Goods conveying device, goods storage system, container retrieval method, goods storage method, storage medium and warehousing logistics system

Abstract

A goods conveying device, a goods storage system, a container retrieval method, a goods storage method, a storage medium and a warehousing logistics system. The goods conveying device is used for a shelf (SH), and comprises: a storage and retrieval mechanism (10), which is configured to store goods (GO) into shelf storage locations (SL) on the shelf (SH) or retrieve the goods (GO) from the shelf storage locations (SL); a driving mechanism (20), which is connected to the storage and retrieval mechanism (10) and is configured to drive the storage and retrieval mechanism (10) to move relative to the shelf (SH); and a first LiDAR (30), which is disposed on the storage and retrieval mechanism (10) and is configured to scan the shelf storage locations (SL) and perform goods storage and retrieval on the basis of information of the shelf storage locations (SL), such that the reliability of goods storage and retrieval is improved.

Description

Cargo conveying devices, cargo storage systems, cargo retrieval methods, cargo storage methods, storage media, and warehousing and logistics systems

[0001] Cross-references to related applications

[0002] This application is based on and claims priority to CN applications No. 202411563201.2, No. 202411562228.X, No. 202411562587.5, and No. 202411562587.5, No. 202411562587.5, and No. 202411562587.5, and claims priority to them. The disclosures of these CN applications are incorporated herein by reference in their entirety. Technical Field

[0003] This disclosure relates to the field of warehousing and logistics, and in particular to a cargo conveying device, a cargo storage system, a cargo retrieval method, a cargo storage method, a storage medium, and a warehousing and logistics system. Background Technology

[0004] In the field of warehousing and logistics, bin storage and retrieval systems enable efficient handling of bins in and out of the warehouse, improving efficiency and reducing costs. A bin storage and retrieval system includes a lifting and horizontally movable loading platform, which is used to transfer bins between storage locations on the racks.

[0005] In some related technologies, to ensure accurate and safe bin storage and retrieval, the bin storage and retrieval system uses various sensing devices, such as cameras and photoelectric sensors, to acquire storage location information and bin information during the bin storage and retrieval process. In other related technologies, the bin storage and retrieval system uses single-point laser for distance measurement or tilt angle measurement. Summary of the Invention

[0006] In one aspect of this disclosure, a goods conveying device for a shelf is provided, comprising:

[0007] The storage and retrieval mechanism is configured to store goods in shelf locations on the shelf or retrieve goods from the shelf locations;

[0008] A drive mechanism, connected to the access mechanism, is configured to drive the access mechanism to move relative to the shelf; and

[0009] A first lidar, mounted on the storage mechanism, is configured to scan the shelf storage locations so that the storage mechanism can store and retrieve goods.

[0010] In one aspect of this disclosure, a method for retrieving a cargo box from a storage and retrieval mechanism in a aforementioned cargo conveying device is provided, comprising:

[0011] The moving step includes controlling the storage and retrieval mechanism to move along the arrangement direction of the boxes to the position of the box to be retrieved from the shelf;

[0012] The hooking step includes controlling the distance detection component to scan the cargo box to obtain the distance between the cargo box and the storage mechanism in the extension direction of the hook-shaped component, and controlling the distance by which the hook-shaped component extends outward from the cargo-carrying part to hook the cargo box according to the distance.

[0013] The pulling step includes controlling the hook-shaped component to retract inward toward the cargo compartment to pull the cargo box toward the cargo compartment.

[0014] In one aspect of this disclosure, a method for storing goods in the storage and retrieval mechanism of the aforementioned goods conveying device is provided, comprising the following steps:

[0015] The storage and retrieval mechanism determines the storage coordinates of the target storage location on the shelf based on the acquired storage box task; wherein, the storage and retrieval mechanism carries goods;

[0016] The storage and retrieval mechanism moves the goods to the working position corresponding to the target storage location according to the storage coordinates;

[0017] The access mechanism acquires point cloud information of the target storage location through laser scanning;

[0018] Determine whether the target storage location meets the cargo storage requirements based on the point cloud information of the target storage location;

[0019] If the target storage location meets the storage requirements, the goods are moved from the storage mechanism to the target storage location on the shelf.

[0020] In one aspect of this disclosure, a cargo storage system is provided, comprising:

[0021] Memory; and

[0022] A processor coupled to the memory is configured to execute the aforementioned cargo storage method based on instructions stored in the memory.

[0023] In one aspect of this disclosure, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the aforementioned cargo storage method.

[0024] In one aspect of this disclosure, a warehousing and logistics system is provided, comprising:

[0025] Shelves; and

[0026] The aforementioned cargo conveying device. Attached Figure Description

[0027] The accompanying drawings, which form part of this specification, illustrate embodiments of this disclosure and, together with the specification, serve to explain the principles of this disclosure.

[0028] This disclosure will become clearer with reference to the accompanying drawings and the following detailed description, wherein:

[0029] Figure 1 is a schematic diagram of a scenario based on some embodiments of the warehousing and logistics system disclosed herein;

[0030] Figure 2 is a schematic diagram of the scanning area of ​​the first lidar in an embodiment of the cargo conveying device according to the present disclosure;

[0031] Figure 3 is a schematic diagram of the installation structure of the storage and retrieval mechanism, the first lidar and the second lidar in an embodiment of the cargo conveying device according to the present disclosure;

[0032] Figures 4-6 are schematic diagrams of three operations implemented by the first lidar according to the embodiments of the cargo conveying device of this disclosure;

[0033] Figure 7 is a schematic diagram of the scanning area of ​​the second lidar in an embodiment of the cargo conveying device according to the present disclosure;

[0034] Figure 8 is a schematic diagram of foreign object scanning below the storage and retrieval mechanism by a second lidar in an embodiment of the cargo conveying device according to the present disclosure;

[0035] Figure 9 is a schematic diagram of the installation structure of the storage and retrieval mechanism, the first lidar and the third lidar in an embodiment of the cargo conveying device according to the present disclosure;

[0036] Figure 10 is a schematic diagram of the installation structure of the embodiment shown in Figure 9 from another perspective;

[0037] Figure 11 is a schematic diagram of the scanning area of ​​the third lidar in an embodiment of the cargo conveying device according to the present disclosure;

[0038] Figure 12 is a schematic diagram of another scanning area of ​​the third lidar in an embodiment of the cargo conveying device according to the present disclosure;

[0039] Figure 13 is a schematic diagram of the storage and retrieval mechanism according to an embodiment of the cargo conveying device of the present disclosure;

[0040] Figure 14 is a schematic diagram of the working principle of the distance detection component of the storage and retrieval mechanism according to an embodiment of the cargo conveying device of the present disclosure;

[0041] Figures 15-17 are schematic diagrams of the first, second, and third states of the retrieval process of the storage and retrieval mechanism according to an embodiment of the cargo conveying device of the present disclosure.

[0042] Figure 18 is a schematic diagram of the detection process of the distance detection component of the storage and retrieval mechanism according to an embodiment of the cargo conveying device of the present disclosure;

[0043] Figure 19 is a control system block diagram of the storage and retrieval mechanism according to an embodiment of the cargo conveying device of the present disclosure;

[0044] Figure 20 is a schematic diagram of the storage and retrieval mechanism used in an embodiment of the cargo storage method according to the present disclosure;

[0045] Figure 21 is a schematic diagram of the laser emitted by the laser scanning device of the storage mechanism used in an embodiment of the cargo storage method according to the present disclosure;

[0046] Figure 22 is a schematic flowchart of an embodiment of the cargo storage method according to the present disclosure;

[0047] Figure 23 is a schematic diagram of detecting whether a target storage location meets the cargo storage requirements according to an embodiment of the cargo storage method of this disclosure;

[0048] Figure 24 is a schematic diagram of the state when detecting the width of the target storage location according to an embodiment of the cargo storage method of the present disclosure;

[0049] Figure 25 is a schematic diagram of the mechanism being blocked when detecting whether the target storage location is occupied according to an embodiment of the cargo storage method of this disclosure;

[0050] Figure 26 is a schematic diagram of the mechanism being blocked when detecting whether the target storage location is occupied according to an embodiment of the cargo storage method of this disclosure;

[0051] Figure 27 is a schematic diagram of determining the height of goods on the storage and retrieval mechanism according to an embodiment of the goods storage method of the present disclosure;

[0052] Figure 28 is a schematic diagram showing the state of determining the height of goods on the storage and retrieval mechanism according to an embodiment of the goods storage method of the present disclosure.

[0053] It should be understood that the dimensions of the various parts shown in the accompanying drawings are not drawn to actual scale. Furthermore, the same or similar reference numerals denote the same or similar components.

