includes two parallel fork arms, and the second detection component is disposed between the two fork arms.

[0013] Preferably, the bottom of the chassis is provided with a drive wheel for driving the chassis to move, and the second detection component is also provided on the chassis and located above the drive wheel.

[0014] A second aspect of this application provides a chassis including a base plate, wherein at least one telescopic support member is provided on the base plate. The telescopic support member includes an extended state and a retracted state. In the extended state, the telescopic support member automatically adjusts its length according to the distance between the base plate and the ground to support the chassis.

[0015] Preferably, the telescopic support includes a telescopic rod and a drive assembly. The drive assembly is disposed on the base plate. One end of the telescopic rod is connected to the drive assembly, and the other end passes through the base plate and contacts the ground. The drive assembly is used to control the extension and retraction of the telescopic rod.

[0016] Preferably, the telescopic support includes a hydraulic pump and a hydraulic push rod. The hydraulic pump is mounted on the base plate, one end of the hydraulic push rod is connected to the hydraulic pump, and the other end passes through the base plate and contacts the ground. The hydraulic pump is used to control the extension and retraction of the hydraulic push rod.

[0017] Preferably, the telescopic support further includes a proximity switch, which is disposed on the base plate. In the retracted state, when the telescopic support is retracted to the position of the proximity switch, the retraction action stops.

[0018] Preferably, it also includes an elastic reset member sleeved on the telescopic support member. One end of the elastic reset member is fixed to the base plate, and the other end is fixed to the end of the telescopic support member that is in contact with the ground. In the retracted state, the elastic force of the elastic reset member is used to reset the support member.

[0019] Preferably, the chassis also includes drive wheels and casters. The drive wheels are located on opposite sides of the base plate and are connected to a drive motor. The casters are located at the four corners of the base plate and control the movement of the chassis under the drive of the drive wheels.

[0020] Preferably, the omnidirectional wheel and the drive wheel are located at both ends of the same swing bridge, and a hinge shaft is provided in the middle of the swing bridge. The hinge shaft is fixed to the base plate, and the omnidirectional wheel and the drive wheel can swing around the hinge shaft.

[0021] Preferably, the caster wheel and the telescopic support are provided separately, and the caster wheel on the side of the base plate with the telescopic support is located in the middle position.

[0022] Preferably, the caster wheel is located at the end of the telescopic support member closest to the ground, and the caster wheel is in contact with the ground in both the extended and retracted states.

[0023] A third aspect of this application provides a handling robot, including a mast, forks, and a chassis. The mast is mounted on the chassis, the forks are mounted on the mast and can move up and down along the mast, and the forks can move back and forth along the chassis. A telescopic support is located on the side of the chassis away from the mast. Those skilled in the art will understand that the handling robot of the third aspect of this application can be the handling robot of the first aspect of this application; that is, the handling robot of the first aspect of this application can selectively include the chassis of the second aspect of this application.

[0024] A fourth aspect of this application provides a pallet handling method, comprising:

[0025] Obtain the location information of the target storage location;

[0026] Based on the location information, determine whether the target location is a ground location. If it is, determine the location using the first detection component; otherwise, determine the location using the second detection component.

[0027] Adjust the position of the handling robot to perform the pallet retrieval task.

[0028] Preferably, adjusting the pose of the handling robot to perform the picking task includes:

[0029] Determine the height information of the target pallet at the target storage location;

[0030] Detect the target distance from the target tray to the first or second detection component;

[0031] Calculate the tilt angle of the target pallet;

[0032] The handling robot is adjusted to its first orientation based on the tilt angle and target distance.

[0033] Obtain the position coordinates of the center position of the front panel of the target pallet, and determine the offset state of the target pallet based on the position coordinates;

[0034] The handling robot is adjusted to a second pose based on the offset state.

[0035] Preferably, the method further includes adjusting the pose of the handling robot to perform the delivery task:

[0036] Occupancy detection is performed on the target storage location;

[0037] The goods release action is performed when the target storage location is not occupied.