[0054] Explanation of reference numerals in the attached drawings: 10-Storage mechanism; 11-Bearing unit; 12-Operating unit; 13-Outer shell; 20-Drive mechanism; 21-Vertical rail; 22-Walking wheel; 23-Elevator; 30-First lidar; 40-Second lidar; 50-Third lidar; x-First direction; y-Second direction; z-Third direction; rp-Reference plane; SH-Shelf; GO-Goods; GV-Ground transport trolley; SL-Shelf storage location; HB-Beam; GT-Goods conveying device; FM-Foreign object; a1-Loading unit; a2-Hook-shaped component; a3-First drive unit; a4-Distance detection component; a5-Cargo box; a6-Controller; a7-Second drive unit; a11-Frame; a12-Conveyor belt; b1-Base; b10-Storage mechanism; b2. Installation component; b20. Goods; b21. Stand; b22. First drive component; b23. Second drive component; b24. Bracket; b3. Transfer mechanism; b30. Shelf; b31. Beam; b4. Laser scanning device; b5. Laser scanning equipment. Detailed Implementation

[0055] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The descriptions of the exemplary embodiments are merely illustrative and are in no way intended to limit the present disclosure or its application or use. The present disclosure may be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided so that the present disclosure will be thorough and complete, and will fully express the scope of the disclosure to those skilled in the art. It should be noted that, unless specifically stated otherwise, the relative arrangement of components and steps, the composition of materials, numerical expressions, and values ​​set forth in these embodiments should be interpreted as exemplary only and not as limiting.

[0056] The terms "comprising" and "having," and any variations thereof, used in the specification, claims, and accompanying drawings of this disclosure are intended to cover non-exclusive inclusion. In the description of embodiments of this disclosure, technical terms such as "first," "second," etc., are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, particular order, or primary / secondary relationship of the indicated technical features.

[0057] In the description of the embodiments of this disclosure, the term "and / or" is merely a description of the relationship between associated objects, indicating that there can be three relationships, such as A and / or B, which can represent: A existing alone, A and B existing simultaneously, and B existing alone.

[0058] In the description of embodiments of this disclosure, the term "multiple" refers to two or more (including two), and similarly, "multiple groups" refers to two or more (including two).

[0059] In the description of embodiments of this disclosure, the term "at least one" refers to one or more (including two).

[0060] Unless otherwise specified, in the description of the embodiments of this disclosure, the technical terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this disclosure and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this disclosure.

[0061] In the description of the embodiments of this disclosure, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this disclosure according to the specific circumstances.

[0062] All terms used in this disclosure (including technical or scientific terms) have the same meaning as understood by one of ordinary skill in the art to which this disclosure pertains, unless otherwise specifically defined. It should also be understood that terms defined in a general dictionary, such as a dictionary, should be interpreted as having a meaning consistent with their meaning in the context of the relevant art, and not as having an idealized or highly formalized meaning, unless expressly defined herein.

[0063] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0064] In the embodiments described below, the cargo box storage and retrieval device and the cargo storage and retrieval mechanism of the logistics warehouse can both be referred to as storage and retrieval mechanism. The terms cargo box storage and retrieval device, cargo storage and retrieval mechanism, and storage and retrieval mechanism can be used interchangeably. The structure and function of the storage and retrieval mechanism may differ in different embodiments.

[0065] In some related technologies, to ensure accurate and safe bin storage and retrieval, the bin storage and retrieval system uses various sensing devices, such as cameras and photoelectric sensors, to acquire storage location information and bin information during the bin storage and retrieval process. In other related technologies, the bin storage and retrieval system uses single-point laser for distance measurement or tilt angle measurement.

[0066] Research has revealed that technologies employing multiple sensing devices require the installation and setup of various sensors. These sensors necessitate the loading platform to perform multiple actions to acquire information, resulting in complex control and high costs. Similarly, technologies using single-point lasers for distance or tilt measurement also require the loading platform to perform actions, and their information acquisition is limited, with stringent requirements for installation location. Therefore, all these existing technologies present factors that affect the reliability of cargo storage and retrieval.

[0067] In view of this, the present disclosure provides a cargo conveying device and a warehousing and logistics system that can improve the reliability of cargo storage and retrieval.

[0068] In one aspect of this disclosure, a goods conveying device for a shelf is provided, comprising:

[0069] The storage and retrieval mechanism is configured to store goods in shelf locations on the shelf or retrieve goods from the shelf locations;

[0070] A drive mechanism, connected to the access mechanism, is configured to drive the access mechanism to move relative to the shelf; and

[0071] A first lidar, mounted on the storage mechanism, is configured to scan the shelf storage locations so that the storage mechanism can store and retrieve goods.

[0072] In this embodiment, a first laser radar is installed on the storage mechanism to scan the shelf storage location, so that the storage mechanism can store or retrieve goods according to the scanning status of the goods storage location, thereby improving the reliability of goods storage and retrieval.

[0073] Figure 1 is a schematic diagram of a scenario according to some embodiments of the warehousing and logistics system of this disclosure. Referring to Figure 1, an embodiment of this disclosure provides a warehousing and logistics system, including a rack SH and a goods conveying device GT. The rack SH may have at least one storage layer, such as a single layer or two or more storage layers. Each storage layer may have at least one rack storage location SL, such as a single rack storage location SL or two or more rack storage locations SL.

[0074] A shelf storage location SL can be defined by a frame on the shelf SH, for example, by using multiple horizontally spaced vertical beams or panels to create at least one horizontally arranged shelf storage location. Shelf storage locations SL can also be obtained in other ways, such as using the space between goods on the left and right sides as shelf storage locations SL for goods to be stored. This method employs a non-fixed location storage approach, determining the shelf storage location SL based on the existing goods on the shelf SH before storage.

[0075] Goods GO on the rack SH can be retrieved and transported by the goods conveying device GT, or obtained by the goods conveying device GT from other sources and transported to the corresponding rack storage location SL for storage. The starting position and the destination position of the transport (or the destination position and the starting position of the transport) can be different rack storage locations SL of the same rack SH, rack storage locations SL of different rack SHs, rack storage location SL and site transport trolley GV, or rack storage location SL and another goods conveying device GT, etc.

[0076] Goods (GO) can include actual items, such as finished products, semi-finished products, or raw materials, as well as containers for loading items, such as pallets, bins, boxes, or bags, or empty containers.

[0077] For a warehousing and logistics system, it may include a single rack (SH) or multiple racks (SH) arranged at horizontal intervals. Adjacent racks (SH) may form aisles for a conveyor belt (GT) to operate, allowing the GT to transport goods (GO) within these aisles in at least one direction parallel to the rack's facade. The underside of the rack (SH), the aisles, and the area surrounding the rack (SH) are available for a site transport vehicle (GV) to operate, enabling the transport of goods (GO) via the site transport vehicle (GV).

[0078] Figure 1 shows a scenario where the goods conveying device GT is located between two adjacent shelves SH, and illustrates three directions: the first direction x, the second direction y, and the third direction z. The third direction z can be parallel to the vertical direction, and the second direction y can be parallel to the goods storage and retrieval direction of the storage and retrieval mechanism 10 in the goods conveying device GT. Here, the goods storage and retrieval direction can be either the direction of goods being stored or the direction of goods being retrieved.

[0079] The first direction x can intersect the second direction y, for example, by being perpendicular to the second direction y, or by forming an acute or obtuse angle with the second direction y. The first direction x can also intersect the third direction z, for example, by being perpendicular to the third direction z, or by forming an acute or obtuse angle with the third direction z. The second direction y can intersect the third direction z, for example, by being perpendicular to the third direction z, or by forming an acute or obtuse angle with the third direction z.

[0080] Referring to Figure 1, this disclosure also provides a goods conveying device GT for a shelf SH, including: a storage and retrieval mechanism 10, a drive mechanism 20, and a first lidar 30. The storage and retrieval mechanism 10 is configured to store goods GO in or retrieve goods GO from the shelf storage location SL on the shelf SH. The drive mechanism 20 is connected to the storage and retrieval mechanism 10 and is configured to drive the storage and retrieval mechanism 10 to move relative to the shelf SH. The first lidar 30 is disposed on the storage and retrieval mechanism 10 and configured to scan the shelf storage location SL to enable the storage and retrieval mechanism 10 to store and retrieve goods GO.

[0081] The storage and retrieval mechanism 10 can carry and transport goods GO, and can also store or retrieve goods GO relative to the shelf storage location SL. Here, the storage and retrieval mechanism 10 can only store or retrieve goods GO, or it can both store and retrieve goods GO.

[0082] The drive mechanism 20 enables the access mechanism 10 to move relative to the shelf SH. This movement can include vertical movement, horizontal movement, or diagonal upward or downward movement. The drive mechanism 20 can drive the access mechanism 10 in ways including, but not limited to, track-guided, suspension, or robotic arm-driven methods.

[0083] LiDAR (Light Detection and Ranging) is a target detection technology that uses lasers as a signal source. It emits laser beams towards a target object to collect the reflected signals, thereby obtaining information such as the target's location and speed. Depending on the needs, LiDAR can emit fan-shaped or 360° laser beams to cover the area to be detected.

[0084] The first lidar 30 can employ different lidar principles as needed. For example, the first lidar 30 can be a mechanical lidar, where a motor drives the laser source to rotate, forming a preset angle range or a 360° scanning plane. Alternatively, the first lidar 30 can be a rotating mirror lidar, where the mirror refracts light to achieve a preset angle range or a 360° scanning plane.

[0085] This embodiment uses a first lidar sensor on the storage mechanism to scan the shelf storage locations, enabling the mechanism to store or retrieve goods based on the scanned storage locations, thus improving the reliability of goods storage and retrieval. Compared to related technologies that use multiple sensing devices, this embodiment eliminates the need to install and set up multiple sensing devices, thereby reducing costs. Furthermore, by reducing the number of these devices, the control requirements for their coordination with the storage mechanism are eliminated, reducing control complexity and further improving the reliability of goods storage and retrieval.

[0086] Compared to related technologies that use single-point lasers for distance or tilt measurement, the first lidar in this embodiment has a larger scanning range, can obtain more information, and reduces installation requirements, thereby improving the reliability of cargo storage and retrieval.

[0087] Figure 2 is a schematic diagram of the scanning area of ​​the first lidar in an embodiment of the cargo conveying device according to the present disclosure. Figure 3 is a schematic diagram of the installation structure of the storage and retrieval mechanism, the first lidar, and the second lidar in an embodiment of the cargo conveying device according to the present disclosure. Referring to Figure 3, in some embodiments, the storage and retrieval mechanism 10 has a carrying portion 11 for carrying cargo GO, and the first lidar 30 is located on at least one side of the carrying portion 11 along a first direction x, the first direction x intersecting the cargo storage and retrieval direction of the storage and retrieval mechanism 10.

[0088] The support unit 11 is capable of carrying the goods GO on it. The first lidar 30 is located on at least one side of the support unit 11 along a first direction x, and the first direction x intersects the goods storage and retrieval direction of the storage and retrieval mechanism 10. This ensures that the first lidar 30 is not positioned in the direction in which the goods GO enters or leaves the support unit 11, thereby reducing the risk of interference between it and the goods GO or the components of the storage and retrieval mechanism 10 that perform goods storage and retrieval.

[0089] The first lidar 30 can be located on the front or rear side of the support portion 11 along the first direction x, or the first lidar 30 can be provided on both the front and rear sides of the support portion 11 along the first direction x.

[0090] Referring to Figure 3, in some embodiments, the goods conveying device may include two sets of first lidar 30, each set comprising one or more first lidar 30, with the two sets of first lidar 30 located on either side of the support portion 11 along the first direction x. This allows for accurate determination of the distance and size of goods or foreign objects within the shelf storage location by referencing the point cloud data obtained from the two sets of first lidar 30. Furthermore, the two sets of first lidar 30 expand the detection range, enabling more comprehensive detection and reducing the risk of missed scans due to obstruction by other components or goods.

[0091] In some embodiments, the two sets of first lidar 30 are spaced at the same distance from the support portion 11 in the first direction x, and are installed at the same height in the vertical direction. This ensures that the scanning data obtained by the two sets of first lidar 30 are consistent, which helps simplify subsequent data processing.

[0092] Referring to Figure 2, in some embodiments, the drive mechanism 20 is configured to drive the access mechanism 10 to move relative to the shelf SH in at least one direction parallel to a reference plane rp, wherein the reference plane rp is parallel to both the first direction x and the vertical direction. Here, the reference plane rp can be the front side of the shelf SH adjacent to the access mechanism 10, or it can be any other plane parallel to that front side.

[0093] Both the first direction x and the vertical direction are parallel to the reference plane rp, and can be used as the directions for the drive mechanism 20 to drive the storage mechanism 10 to move. This is beneficial for the two sets of first lidar 30 arranged along the first direction x to form the same spacing with the reference plane rp. In Figure 2, each set of first lidar 30 includes one first lidar 30. The thick dashed lines indicate that the two first lidar 30 each form a circular scanning area. The two circular scanning areas overlap, so that it can scan the shelf storage positions SL on both sides of the shelf storage position SL in front of the storage mechanism 10, and can also scan the same area of ​​the goods GO in front of the storage mechanism 10 at the same time.

[0094] In some embodiments, the first direction x is perpendicular to the cargo access direction of the access mechanism 10 and parallel to the horizontal plane. The parallelism of the first direction x to the horizontal plane facilitates setting the two sets of first lidar sensors 30 arranged along the first direction x at the same height. Setting the first direction x perpendicular to the cargo access direction of the access mechanism 10 can further reduce the risk of interference between the first lidar sensors 30 and the cargo or components of the access mechanism 10.

[0095] Additionally, in Figure 3, the storage and retrieval mechanism 10 may also include an operating part 12 capable of applying pushing or pulling force to the goods. The carrying part 11 of the storage and retrieval mechanism 10 may include a conveyor belt assembly, which can cooperate with the operating part 12 to realize the entry and exit of the goods GO relative to the storage and retrieval mechanism 10. The conveying direction of the conveyor belt assembly and the pushing and pulling direction of the operating part 12 may be parallel to the goods storage and retrieval direction of the storage and retrieval mechanism 10.

[0096] Referring to Figure 2, in some embodiments, the rotating scanning plane formed by the first lidar 30 is parallel to the horizontal plane. The first lidar 30 rotates by a motor-driven laser source or a mirror matched with the laser source, realizing a circular rotating scanning plane with the first lidar 30 as the center, as shown by the thick dashed line in Figure 2. This rotating scanning plane is parallel to the horizontal plane and can scan a large range of shelf storage positions SL of the shelf layer corresponding to the storage mechanism 10.

[0097] Figures 4-6 are schematic diagrams illustrating three operations performed by the first lidar according to the embodiments of the cargo conveying device of this disclosure. The multiple dashed lines extending from the two first lidars 30 in Figures 4-6 illustrate the laser beams emitted by the first lidars 30 toward the shelf.

[0098] Referring to Figure 4, in some embodiments, the first lidar 30 is configured to perform the following operation: by scanning the goods GO in the shelf storage location SL on the shelf SH to obtain point cloud data of the surface of the goods GO, in order to determine the distance between the goods GO and the storage mechanism 10 in the goods storage and retrieval direction of the storage mechanism 10.

[0099] In Figure 4, when the retrieval mechanism 10 needs to retrieve goods GO from shelf storage location SL, it can first scan the goods GO in shelf storage location SL on shelf SH using the first lidar 30 to obtain point cloud data of the surface of the goods GO. This allows the distance between the goods GO and the retrieval mechanism 10 in the goods retrieval direction of the retrieval mechanism 10 to be determined. In this way, when the retrieval mechanism 10 performs the retrieval operation, its operating components can extend to a precise distance to act on the goods GO, reducing the risk of retrieval failure due to insufficient extension distance or damage to the goods GO or operating components due to excessive extension distance, thus improving the success rate of goods retrieval.

[0100] Referring to Figure 5, in some embodiments, the first lidar 30 is configured to perform the following operation: scan the shelf storage location SL on the shelf SH to determine whether the shelf storage location SL is occupied.

[0101] In Figure 5, when the storage mechanism 10 needs to store the goods GO it carries into the shelf storage location SL, it can first scan the shelf storage location SL on the shelf SH with the first lidar 30 so as to promptly detect whether there are other goods or foreign objects occupying the shelf storage location SL, so as to continue to transport to other available shelf storage locations SL, or issue a notification to clean the shelf storage location SL.

[0102] Referring to Figure 6, in some embodiments, the first lidar 30 is configured to perform the following operations: by scanning at least one shelf storage location SL adjacent to the shelf storage location SL to be stored on the shelf SH, to obtain point cloud data of the surface of the goods GO in the adjacent at least one shelf storage location SL, in order to determine whether the space separated by the goods GO in the adjacent at least one shelf storage location SL has sufficient space to store the goods GO.

[0103] In Figure 6, for a shelf where goods GO can be freely placed, when the storage mechanism 10 needs to store the goods GO it carries into the shelf storage location SL, it needs to scan to determine an available shelf storage location SL with sufficient space. Accordingly, the first lidar 30 can scan at least one shelf storage location SL adjacent to the shelf storage location SL to be stored on the shelf SH in order to obtain point cloud data of the surface of the goods GO in the at least one adjacent shelf storage location SL.

[0104] Both sides of a shelf storage location SL can be formed by goods GO, or one side can be formed by goods GO and the other side by a shelf side panel. The minimum distance between the goods GO on both sides or between goods GO and the side panel can be calculated using the obtained point cloud data. If this minimum distance is greater than the width of the goods GO, it indicates that the space separated by the goods GO within at least one adjacent shelf storage location SL has sufficient space to store the goods GO, and the storage operation can be performed. Conversely, if the minimum distance is less than the width of the goods GO, it indicates that the space separated by the goods GO within at least one adjacent shelf storage location SL does not have sufficient space to store the goods GO, and other available shelf storage locations SL need to be found.