[0038] After the delivery action is completed, check whether there is any goods on the picking component. If there are no goods, the delivery task ends; otherwise, the delivery is restarted.

[0039] When the target storage location is occupied, the target storage location will be changed to perform the delivery task.

[0040] A fifth aspect of this application provides an electronic device, including: a processor, a storage medium, and a bus, wherein the storage medium stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor communicates with the storage medium via the bus, and the processor executes the machine-readable instructions to perform the steps of a pallet handling method.

[0041] The sixth aspect of this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of a pallet handling method.

[0042] Beneficial effects: This application simultaneously equips the handling robot with a first detection component and a second detection component. The first detection component is located at the bottom of the chassis and can identify ground pallets and the edge of the grid pallet, allowing the picking component to be adjusted and accurately inserted into the pallet socket. The second detection component can detect non-ground pallets. In the same device, both ground pallets and non-ground pallets can be detected, and both grid pallets and cross pallets can be detected, improving the accuracy and compatibility of pallet detection.

[0043] This application provides support for the vehicle body during the picking process by installing telescopic support components on the floor that can automatically adjust their length according to the distance between the base plate and the ground, thus preventing the vehicle body from tipping over and improving the reliability of the handling vehicle. Attached Figure Description

[0044] Figure 1 is a structural schematic diagram of a pallet handling robot provided in this application;

[0045] Figure 2 is a structural schematic diagram of another pallet handling robot provided in this application;

[0046] Figure 3 is a magnified view of part A in Figure 2;

[0047] Figure 4 is a structural schematic diagram of another pallet handling robot provided in this application;

[0048] Figure 5 is a magnified view of part B in Figure 4;

[0049] Figure 6 is a structural schematic diagram of another pallet handling robot provided in this application;

[0050] Figure 7 is a schematic diagram of the structure of the second detection component provided in this application;

[0051] Figure 8 is a structural schematic diagram of a chassis provided in this application;

[0052] Figure 9 is a structural schematic diagram of a telescopic support member provided in this application;

[0053] Figure 10 is a structural schematic diagram of a swing bridge provided in this application;

[0054] Figure 11 is a front view structural schematic diagram of a swing bridge provided in this application.

[0055] Illustration: 10-First detection component, 20-Chassis, 21-Wheel caster, 22-Drive wheel, 23-Swing bridge, 24-Hinge shaft, 25-Base plate, 30-Gantry, 40-Picking component, 50-Second detection component, 51-Mounting base, 52-Sliding rod, 53-Detection end, 60-Telescopic support, 61-Drive component, 62-Telescopic rod, 63-Mounting base. Detailed Implementation

[0056] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0057] In existing warehousing systems, commonly used pallets are divided into three types: crisscross pallets and grid pallets. Crustcross pallets have three feet at the bottom that contact the ground or shelving, allowing the forks of a handling robot to insert between these feet for pallet handling. Grid pallets, on the other hand, have a guardrail at the bottom where they contact the ground, preventing the robot's forks from inserting into the bottom of the pallet when extending along the ground.

[0058] Referring to Figures 1-11, this application discloses a pallet handling robot, including a chassis 20, a mast 30, and a picking component 40 mounted on the mast 30 and capable of moving up and down. The chassis 20 has a first detection component 10 at its bottom for detecting ground pallets; the picking component 40 has a second detection component 50 for detecting non-ground pallets; the picking direction of the picking component 40 is perpendicular to the walking direction of the chassis 20.

[0059] Figure 8-11 shows an exemplary structure of the chassis 20 of a pallet handling robot. In the structure shown in the figure, the chassis 20 includes a base plate 25, on which at least one telescopic support member 60 is provided. The telescopic support member 60 has an extended state and a retracted state. In the extended state, the telescopic support member 60 automatically adjusts its length according to the distance between the base plate 25 and the ground to support the chassis.

[0060] After the transport vehicle stops, the telescopic support 60 changes from the retracted state to the extended state. During the extension process, if the telescopic support 60 does not contact the ground, it will not be subject to resistance and can continue to extend. As the telescopic support 60 gradually contacts the ground, the resistance it receives gradually increases. When the resistance it bears reaches the limit value, the extension action stops. At this time, the support component is in perfect contact with the ground and will not cause excessive lifting of the vehicle body, so that the vehicle body obtains support force in a stable state.

[0061] An exemplary structure of the telescopic support 60 will be described in detail below. Those skilled in the art will recognize that any telescopic functional component capable of achieving the same function as described below, in addition to the exemplary structures disclosed herein, falls within the scope of protection of this application. Embodiments of exemplary telescopic supports will be described below.

[0062] In one example, as shown in the figure, the telescopic support 60 includes a telescopic rod 62 and a drive assembly 61. The drive assembly 61 is disposed on the base plate 26. One end of the telescopic rod 62 is connected to the drive assembly 61, and the other end passes through the base plate 25 and contacts the ground. The drive assembly 61 is used to control the extension and retraction of the telescopic rod 62.

[0063] The telescopic support 60 includes a telescopic rod 62 for supporting the vehicle body and a drive assembly 61 for controlling the extension and retraction of the telescopic rod 62. When the drive assembly 61 receives a command, it controls the telescopic rod 62 to extend downward. When the telescopic rod 62 contacts the ground, the drive assembly 61 stops moving, and the telescopic rod 62 remains supported until the drive assembly 61 receives a retraction signal and drives the telescopic rod 62 to retract again. The drive assembly 61 is mounted on a mounting base 63, and the drive shaft of the drive assembly 61 contacts the telescopic rod 61 inside the mounting base 63, transmitting power to the telescopic rod 62. In a possible embodiment of this application, the drive assembly 61 can be a motor. The motor drives the telescopic rod 62 to extend outward with a certain torque. When the telescopic rod 62 contacts the ground, the torque of the motor rotation cannot be compared with the pressure exerted by the vehicle body on the telescopic rod 62, and the motor cannot rotate normally. At this time, it can be considered that the telescopic rod 62 has reached the support position, and the motor stops working to avoid the motor burning out due to forcibly driving the telescopic rod 62.

[0064] In another exemplary configuration, the telescopic support 60 includes a hydraulic pump and a hydraulic push rod. The hydraulic pump is mounted on the base plate 25. One end of the hydraulic push rod is connected to the hydraulic pump, and the other end passes through the base plate 25 and contacts the ground. The hydraulic pump is used to control the extension and retraction of the hydraulic push rod.

[0065] In this exemplary structure, the telescopic support 60 includes a hydraulic pump and a hydraulic push rod. The hydraulic pump is mounted on the base plate 25. When a control signal is received, the hydraulic pump injects hydraulic oil into the hydraulic push rod, causing the hydraulic push rod to extend. When the hydraulic push rod contacts the ground, the hydraulic pump stops operating because it can no longer inject hydraulic oil into the hydraulic push rod, thus preventing the hydraulic push rod from overextending and causing the vehicle to overturn.

[0066] In the two exemplary structures described above, the telescopic support 60 determines whether to extend to a position in contact with the ground by sensing the pressure between the ground and the vehicle body. The extension length can be automatically adjusted according to actual conditions. After the support state ends, the telescopic support 60 needs to be retracted. To ensure the reliability of the retraction, the telescopic support 60 also includes a proximity switch, which is disposed on the base plate 25. In the retracted state, when the telescopic support 60 retracts to the position of the proximity switch, the retraction action stops.

[0067] In other structures, it can also be an elastic reset member sleeved on the telescopic support member 60. One end of the elastic reset member is fixed to the base plate 25, and the other end is fixed to the end of the telescopic support member 60 that is in contact with the ground. In the retracted state, it is reset by the elastic force of the elastic reset member.