[0105] In this embodiment, the first lidar 30 can perform any one of the above operations, or two or all of them. The first lidar 30 can communicate with a processor or controller, perform scanning according to the instructions of the processor or controller, and send the scanned point cloud data to the processor or controller so that the processor or controller can perform the above-mentioned logical judgments and corresponding processing.

[0106] Figure 7 is a schematic diagram of the scanning area of ​​the second lidar in an embodiment of the cargo conveying device according to the present disclosure. Figure 8 is a schematic diagram of foreign object scanning below the storage and retrieval mechanism using the second lidar in an embodiment of the cargo conveying device according to the present disclosure.

[0107] As mentioned earlier, the drive mechanism 20 can be implemented in various ways. Figure 7 illustrates a structural example of the drive mechanism 20, which may include a vertical rail 21, wheels 22, and a lift 23. The vertical rail 21 is movably mounted on at least two crossbeams SL of the shelf SH via the wheels 22, and the wheels 22 move laterally on the crossbeams SL. The access mechanism 10 is movably mounted on the vertical rail 21 via the lift 23, and can move vertically under the action of the lift 23.

[0108] Referring to Figures 3, 7, and 8, in some embodiments, the cargo conveying device further includes a second lidar 40. The second lidar 40 is disposed on the access mechanism 10 and configured to scan the underside of the access mechanism 10 to determine whether a foreign object FM is present on the underside of the access mechanism 10.

[0109] Considering that the downward-moving storage mechanism 10 may collide with the site transport trolley GV moving on the site or the cargo GO that has fallen into the aisle, the site transport trolley GV and the cargo GO are equivalent to foreign objects FM in Figure 8. The collision will cause damage to the cargo conveying device and affect the long-term stable operation of the cargo conveying device.

[0110] In this embodiment, the second lidar 40 scans the lower side of the storage mechanism 10, which can promptly detect whether there is a foreign object FM on the lower side of the storage mechanism 10. This allows for measures such as issuing a warning, stopping the drive mechanism 20 from driving the storage mechanism 10 to move downwards, or promptly removing the foreign object FM from the area through cleaning components. These measures minimize the risk of collision and help ensure the long-term stable operation of the cargo conveying device.

[0111] Referring to Figures 3 and 8, in some embodiments, the access mechanism 10 has a support portion 11 for carrying goods GO, and the second lidar 40 is located below the support portion 11. The second lidar 40 may be the same device as the first lidar 30, or it may be a lidar of other specifications or implementation principles. The second lidar 40 may be positioned below the support or housing of the access mechanism 10 to reduce obstruction of the scanning range of the second lidar 40 below the access mechanism 10 formed by the access mechanism 10.

[0112] In Figure 7, the scanning range of the second lidar 40 is indicated by thick dashed lines. The second lidar 40 can scan directly below and diagonally downwards to the left and right sides. In Figure 8, multiple dashed lines extending from the second lidar 40 indicate the laser beam emitted by the second lidar 40 towards the lower side of the support portion 11. Figures 3 and 8 illustrate the case where one second lidar 40 is provided on the access mechanism 10, which basically meets the requirements for detecting foreign objects on the lower side. In other embodiments, two or more second lidars 40 are provided on the access mechanism 10 to obtain more accurate detection results and a larger scanning range.

[0113] In some embodiments, the rotating scanning plane formed by the second lidar 40 is perpendicular to the horizontal plane. This helps to reduce the risk of missed detections caused by the rotating scanning plane formed by the second lidar 40 being tilted relative to the horizontal plane.

[0114] In some embodiments, the drive mechanism 20 is configured to drive the access mechanism 10 to move relative to the shelf SH in at least one direction parallel to the reference plane rp, wherein the rotating scanning plane formed by the second lidar 40 is parallel to the reference plane rp.

[0115] In this embodiment, by making the rotating scanning plane formed by the second lidar 40 parallel to the reference plane rp, the second lidar 40 can scan a larger area along the tunnel, reducing the possibility of missed detections. In other embodiments, the rotating scanning plane formed by the second lidar 40 can also be made at a small angle to the reference plane rp, which helps to increase the scanning range in the direction perpendicular to the reference plane rp.

[0116] Figure 9 is a schematic diagram of the installation structure of the storage and retrieval mechanism, the first lidar, and the third lidar in an embodiment of the cargo conveying device according to the present disclosure. Figure 10 is a schematic diagram of the installation structure of the embodiment shown in Figure 9 from another perspective. Figure 11 is a schematic diagram of the scanning area of ​​the third lidar in an embodiment of the cargo conveying device according to the present disclosure. Figure 12 is a schematic diagram of another scanning area of ​​the third lidar in an embodiment of the cargo conveying device according to the present disclosure.

[0117] Referring to Figures 9 and 11, in some embodiments, the goods conveying device further includes a third lidar 50, which is disposed on the access mechanism 10 and configured to scan the multi-level shelf storage locations SL of the shelf SH in the vertical direction.

[0118] In some embodiments, the access mechanism or drive mechanism in the goods conveying device may come close to the outer side of the shelf storage position when moving relative to the shelf. If there is a protruding object in the shelf storage position, a collision may occur. This could be because the goods stored on the shelf may not be properly placed, resulting in part of them protruding from the front side of the shelf, or it could be other foreign objects that may interfere with the access mechanism 10 or drive mechanism 20. By setting a third lidar 50 to scan the multi-layer shelf storage positions SL of the shelf SH in the vertical direction, such abnormalities can be detected and intervened in a timely manner, reducing the collision risk during the movement of the access mechanism 10.

[0119] In Figure 11, the scanning range of the third lidar 50 is shown by a thick dashed line. Depending on the laser intensity of the third lidar 50, its scanning range can cover more than two layers of shelves, thus enabling the detection of anomalies on the upper or lower sides at least in the height direction.

[0120] In the above embodiments, at least one of the first lidar 30, the second lidar 40, and the third lidar 50 may be a single-line lidar to form a scanning plane to obtain a straight line in the point cloud. In other embodiments, a scanning arc surface may be obtained by using a scanning tilt angle that is not 0°.

[0121] Referring to Figures 9, 11, and 12, in some embodiments, the third lidar 50 is located on at least one side of the access mechanism 10 along a first direction x, and the drive mechanism 20 is configured to drive the access mechanism 10 to move relative to the shelf SH in at least one direction parallel to a reference plane rp, the first direction x intersecting the goods access direction of the access mechanism 10, and the reference plane rp being configured to pass through the beams HB of the multi-level shelf storage positions SL in the vertical direction of the shelf SH.

[0122] The beams HB of each shelf storage position SL are located on the front side of the shelf SH, therefore the reference plane rp is equivalent to the front side of the shelf SH. The rotating scanning plane formed by the third lidar 50 can be perpendicular to the reference plane rp to scan for anomalies in each shelf column corresponding to the access mechanism 10. The rotating scanning plane formed by the third lidar 50 can also intersect the reference plane rp at an angle, with the intersection located outside the access mechanism 10. This allows the third lidar 50 to also scan other columns of the shelf laterally, enabling the access mechanism 10 to detect anomalies earlier during movement and providing a certain braking distance for the access mechanism 10.

[0123] The third lidar 50 can also form a rotating scanning arc surface by using the beam direction of the laser source or rotating mirror at an angle to the rotation axis. This rotating scanning arc surface formed by the third lidar 50 intersects the reference plane rp at an angle, with the intersection point located outside the access mechanism 10. This conical rotating scanning arc surface allows for synchronous scanning of adjacent shelves, improving efficiency and safety. Furthermore, it enables the access mechanism 10 to detect abnormalities earlier during movement and provides a certain braking distance.

[0124] Referring to FIG10, in some embodiments, the cargo conveying device includes two sets of third lidar 50, each set of third lidar 50 including one or more third lidar 50, and the two sets of third lidar 50 are respectively located on both sides of the storage and retrieval mechanism 10 along the first direction x.

[0125] In Figure 10, the two third lidar sensors 50 can be respectively mounted on the outer casing 13 on the left and right sides of the access mechanism 10, which reduces the obstruction of the third lidar sensors 50 by the components on the access mechanism 10. Using two sets of third lidar sensors 50 for scanning can expand the scanning range and promptly detect anomalies in different directions within the tunnel.

[0126] Referring to Figure 12, in some embodiments, the rotating scanning plane or rotating scanning arc surface formed by the third lidar 50 is configured to cover the height range of all shelf storage positions SL of the shelf SH.

[0127] To ensure that the storage mechanism 10 can scan a vertical row of storage locations at any height, the output intensity of the laser can be adjusted so that half the height of the rotating scanning plane or rotating scanning arc surface formed by the third laser radar 50 can radiate to the top shelf storage locations and the shelf storage locations below (which can be temporary storage locations). This helps the third laser radar 50 to perform a more comprehensive inspection of the shelf SH and reduce omissions.