[0068] In order to move, the transport vehicle needs to be powered by the drive wheels 22. However, the current drive wheels can only move in one direction and cannot turn. Therefore, omnidirectional wheels 21 are also installed at the bottom. The omnidirectional wheels 21 move under the drive of the drive wheels and can change the direction of travel if they encounter a slight slope.

[0069] In the exemplary structure shown in the figure, the drive wheels 22 are disposed on opposite sides of the base plate 25, the drive wheels 22 are connected to the drive motor, and the casters 21 are disposed at the four corners of the base plate 25, controlling the movement of the chassis under the drive of the drive wheels 22.

[0070] Since the transport vehicle may encounter uneven surfaces during its movement, if the casters are fixed to the base plate 25, they cannot directly contact the recessed ground, causing the vehicle to tilt. Therefore, in one exemplary structure of this application, the casters 21 and drive wheels 22 are located at both ends of the same swing bridge 23. A hinge shaft 24 is provided in the middle of the swing bridge 23, and the hinge shaft 24 is fixed to the base plate 25. The casters 21 and drive wheels 22 can swing around the hinge shaft 24. When the transport vehicle passes over a recessed area, the casters 21 tilt downwards and contact the ground under the influence of the swing bridge and gravity. However, because the hinge shaft 24 is fixed to the base plate 25, during the tilting process, the drive wheels 22 are lifted upwards, approaching the top plate of the chassis, preventing detachment. This also reduces the pressure on the drive wheels 22, ensuring the transport vehicle can move smoothly.

[0071] In one exemplary structure of this application, in order not to change the existing structure of the transport vehicle, the casters 21 and the telescopic support 60 are set separately. The casters 21 on the side of the base plate 25 where the telescopic support 60 is located are set in the middle position. In terms of improvement, only one more space needs to be added to allow the telescopic support 60 to extend out of the chassis, and the technical improvement is easy to implement. However, since the telescopic support 60 is arranged, the layout of the chassis structure needs to be changed accordingly. At this time, the casters 22 on the side of the base plate 25 away from the telescopic support 60 need to still be set at the two corners. On the side of the base plate 25 where the telescopic support 60 is located, the two casters 22 need to be set in the middle position of the edge of the base plate on that side, so that the four casters are distributed in a triangle, which increases its stability.

[0072] In another exemplary structure of this application, the caster wheel 21 is disposed at the end of the telescopic support 60 near the ground, and the caster wheel 21 is in contact with the ground in both the extended and retracted states.

[0073] The above-described exemplary structure ensures that the swivel wheels can be adjusted to contact the ground at any time during the operation of the transport vehicle. Since the existing base plate structure can be used without the need for additional openings, the cost of technical improvement is reduced.

[0074] The structure of the chassis 20 disclosed above can be applied to any suitable handling robot, including those further detailed below. Specifically, the handling robot may include a mast, forks, and a chassis as described above, the mast being mounted on the chassis, the forks being mounted on the mast and movable up and down along the mast, the forks being movable forward and backward along the chassis, and the telescopic support 60 being disposed on the side of the chassis opposite the mast.

[0075] For the chassis 20 with the above-disclosed structure, by installing telescopic support members on the floor that can automatically adjust their length according to the distance between the floor and the ground, the vehicle body can be supported during the picking of goods, preventing the vehicle body from tipping over and improving the reliability of the handling vehicle's operation.

[0076] The structure of the chassis 20 disclosed above can be selectively applied to the handling robot of this application. Furthermore, the handling robot disclosed in this application simultaneously includes a first detection component 10 and a second detection component 50, enabling simultaneous detection of ground pallets and non-ground pallets on the same device. Therefore, the pallet handling robot provided in this application can be a single-fork handling robot or a multi-fork handling robot. For multi-fork handling robots, since the chassis 20 is shared, only one set of the first detection component 10 needs to be set on the chassis 20, and one set of the second detection component 50 needs to be set on each set of forks. Of course, it is conceivable that multiple sets of the first detection component 10 can be set depending on the working method of different handling robots; this is not limited here, and the specific number of the first detection component 10 and the second detection component 50 does not limit the scope of protection of this application.

[0077] The first detection component 10 in this application can be radar, which continuously emits electromagnetic waves to detect the position of the pallet on the ground. The position and offset angle of the pallet can be determined by the feedback signal. If the pallet is a grid pallet, since it has a side guard and the picking component 40 cannot be supported along the ground for forklifting, it can be used in conjunction with the second detection component 50. The second detection component 50 detects the height of the side guard and controls the picking component 40 to reach a suitable height for forklifting.

[0078] The second detection component 50 includes a sliding rod 52, with a detection end 53 on one side of the sliding rod 52 near the ground, and the other side mounted on the picking component 40 via a mounting base 51. The detection end 53 is equipped with a 3D camera, and can extend electrically under the control of the control unit, or extend mechanically under the action of gravity as the picking component 40 rises.

[0079] Under the control of the control unit, the detection end 53 can be electrically extended to change its extension length according to actual needs, making it more suitable for actual application scenarios. It can also be mechanically extended to reduce manufacturing costs. Since the detection end 53 is equipped with a 3D camera, under the action of gravity, when the picking component 40 rises, the position of the detection end 53 relative to the ground remains unchanged due to gravity. When the picking component 40 rises to the top of the sliding rod 52, the sliding rod 52 cannot continue to slide up and down relative to the picking component 40 under the limit of the mounting base 51. If the picking component 40 continues to rise at this time, it will drive the second detection component 50 to continue to rise in the extended state. In the mechanical extension scenario, the extension length of the second detection component 50 is the length of the sliding rod 52.

[0080] The retraction of the second detection component 50 can also be achieved using either an electronic or mechanical method. In the electronic method, the control unit controls the retraction of the second detection component 50. In the mechanical method, the second detection component 50 contacts the upper surface of the chassis 20 during retraction. Therefore, the mechanical retraction process involves the picking component 40 descending, which in turn drives the second detection component 50 to descend. Since the second detection component 50 is in an extended state at this time, it will contact the chassis 20 first. After the second detection component 50 contacts the chassis 20, it cannot continue to move downwards. At this time, the picking component 40 continues to move downwards, and the relative position between the second detection component 50 and the picking component 40 decreases until the detection end 53 of the second detection component 50 is flush with the lower end of the picking component 40, at which point it is in the retracted state.

[0081] The picking component 40 includes forks that can extend and retract along the mast 30, and the second detection component 50 moves back and forth with the extension and retraction of the forks.

[0082] In one embodiment of this application, the picking component 40 includes forks that can move back and forth along the mast 30. When the picking component 40 is working, since the second detection component 50 is disposed on the picking component 40, the second detection component 50 moves with the forks when the picking component 40 moves. In this embodiment, since the second detection component 50 moves with the forks, its distance from the storage location or pallet support is equal to the length of the forks, and the detection distance is reduced.

[0083] In another embodiment of this application, the picking component 40 includes a front fixed frame and a rear fixed frame. The front fixed frame is provided with a fork for picking up goods, and the second detection component 50 is provided on the rear fixed frame. When the fork is extended, the second detection component 50 does not move back and forth with the fork.

[0084] In this embodiment, the second detection component 50 is mounted on the rear fixed frame, and a hydraulic telescopic mechanism is provided between the front fixed frame and the rear fixed frame to control the extension of the forks. During the extension of the forks, the rear fixed frame remains stationary. Since the second detection component 50 is mounted on the rear fixed frame, the second detection component 50 cannot move with the forks when they extend. At this time, the distance between the second detection component and the cargo position or pallet is equal to the length of the forks plus the extension distance of the hydraulic telescopic component.

[0085] The forks include two parallel fork arms, and the second detection component 50 is disposed between the two fork arms.