[0128] In Figure 12, the dashed triangle extending from the third lidar 50 on the right illustrates the range of the laser beam emitted by the third lidar 50 toward the shelf. Referring to Figure 12, in some embodiments, the third lidar 50 is configured to perform the following operation: to perform inspection by scanning the shelf SH at multiple levels of shelving locations SL in the vertical direction to determine whether there are any abnormal conditions at each level of shelving location SL.

[0129] In Figure 12, when the access mechanism 10 is in a position slightly to the left, the third lidar 50 on its right side can scan all shelf layers on the right. Thus, by moving the access mechanism 10 from left to right or from right to left, the third lidar 50 can perform inspections of the multi-layer shelf storage positions SL of the shelf SH in the vertical direction from left to right or from right to left, thereby promptly detecting abnormalities such as goods not being properly placed and protruding from the front side of the shelf.

[0130] The third lidar 50 can monitor the degree to which the goods GO protrude relative to the front side of the shelf SH through inspection. Sometimes, although the goods GO protrude, it may be due to vibration or other reasons. At present, it will not affect the operation of the storage mechanism 10 or the drive mechanism 20, but it may protrude further in the future. At this time, the inspection can be carried out in time to grasp these situations, so as to continue to observe and organize the goods in a timely manner.

[0131] Furthermore, the third lidar 50 can also be configured to perform the following operations: scan the vertical multi-level shelf storage positions SL of the shelf SH to obtain the height information of the beams HB of each shelf storage position SL, so that the drive mechanism 20 can perform height positioning of the storage and retrieval mechanism 10. This enables higher precision positioning, helping the storage and retrieval mechanism 10 to dock with the shelf storage position SL at a suitable height, ensuring the smooth storage or retrieval of goods GO.

[0132] In some related technologies, the cargo box pushing and pulling component of the cargo box storage and retrieval device includes a hook-shaped component. The hook-shaped component extends to a corresponding position on the outer end of the cargo box and hooks onto a pre-set designated hook position on the box, thereby pulling the cargo box out of the storage location or pushing the cargo box into the storage location. Because this method does not require a pre-reserved retrieval gap between two adjacent cargo boxes, it helps to increase the storage density of the cargo boxes.

[0133] During the process of the hook-like component extending to hook the cargo box or retracting to pull the cargo box onto the loading platform, the movement distance of the hook-like component is usually controlled based on the storage position of the cargo box recorded by the system, while the extension distance and retraction distance of the hook-like component are monitored by displacement monitoring components (such as encoders).

[0134] Due to factors such as shelf vibration and system recording errors, the front and back positions of the boxes may change. Relying solely on system default values ​​and encoder calculations to perform box storage and retrieval operations often results in the hook-like components failing to engage the boxes, preventing the designated boxes from being retrieved. Furthermore, it is impossible to confirm whether the boxes have been properly retrieved, leading to situations where misaligned boxes may scrape against other boxes and shelves during handling.

[0135] In view of this, a cargo box storage and retrieval device and a retrieval method for a logistics warehouse are provided to improve the problem in related technologies where the hook-like component cannot accurately hook the cargo box due to the deviation between the cargo box's position and the predetermined position. In the following text, the cargo box storage and retrieval device for the logistics warehouse may be simply referred to as a storage and retrieval mechanism.

[0136] As shown in Figures 13 and 19, the cargo storage and retrieval device (i.e., storage and retrieval mechanism) of the logistics warehouse in this embodiment includes a cargo-carrying part a1, a hook-shaped part a2, a first driving part a3, a second driving part a7, a distance detection part a4, and a controller a6.

[0137] The cargo section a1 has a bearing surface for carrying cargo boxes a5 and is configured to move along the arrangement direction of the multiple cargo boxes a5.

[0138] The hook-shaped component a2 can extend outward relative to the loading section a1 to hook the box a5 that needs to be removed from the shelf, or retract inward relative to the loading section a1 to pull the box a2 toward the loading section a1.

[0139] The first drive unit a3 is configured to drive the hook-shaped member a2 to extend and retract relative to the cargo section a1; the second drive unit a7 is configured to drive the cargo section a1 to move along the arrangement direction of the cargo box a5.

[0140] The distance detection component a4 is configured to scan the cargo box a5 in a plane parallel to the bearing surface to detect the position of the cargo box a5 relative to the cargo box storage and retrieval device.

[0141] The controller a6 is signal connected to the first drive unit a3, the second drive unit a7 and the distance detection unit a4 respectively, and is configured to control the cargo unit a1 to move along the arrangement direction according to the position of the cargo box a5 relative to the cargo box storage and retrieval device so as to align the cargo box storage and retrieval device with the cargo box a5 or to control the distance by which the hook-shaped member a2 extends outward from the cargo unit a1.

[0142] Specifically, the shelving of the logistics warehouse includes multiple vertically arranged storage rows for storing boxes a5. Each row of storage locations includes multiple storage locations arranged in a horizontal direction, that is, the arrangement direction of the aforementioned boxes a5 is horizontal.

[0143] The hook-shaped component a2 can extend and retract relative to the loading section a1, and can also move vertically relative to the supporting section a1. The end face of the cargo box a5 facing the outer side of the shelf (that is, the end closer to the storage mechanism along the extension and retraction direction of the hook-shaped component a2) is provided with a hook structure that cooperates with the hook-shaped component a2. After the hook-shaped component a2 extends outward to below the hook structure, it moves upward a certain distance to connect with the cargo box a5, thereby pulling the cargo box a5 onto the loading section a1.

[0144] Furthermore, the cargo-carrying section a1 includes a frame a11 and a conveyor belt a12 rotatably mounted on the frame a11. The conveyor belt a12 can drive the cargo box a5 to move along the extension and retraction direction of the hook-shaped member a2, so as to move the cargo box a5 into or out of the cargo-carrying section a1. In this embodiment, the surface of the conveyor belt a12 constitutes the bearing surface for carrying the cargo box a5.

[0145] In the technical solution disclosed herein, the cargo box storage and retrieval device of the logistics warehouse includes a distance detection component a4 for detecting the position of the cargo box a5 relative to the cargo box storage and retrieval device. Therefore, the distance by which the hook-shaped component a2 extends toward the cargo box a5 can be adjusted according to the position of the cargo box a5, thereby improving the problem in the related art where the hook-shaped component a2 cannot accurately hook the cargo box a5 due to the deviation between the position of the cargo box a5 and the predetermined position.

[0146] In some embodiments, referring to Figures 15 to 17, the extension direction of the hook-shaped member a2 is perpendicular to the arrangement direction of the boxes a5. After the box storage and retrieval device moves to the position of the corresponding box a5, the hook-shaped member a2 extends outward to hook the corresponding box a5 and pulls the box a5 toward the loading part a1, thereby moving the box a5 on the shelf onto the box storage and retrieval device. Then, the box storage and retrieval device carries the box a5 to move it out of the warehouse to complete the outbound shipment of the box.

[0147] In some embodiments, the distance detection component a4 includes one of a laser rangefinder and a radar rangefinder. In other embodiments, the distance detection component a4 includes a single-line lidar.

[0148] Referring to Figure 14, in this embodiment, the distance detection component a4 is configured to rotate about an axis perpendicular to the bearing surface (horizontal plane) of the cargo section a1, so as to scan the position of the cargo box a5 in a plane parallel to the bearing surface of the cargo section a1. In this embodiment, the distance detection component a4 is mounted on the cargo section a1. During rotation, the distance detection component a4 continuously detects the distance between the distance detection component a4 and the cargo box a5. The distance data detected by the distance detection component a4 each time corresponds to the scanning angle and is recorded.

[0149] Referring to Figure 18, in some embodiments, the distance between the cargo box a5 and the distance detection component a4 in the extension direction of the hook-shaped component a2 can be calculated based on two distance and corresponding angle data. Further, the distance detection component a4 scans multiple distance data points on the end face of the cargo box a5 facing outwards from the shelf and / or along the side of the cargo box a5 located at one end along the arrangement direction, to form point cloud data of the scanning angle of the distance detection component a4 corresponding to the distance data. This point cloud data is formed by multiple point data points, where each point data point represents the distance to the cargo box a5 detected when the distance detection component a4 is rotated to a certain angle.

[0150] In other embodiments, the controller a6 is configured to control the distance detection component a4 to scan the end face of the cargo box a5 near the cargo box access device along the extension direction of the hook-shaped component a2, in order to obtain the distance between the cargo box a5 and the cargo box access device in the extension direction, and control the distance by which the hook-shaped component a2 extends outward from the loading section a1 based on this distance. By controlling the extension distance of the hook-shaped component a2 according to the position of the cargo box a5, the problem in related technologies where the hook-shaped component a2 cannot accurately hook the cargo box a5 due to deviations between the position of the cargo box a5 and a predetermined position is improved.

[0151] In some embodiments, the controller a6 is configured to control the distance detection component a4 to scan the end face of the cargo box a5 near the end of the cargo box access device along the extension direction of the hook-shaped component a2, so as to obtain the distance between the cargo box a5 and the cargo box access device in the arrangement direction of the cargo box a5, and control the loading part a1 to move along the arrangement direction according to the distance so as to align the access device with the cargo box a5.

[0152] Specifically, referring to Figure 18, by scanning the point cloud data formed by the end face of the cargo box a5 facing outward from the shelf, optionally, the point data of both ends of the cargo box a5 along the arrangement direction of the cargo box a5 and the width of the cargo box a5 can be obtained to calculate the distance between the cargo box a5 and the cargo box storage and retrieval device in the arrangement direction of the cargo box a5.

[0153] In some embodiments, the controller a6 is configured to control the distance detection component a4 to scan the end face of the cargo box a5 near the cargo box access device along the extension direction of the hook-shaped component a2 to determine whether the end face is tilted relative to the arrangement direction. Referring to FIG18, in two distance detection results with a difference of angle α between the detection angles of the distance detection component a4, the distance difference between the cargo box a5 and the distance detection component a4 in the extension direction of the hook-shaped component a2, calculated under the premise that the outer cross-section of the cargo box a5 is parallel to the arrangement direction of the cargo box a5, can be used to determine whether the outer end face of the cargo box a5 is tilted. If the distances between the cargo box a5 and the distance detection component a4 in the extension direction of the hook-shaped component a2 are the same as those calculated from the two distance detection results, then the cargo box a5 is not tilted.

[0154] In some embodiments, there are two distance detection components a4, which are symmetrically arranged on both sides of the cargo section a1. Optionally, whether the cargo box a5 is tilted can be determined by judging whether the distances detected by the two distance detection components a4 are consistent.

[0155] In some embodiments, a displacement detection component a8 is further included to detect the displacement of the hook-shaped component a2. The controller a6 is signal-connected to the displacement detection component a8 and determines whether the speed at which the hook-shaped component a2 retracts towards the inside of the bearing portion a1 is consistent with the speed at which the cargo box a5 moves towards the bearing portion a1. During the process of the hook-shaped component a2 driving the cargo box to move, the movement of the hook-shaped component a2 is synchronized with the movement of the cargo box a5. If the two movements are not synchronized, it indicates that the hook-shaped component a2 may have detached from the cargo box a5.

[0156] In some embodiments, the displacement monitoring component a8 for detecting the displacement of the hook-shaped component a2 includes an encoder.

[0157] In some embodiments, the controller a6 determines whether the hook-shaped component a2 has moved to a predetermined position where it is detached from the cargo box a5 based on the displacement detected by the displacement detection component a8. In this embodiment, after the hook-shaped component a2 pulls the cargo box a5 onto the loading section a1 a predetermined distance, it detaches from the cargo box a5. Then, the cargo box a5 continues to move inward toward the loading section a1 under the drive of the conveyor belt a12 and reaches the final target position. Optionally, after the hook-shaped component a2 drags the cargo box a5 onto the loading section a1, the conveyor belt a12 and the hook-shaped component a2 together move the cargo box a5 toward the inside of the loading section a1. After the cargo box a5 moves to the aforementioned predetermined position, the hook-shaped component a2 detaches from the cargo box a5, and the conveyor belt a12 continues to move the cargo box a5 toward the inside of the loading section a1, finally reaching the target position.

[0158] In some embodiments, the controller a6 is configured to control the distance detection component a4 to scan the side of the cargo box a5 along the arrangement direction of the cargo box a5 or the end face of the cargo box a5 near the cargo box access device along the extension direction of the hook-shaped component a2, and determine whether the cargo box a5 has moved to a predetermined position that is disengaged from the hook-shaped component a2.

[0159] Whether the hook-shaped component a2 has moved to the predetermined position of disengagement from the cargo box a5 is determined by cross-referencing the results detected by the distance detection component a4 and the displacement detection component a8. Optionally, the predetermined position is located in the middle of the cargo section a1 or a position closer to the target position. The distance detection component a4 can determine whether the predetermined position has been reached based on the point cloud data of the side and / or front of the cargo box a5.

[0160] In some embodiments, since the distance detection component a4 is located in the middle of the loading part a1 along the extension direction of the hook-shaped component or near one end of the shelf, after the hook-shaped component is separated from the cargo box a5, the distance detection component a4 can no longer detect the position of the cargo box a5 by scanning the outer end face of the cargo box a5. Therefore, the position of the cargo box a5 can be calculated by scanning the side of the cargo box a5 along the aforementioned cargo box a5 located at one end along the arrangement direction of the cargo box a5.

[0161] In other embodiments, a distance detection component a4 is located at the end of the cargo section a1 furthest from the cargo box a5 along the extension / retraction direction of the hook-shaped component a2. The distance detection component a4 can determine the position of the cargo box a5 in the extension / retraction direction of the hook-shaped component a2 by scanning the outer end face of the cargo box.

[0162] According to another aspect of this disclosure, a method for retrieving a cargo box using a cargo box storage and retrieval device (i.e., storage and retrieval mechanism) in any of the foregoing embodiments of the cargo conveying apparatus is also provided, the method comprising:

[0163] In the moving step, the container storage and retrieval device moves along the arrangement direction of container a5 to the position of container a5 that needs to be retrieved from the shelf;

[0164] In the hooking step, the distance detection component a4 is controlled to scan the cargo box a5 to obtain the distance between the cargo box a5 and the cargo box storage and retrieval device in the extension and retraction direction of the hook-shaped component a2, and the hook-shaped component a2 is controlled to extend outward of the loading part a1 by a predetermined distance to hook the cargo box a5.

[0165] In the pulling step, the hook-shaped component a2 retracts inward toward the cargo section a1 to pull the cargo box a2 toward the cargo section a1.

[0166] After the cargo box storage and retrieval device moves along the horizontal arrangement direction of the cargo boxes a5 to the storage position of the cargo box to be retrieved, the distance detection component a4 detects the position of the cargo box a5 relative to the cargo box storage and retrieval device. Based on the position of the cargo box a5, the hook-shaped component a2 extends a certain distance toward the cargo box a5, thereby improving the problem in related technologies where the hook-shaped component a2 cannot accurately hook the cargo box a5 due to the deviation between the position of the cargo box a5 and the predetermined position.

[0167] After the hook-shaped part a2 extends to the target distance, it moves upward to hook the hook structure at the outer end of the cargo box a5.

[0168] In some embodiments, the moving step further includes: controlling the distance detection component a4 to scan the end face of the cargo box a5 near the end of the cargo box access device along the extension direction of the hook-shaped component a2 (that is, the outer end face of the cargo box a5 facing outward from the shelf) to obtain the distance between the cargo box a5 and the cargo box access device in the arrangement direction of the cargo box a5, and controlling the loading part a1 to move along the arrangement direction according to the distance so that the cargo box access device is aligned with the cargo box a5.

[0169] The distance detection component a4 acquires point cloud data by scanning the outer end face of the cargo box a5. Based on the point cloud data and the trigonometric function calculation method, the distance between the cargo box a5 and the cargo box storage and retrieval device in the arrangement direction of the cargo box a5 and the distance in the extension and retraction direction of the hook-shaped component a2 can be calculated.

[0170] In addition to obtaining the distance between the hook-shaped component a2 and the cargo box storage and retrieval device in the extension and retraction direction of the hook-shaped component a2, the positional relationship between the center of the cargo box a5 and the center of the cargo loading part a1 can also be calculated based on a point cloud line. If there is a large deviation, the horizontal position of the cargo loading part a1 needs to be adjusted so that the hook-shaped component a2 is aligned with the hook structure of the cargo box a5.

[0171] In some embodiments, the hooking step includes controlling the distance detection component a4 to scan the end face of the cargo box a5 near the cargo box access device along the extension direction of the hook-shaped component a2, in order to obtain the distance between the cargo box a5 and the cargo box access device in the extension direction. This improves upon the problem in related technologies where the hook-shaped component a2 cannot accurately hook the cargo box a5 due to deviation between the position of the cargo box a5 and a predetermined position.

[0172] In some embodiments, the control distance detection component a4 scans the end face of the cargo box a5 near the cargo box access device along the extension direction of the hook-shaped component a2 to determine whether the end face is tilted relative to the arrangement direction. The tilt angle of the outer end face of the cargo box a5 relative to the arrangement direction of the cargo box a5 can also be calculated based on a point cloud line. If the tilt angle is too large, the cargo box a5 cannot be retrieved, and an alarm is triggered for manual intervention.

[0173] In some embodiments, the pulling step includes: detecting the moving speed of the cargo box a5 and the moving speed of the hook-shaped component a2, and determining whether the moving speeds of the cargo box a5 and the hook-shaped component a2 are consistent. If the two speeds are inconsistent, it is determined that the hook-shaped component a2 is disengaged from the cargo box a5.