[0086] During the picking or placing of goods, the forks of the picking component 40 will be loaded with goods. Since the second detection component 50 is located on the rear side of the fork in the forward direction, the detection field of the second detection component 50 will be affected when there are goods on the forks. Therefore, in order to avoid obstruction of the detection field of view, the second detection component 50 is set between the two fork arms. However, it is conceivable that the second detection component 50 can also be set in other positions of the fork when adapting to the design of different vehicle bodies.

[0087] The chassis 20 is provided with a drive wheel at the bottom for driving the chassis 20 to move, and the second detection component 50 is also provided on the chassis 20 and located above the drive wheel.

[0088] The second detection component 50 set in the chassis 2 can make up for the inadequacy of the ground pallet being detected by the first detection component 10 alone. At the same time, the second detection component 20 can also read the pallet code to identify the pallet information.

[0089] A second aspect of this application also discloses a pallet handling method, comprising:

[0090] Obtain the location information of the target storage location;

[0091] Based on the location information, determine whether the target location is a ground location. If it is, determine the location using the first detection component; otherwise, determine the location using the second detection component.

[0092] Adjust the position of the handling robot to perform the pallet retrieval task.

[0093] The target storage location information includes the shelf where the storage location is located and the storage location height. The storage location height in the storage location information is used to determine whether the target storage location is a ground storage location. If it is a ground storage location, it can be detected by the first detection component. If it is not a ground storage location, the electromagnetic waves of the first detection component cannot detect the storage location, and the second detection component needs to capture an image for judgment. Based on the determined storage location position, the posture of the handling robot is adjusted to perform the pallet picking task, which can avoid problems such as collapse during the picking process caused by the storage location not being stacked neatly.

[0094] The process of adjusting the pose of the handling robot to perform the picking task includes:

[0095] Determine the height information of the target pallet at the target storage location;

[0096] Detect the target distance from the target tray to the first or second detection component;

[0097] Calculate the tilt angle of the target pallet;

[0098] The handling robot is adjusted to its first orientation based on the tilt angle and target distance.

[0099] Obtain the position coordinates of the center position of the front panel of the target pallet, and determine the offset state of the target pallet based on the position coordinates;

[0100] The handling robot is adjusted to a second pose based on the offset state.

[0101] First, the height of the target pallet is determined. Then, the corresponding detection component is selected to detect the target distance from the target pallet to either the first or second detection component. If the detection is performed by the first detection component, the distance between the pallet and the detection component is determined by continuously emitting electromagnetic waves. If the detection is performed by the second detection component, the target distance is determined by analyzing the captured images. Second, the tilt angle of the target pallet is calculated. The tilt angle includes the direction of tilt and the degree of tilt. The tilt angle can be marked with positive and negative degrees, for example, positive α degrees for right tilt and negative α degrees for left tilt. This application does not limit the specific tilt angle marking method; it is only an example for illustration. The handling robot rotates its body according to the tilt angle and the target distance to align the forks with the target pallet. Then, the center position of the target pallet is calculated again. Based on the position coordinates of the center position, it is determined whether the center point of the handling robot's picking component is aligned with the center position of the target pallet. The offset state is calculated, including how much it is offset to the left or right. The robot body is moved left or right according to the offset state to align the center position of the handling robot's picking component with the center position of the target pallet, ensuring that the forks can accurately pick up the pallet.

[0102] In another embodiment of this application, the method further includes adjusting the pose of the handling robot to perform a delivery task:

[0103] Occupancy detection is performed on the target storage location;

[0104] The goods release action is performed when the target storage location is not occupied.

[0105] After the delivery action is completed, check whether there is any goods on the picking component. If there are no goods, the delivery task ends; otherwise, the delivery is restarted.

[0106] When the target storage location is occupied, the target storage location will be changed to perform the delivery task.

[0107] When performing a delivery task, it is only necessary to check whether there is any goods occupying the target storage location. If not, the goods can be placed directly. Since the handling robot travels in a straight line along the prescribed route, there will be no deviation when delivering the goods. Therefore, no alignment detection process is required when performing a delivery task.

[0108] Before adjusting the pose of the handling robot and performing the pallet retrieval task, the following steps are also included:

[0109] Raise the pickup unit to the target storage location height;

[0110] Control the extension of the second detection component so that the second detection component can identify the target cargo location image information.

[0111] To avoid obstruction of the second detection component by the forks and the goods on the forks during the picking or placing of goods, the second detection component is extended only after the forks are raised to the height of the target storage location. The appropriate extension position is when the second detection component can clearly capture the image information of the target storage location.

[0112] When the working environment is a low-light environment, the second detection component acquires infrared images, identifies the target location based on the infrared images, and adjusts the posture of the handling robot, which can achieve accurate identification in different environments.

[0113] A third aspect of this application also discloses an electronic device, comprising: a processor, a storage medium, and a bus, wherein the storage medium stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor communicates with the storage medium via the bus, and the processor executes the machine-readable instructions to perform the steps of a pallet handling method.

[0114] The second and fourth aspects of this application also disclose a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of a pallet handling method.

[0115] This application simultaneously equips a first detection component and a second detection component on a handling robot. The first detection component is located at the bottom of the chassis and can identify ground pallets and the edge of crisscross pallets, allowing the picking component to be adjusted and accurately inserted into the pallet socket. The second detection component can detect non-ground pallets. In the same device, both ground pallets and non-ground pallets can be detected, and both crisscross pallets and cross-shaped pallets can be detected, improving the accuracy and compatibility of pallet detection.

[0116] Of course, this application may have other various embodiments. Without departing from the spirit and essence of this application, those skilled in the art can make various corresponding changes and modifications based on this application, but these corresponding changes and modifications should all fall within the protection scope of the appended claims.

Claims

1. A pallet handling robot, comprising a chassis (20), a mast (30), and a picking assembly (40) disposed on the mast (30) and movable vertically, characterized in that, The chassis (20) is provided with a first detection component (10) at the bottom for detecting ground pallets; the picking component (40) is provided with a second detection component (50) for detecting non-ground pallets; the picking direction of the picking component (40) is perpendicular to the walking direction of the chassis (20).

2. The pallet handling robot as described in claim 1, characterized in that, The second detection component (50) extends electrically under the control of the control unit and / or extends mechanically as the picking component (40) rises.

3. The pallet handling robot as described in claim 1, characterized in that, The second detection component (50) includes a sliding rod (52), which has a detection end (53) on one side near the ground and is mounted on the picking component (40) via a mounting base (51) on the other side.

4. The pallet handling robot as described in claim 3, characterized in that, The pickup component (40) includes one of the following structures: The forks are retractable along the mast (30), and the second detection component (50) moves back and forth with the extension and retraction of the forks; or The device includes a front fixed frame and a rear fixed frame. The front fixed frame is equipped with forks for picking up goods. The second detection component (50) is located on the rear fixed frame. When the forks are extended, the second detection component (50) does not move back and forth with the forks.

5. The pallet handling robot as described in claim 4, characterized in that, The forks include two parallel fork arms, and the second detection component (5) is disposed between the two fork arms.

6. The pallet handling robot as described in any one of claims 1-4, characterized in that, The chassis (20) is provided with a drive wheel at the bottom for driving the chassis (20) to move. The second detection component (50) is also provided on the chassis (20) and located above the drive wheel.

7. A chassis, characterized in that, Includes a base plate (25), on which at least one telescopic support member (60) is provided. The telescopic support member (60) includes an extended state and a retracted state. In the extended state, the telescopic support member (60) automatically adjusts its length according to the distance between the base plate (25) and the ground to support the chassis.