[0174] During the process of the hook-shaped component a2 pulling the cargo box a5 towards the inside of the loading section a1, the hook-shaped component a2 may fail to hook the cargo box a5 securely and become detached. In this case, the hook-shaped component a2 needs to move to re-hook the cargo box a5 and continue pulling the cargo box a5. As shown in Figure 16, during this process, the distance detection component a4 can still scan the outer end face of the cargo box a5. Therefore, it can monitor in real time whether the progress of the cargo box movement is synchronized with the movement of the hook-shaped component a2 detected by the displacement detection component a8. If there is a lack of synchronization, it is determined that the hook has become detached. The position of the hook-shaped component a2 is adjusted using the distance information to hook the cargo box a5 again and continue to retrieve the box.

[0175] In some embodiments, the method further includes: a disengagement step, determining whether the cargo box a5 has moved to a predetermined position where it is disengaged from the hook-shaped component a2, and if the cargo box a5 has moved to the predetermined position where it is disengaged from the hook-shaped component a2, then controlling the hook-shaped component a2 to separate from the cargo box a5.

[0176] In some embodiments, the control distance detection component a4 scans the side of the cargo box a5 along the arrangement direction of the cargo box a5 or the end face of the cargo box a5 near the cargo box access device along the extension direction of the hook-shaped component a2, and determines whether the cargo box a5 has moved to a predetermined position of disengagement from the hook-shaped component a2; and detects the displacement of the hook-shaped component a2 to determine whether the cargo box a5 has moved to a predetermined position of disengagement from the hook-shaped component a2.

[0177] Whether the hook-shaped component a2 has moved to the predetermined position of disengagement from the cargo box a5 is determined by cross-referencing the results detected by the distance detection component a4 and the displacement detection component a8. Optionally, the predetermined position is located in the middle of the cargo section a1 or a position closer to the target position. The distance detection component a4 can determine whether the predetermined position has been reached based on the point cloud data of the side and / or front of the cargo box a5.

[0178] In some embodiments, the control distance detection component a4 scans the side of the cargo box a5 located at one end along the arrangement direction of the cargo box a5 to determine whether the cargo box a5 has moved to the target position of the cargo box a5 on the support part a1.

[0179] The distance detection component a4 scans the side of the cargo box a5 along the arrangement direction of the cargo box a5 to obtain point cloud data to determine whether the target position has been reached. Since the installation position of the distance detection component a4 and the size of the cargo loading part are known, the positional relationship between the entire point cloud data of the side of the cargo box a5 and the distance detection component a4 can be analyzed to determine whether the cargo box a5 has reached the target position and whether it can meet the requirements for safe transportation.

[0180] When a bin is put into storage, the bin retrieval system first uses the retrieving mechanism to move the loading platform to retrieve the bin, then transports it to the target storage location and stores it there. Before storing the bin, it is necessary to determine whether there is a bin at the target storage location. Currently, most methods use a camera on the loading platform to photograph the storage location; if a bin is present (the bin has a QR code), the relevant data can be decoded; if there is no bin, no data is available.

[0181] Research has revealed that during the warehousing process of material bins, it is impossible to determine whether the space size of the target storage location meets the storage requirements. In actual storage operations, storage failures, jamming, and even dropping of material bins are common. Therefore, this disclosure proposes a goods storage method, system, and readable storage medium to improve the success rate of storage. The goods storage method can be implemented based on the storage and retrieval mechanism in the goods conveying device of any of the foregoing embodiments.

[0182] Figure 20 is a schematic diagram of the storage and retrieval mechanism used in an embodiment of the cargo storage method according to the present disclosure. Figure 21 is a schematic diagram of the laser emitted by the laser scanning device of the storage and retrieval mechanism used in an embodiment of the cargo storage method according to the present disclosure.

[0183] Referring to Figure 20, the storage and retrieval mechanism b10 (i.e., the goods storage and retrieval mechanism) is used to transfer goods b20 from the shelf b30 to the storage and retrieval mechanism b10. Goods b20 (see Figure 23) can be pushed from the storage and retrieval mechanism b10 onto the shelf b30 (see Figure 23), and goods b20 can be retrieved from the shelf b30. The storage and retrieval mechanism b10 includes a base b1, a transfer mechanism b3, two or more mounting components b2, and a laser scanning device b4.

[0184] The base b1 is configured to provide support. Each mounting assembly b2 includes a vertical plate b21, a first drive assembly b22, and a second drive assembly b23; the vertical plate b21 is mounted on and supported by the base b1; the first drive assembly b22 is mounted on one side of the vertical plate b21, and the second drive assembly b23 is mounted on the other side of the vertical plate b21; the first bearing surface of the first drive assembly b22 and the second bearing surface of the second drive assembly b23 are at different heights and are parallel.

[0185] The transfer mechanism b3 is mounted on the second drive assembly b23 to move linearly under the drive of the second drive assembly b23. The transfer mechanism b3 itself is configured to be height-adjustable. The first drive assembly b22 is configured to drive the goods b20 to move. The second drive assembly b23 is configured to drive the transfer mechanism b3 to move the goods b20 from the shelf b30 to the first drive assembly b22, or to push the goods b20 located on the first drive assembly b22 into the shelf b30. A laser scanning device b4 is mounted on the mounting assembly b2. In some embodiments, the access mechanism b10 further includes two brackets b24, which are distributed separately and both are located outside the mounting assembly b2.

[0186] Each rack b24 is equipped with a laser scanning device b4. The installation height of the laser scanning device b4 is approximately at the middle height of the goods b20 after they are stored on the shelf b30. With this setting, the laser scanning device b4 scans the flattest area of ​​the goods b20, and the point cloud information obtained by scanning has little interference and high accuracy.

[0187] Referring to Figure 21, the laser scanning device b4 is rotatable around its mounting axis, with a rotation angle ranging from 30° to 360°. The rotation range of the laser scanning device b4 is determined based on the scanning range required in the actual application. In this embodiment, the laser scanning device b4 is 360° rotatable as an example.

[0188] The laser scanning device b4 specifically adopts a single-line lidar. A single-line lidar can form a scanning plane centered on itself, and it has a fast scanning speed, high efficiency, and high accuracy.

[0189] The above describes two modes of movement for goods b20: the first is being moved from shelf b30 to storage mechanism b10, which is a picking operation. The second is being moved from storage mechanism b10 to shelf b30, which is a storage operation.

[0190] The following text focuses on describing the specific methods and steps of storage operations.

[0191] The inventors discovered through research that, under normal circumstances, when goods b20 need to be stored from the storage mechanism b10 onto the shelf b30: goods b20, driven by the first drive component b22, first moves to the edge of the storage mechanism b10; then, the transfer mechanism b3 is moved to a set position by the second drive component b23 and rises, pushing goods b20 away from the first drive component b22. This completes the storage operation. Before performing the above storage operation, if it is not determined whether the storage space on the shelf b30 can properly accommodate goods b20, the storage operation may fail: if the storage space is occupied, or the storage space is too small, goods b20 cannot be stored.

[0192] By using the cargo storage method provided in this disclosure, the success rate of cargo b20 storage can be greatly improved.

[0193] Figure 22 is a flowchart illustrating an embodiment of the cargo storage method according to the present disclosure. Figure 23 is a schematic diagram illustrating the detection of whether a target storage location meets cargo storage requirements according to an embodiment of the cargo storage method according to the present disclosure. Referring to Figure 22, an embodiment of the present disclosure provides a cargo storage method, including the following steps:

[0194] In step S100, the storage mechanism b10 determines the storage coordinates of the target storage location on the shelf b30 based on the obtained storage task; wherein, the storage mechanism b10 carries goods b20.

[0195] In step S100 above, the storage and retrieval mechanism b10 can retrieve the goods first and then obtain the storage coordinates of the target storage location; alternatively, the storage and retrieval mechanism b10 can obtain the storage coordinates of the target storage location first and then retrieve the goods. Here, retrieving the goods refers to moving the goods b20 from components such as the AGV cart onto the storage and retrieval mechanism b10.

[0196] In step S200, the storage and retrieval mechanism b10 moves the goods b20 to the working position corresponding to the target storage location according to the storage coordinates.

[0197] The retrieval mechanism b10 can move horizontally and vertically along the shelf b30. Through the movement of the retrieval mechanism b10, the goods b20 are brought to the working position corresponding to the target storage location. Here, the working position refers to the position where the retrieval mechanism b10 is prepared to push the goods b20 onto the shelf b30. This position can be a precise position or an approximate position. If it is subsequently determined that the position of the retrieval mechanism b10 is insufficient to push the goods b20 to the target storage location on the shelf b30, the position of the retrieval mechanism b10 can be fine-tuned so that the position of the retrieval mechanism b10 precisely corresponds to the position where the goods b20 can be pushed onto the shelf b30.

[0198] In step S300, the storage and retrieval mechanism b10 acquires the point cloud information of the target storage location through laser scanning.

[0199] After the storage and retrieval mechanism b10 moves the goods b20 to the working position, the laser scanning device b4 scans the shelf b30 directly in front of it and obtains the point cloud information of the target storage location.