8. The chassis as described in claim 7, characterized in that, The telescopic support (60) is one of the following structures: Includes a telescopic rod (62) and a drive assembly (61). The drive assembly (61) is mounted on the base plate (25). One end of the telescopic rod (62) is connected to the drive assembly (61), and the other end passes through the base plate (25) and contacts the ground. The drive assembly (61) controls the extension and retraction of the telescopic rod (62); or It includes a hydraulic pump and a hydraulic push rod. The hydraulic pump is mounted on the base plate (25). One end of the hydraulic push rod is connected to the hydraulic pump, and the other end passes through the base plate (25) and contacts the ground. The hydraulic pump is used to control the extension and retraction of the hydraulic push rod.

9. The chassis as described in claim 8, characterized in that, The telescopic support (60) also includes: A proximity switch, disposed on the base plate (25), stops retraction when the telescopic support (60) retracts to the position of the proximity switch in the retracted state; and / or An elastic reset member is sleeved on the telescopic support member (60). One end of the elastic reset member is fixed to the base plate (25), and the other end is fixed to the end of the telescopic support member (60) that is in contact with the ground. In the retracted state, the elastic reset member is reset by its elastic force.

10. The chassis as described in claim 8, characterized in that, It also includes drive wheels (22) and casters (21). The drive wheels (22) are located on opposite sides of the base plate (25) and are connected to a drive motor. The casters (21) are located at the four corners of the base plate (25) and control the movement of the chassis under the drive of the drive wheels (22).

11. The chassis as described in claim 10, characterized in that, The universal wheel (21) and the drive wheel (22) are located at both ends of the same swing bridge (23). A hinge shaft (24) is provided in the middle of the swing bridge (23). The hinge shaft (24) is fixed on the base plate (25). The universal wheel (21) and the drive wheel (22) can swing around the hinge shaft (24).

12. The chassis as described in claim 10, characterized in that, The caster wheel (21) and the telescopic support member (60) are provided separately, and the caster wheel (21) on the side of the base plate (25) on which the telescopic support member (60) is provided is located in the middle position; or The caster wheel (21) is located at the end of the telescopic support (60) near the ground. The caster wheel (21) is in contact with the ground in both the extended and retracted states.

13. A transport robot, characterized in that, It includes a mast, forks, and a chassis as described in any one of claims 7-12, wherein the mast is disposed on the chassis, the forks are disposed on the mast and are movable up and down along the mast, the forks are movable forward and backward along the chassis, and the telescopic support (60) is disposed on the side of the chassis away from the mast.

14. A pallet handling method, characterized in that, include: Obtain the location information of the target storage location; Based on the location information, determine whether the target location is a ground location. If so, determine the location of the location through the first detection component. Otherwise, the location of the goods is determined by the second detection component; Adjust the position of the handling robot to perform the pallet retrieval task.

15. The pallet handling method as described in claim 14, characterized in that, The process of adjusting the pose of the handling robot to perform the picking task includes: Determine the height information of the target pallet at the target storage location; Detect the target distance from the target tray to the first or second detection component; Calculate the tilt angle of the target pallet; The handling robot is adjusted to its first orientation based on the tilt angle and target distance. Obtain the position coordinates of the center position of the front panel of the target pallet, and determine the offset state of the target pallet based on the position coordinates; The handling robot is adjusted to a second pose based on the offset state.

16. The pallet handling method as described in claim 15, characterized in that, The method also includes adjusting the pose of the handling robot to perform the delivery task: Occupancy detection is performed on the target storage location; The goods release action is performed when the target storage location is not occupied. After the delivery action is completed, check whether there is any goods on the picking component. If there are no goods, the delivery task ends; otherwise, the delivery is restarted. When the target storage location is occupied, the target storage location will be changed to perform the delivery task.

17. An electronic device, characterized in that, include: The device includes a processor, a storage medium, and a bus, wherein the storage medium stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor communicates with the storage medium via the bus, and the processor executes the machine-readable instructions to perform the steps of the pallet handling method as described in any one of claims 14-16.

18. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the pallet handling method according to any one of claims 14-16.

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