[0200] Point cloud data refers to the recording of scan results in the form of points, each containing three-dimensional coordinates (X, Y, Z). Depending on the needs, point cloud data may also contain color information (RGB) or reflectance intensity information. The embodiments in this paper primarily utilize coordinate information.

[0201] Step S400: Determine whether the target storage location meets the cargo storage requirements based on the point cloud information of the target storage location.

[0202] Referring to Figure 23, the access mechanism b10 moves from position A to working position B. Each of the two laser scanning devices b4 of the access mechanism b10 can form a scanning plane. The scanning devices of the laser scanning devices b4 can reach the storage location adjacent to the shelf b30. Taking storage location C as the target storage location as an example, the access mechanism b10 stops at working position B, and then the two laser scanning devices b4 of the access mechanism b10 each form a scanning plane, acquiring multiple sets of point cloud information.

[0203] Based on the point cloud information obtained from the scan, calculations can be performed to determine whether the target storage location is occupied and / or the width of the target storage location. The following four methods can be used to determine whether goods b20 can be successfully stored.

[0204] The first approach is to directly move goods b20 to the target storage location if it is not occupied. If the target storage location is occupied, a new target storage location is assigned to goods b20, i.e., the process returns to step S100. This method is highly efficient in determining the location and in the goods receiving operation.

[0205] The second scenario is that if the target storage location is not occupied and the width of the target storage location is greater than the width of the goods b20 to be stored, then the goods b20 can be successfully stored in the target storage location.

[0206] If the calculation determines that the target storage location is occupied, then the target storage location is reassigned to cargo b20, i.e., return to step S100.

[0207] If the width of the target storage location obtained after calculation is less than or equal to the width of goods b20, it means that goods b20 cannot be successfully stored in the warehouse. Then, a target storage location is reassigned to goods b20, i.e., return to step S100.

[0208] Because point cloud information contains a very large amount of data, it's possible to directly calculate whether the target storage location is occupied and whether its width meets the storage requirements. Then, each condition is checked separately; only if both conditions are met can cargo b20 be successfully stored. If either condition is not met, cargo b20 cannot be stored.

[0209] Thirdly, in some embodiments, the following order of judgment can be followed: First, determine whether the target storage location is occupied. If the target storage location is occupied, its width is not calculated further, as an occupied location cannot meet the storage requirements of goods b20. If the target storage location is not occupied, then calculate whether its width is greater than the width of goods b20. Only if the target storage location's width is greater than the width of goods b20 can goods b20 be stored successfully. If the target storage location's width is less than or equal to the width of goods b20, goods b20 will be difficult to store successfully. This method balances warehousing efficiency and success rate.

[0210] Fourthly, in some other embodiments, only the width of the target storage location is calculated, without needing to determine whether the target storage location is occupied. Since the width of the target storage location is greater than the width of the goods b20, it indicates that the target storage location is not occupied. Therefore, the width of the target storage location can be directly calculated based on the point cloud information obtained by the laser scanning device b4. If the width of the target storage location is greater than the width of the goods b20, it means that the goods b20 can be stored successfully. If the width of the target storage location is less than or equal to the width of the goods b20, the goods b20 cannot be stored successfully, and it is necessary to return to step S100 to redetermine the target storage location. This method has higher accuracy in warehousing.

[0211] In some embodiments, the width of the target storage location is calculated as follows:

[0212] In the first scenario, if the laser scanning device b4 is not blocked by the goods b20 located on the storage mechanism b10, and the laser can cover the entire width of the target storage location on the shelf b30, then the width of the target storage location can be calculated directly based on the point cloud information of the target storage location.

[0213] In the second scenario, as shown in Figure 24, the laser scanning device b4 is blocked by the cargo b20 located on the storage mechanism b10, preventing the laser from reaching the target storage location. However, the laser can reach the cargo b20 on both sides of the target storage location. Therefore, the shortest distance between the cargo b20 on both sides of the target storage location in the acquired point cloud information is taken as the width of the target storage location. The red laser lines in Figure 24 represent the two laser beams emitted by the laser scanning device b4 that abut against the edges of the cargo b20 on the storage mechanism b10, clearly illustrating the laser range. Subsequently, the width of the target storage location can be calculated based on the point cloud information corresponding to these two red laser beams.

[0214] In step S500, if the target storage location meets the storage requirements for the goods, the goods b20 are moved to the target storage location.

[0215] Using the cooperation of the first drive component b22, the second drive component b23 and the transfer mechanism b3 of the storage and retrieval mechanism b10 described above, the goods b20 are pushed from the storage and retrieval mechanism b10 to the target storage location, as shown in B of Figure 23.

[0216] After goods b20 are pushed to the target storage location on shelf b30, the position of goods b20 in the target storage location may not meet the requirements. It is possible that goods b20 is not fully pushed into the target storage location, or it is possible that goods b20 is pushed too deep. The former situation may result in goods b20 not being stored properly, and when the storage mechanism b10 subsequently leaves, it may further deviate from the target storage location, or even cause goods b20 to fall. The latter situation may result in goods b20 not being able to be hooked when it needs to be retrieved later, because the moving distance of the hook component of the storage mechanism b10 is preset.

[0217] In some embodiments, the cargo storage method further includes the following steps:

[0218] Step S600: Laser scanning acquires point cloud information of the stored goods b20 in the target storage location.

[0219] After the cargo b20 is pushed to the target storage location, the storage and retrieval mechanism b10 remains in its working position and has not yet left. Therefore, the point cloud information of the stored cargo b20 can be directly obtained by scanning with the laser scanning device b4 of the storage and retrieval mechanism b10.

[0220] Step S700: Determine whether the storage location of cargo b20 meets the requirements based on the point cloud information of cargo b20 at the target storage location.

[0221] Based on the point cloud information of cargo b20, the distance between the laser scanning device b4 and cargo b20 can be obtained. This distance refers to the distance in the extension / retraction direction of the hook assembly of the storage mechanism b10. Based on this distance information, it can be determined whether cargo b20 is stored too deeply or too shallowly. Whether it is stored too deeply or too shallowly, it indicates that the storage location of cargo b20 does not meet the requirements.

[0222] In step S800, if the storage location of goods b20 in the target storage location does not meet the requirements, goods b20 is removed and then moved back to the target storage location.

[0223] The above step S800, when the storage location of goods b20 does not meet the requirements, can greatly improve the accuracy of the storage location of goods b20 and increase the success rate of subsequent outbound operations by retrieving and re-entering goods b20.

[0224] The following describes some other embodiments.

[0225] Figure 25 is a schematic diagram showing the state in which the mechanism is blocked when detecting whether the target storage location is occupied according to an embodiment of the cargo storage method of the present disclosure. Figure 26 is a schematic diagram showing the state in which the mechanism is blocked when detecting whether the target storage location is occupied according to an embodiment of the cargo storage method of the present disclosure.

[0226] Referring to Figures 25 and 26, in step S300 above, since the cargo box is still placed on the storage mechanism b10 when it acquires the point cloud information of the target storage location, the cargo b20 may block the scanning path of the laser scanning device b4. As shown in Figure 25, the red laser cannot reach the target storage location, resulting in the laser scanning failing to obtain complete point cloud information of the target storage location. Therefore, after the step where the storage mechanism b10 acquires the point cloud information of the target storage location through laser scanning, the cargo storage method further includes the following step: moving the position of the cargo b20 carried by the storage mechanism b10 on the storage mechanism b10 so that the cargo b20 is moved away from the target storage location, leaving more scanning space for the laser scanning device b4 to acquire more point cloud information of the target storage location.

[0227] If the data of the target storage location acquired by the laser scanning device b4 is discontinuous, it indicates that the cargo b20 is blocking the laser emitted by the laser scanning device b4. If the cargo b20 is located on the laser path, as shown in Figure 26(a), the position of the cargo b20 carried by the storage mechanism b10 on the storage mechanism b10 is moved so that the cargo b20 avoids the laser path. The cargo b20 is placed on the first drive component b22 of the storage mechanism b10. Activating the first drive component b22 changes the position of the cargo b20 on the storage mechanism b10, causing the cargo b20 to move backward to the position shown in Figure 26(b). The laser emitted by the laser scanning device b4 is no longer blocked by the cargo b20, and the laser scanning device b4 can successfully acquire the point cloud information of the target storage location.

[0228] After obtaining the point cloud information of the target storage location, it can be calculated whether the target storage location is occupied. Of course, the width of the target storage location can also be calculated.

[0229] Figure 27 is a schematic diagram of determining the height of goods on the storage mechanism according to an embodiment of the goods storage method of the present disclosure. Figure 28 is a schematic diagram of the state of determining the height of goods on the storage mechanism according to an embodiment of the goods storage method of the present disclosure.

[0230] Referring to Figures 27 and 28, in some embodiments, the working position of the access mechanism b10 may not be at a height that matches the height of the target storage location. Therefore, in addition to determining whether the target storage location meets the storage requirements of goods b20, it is also necessary to determine whether the height of goods b20 on the storage mechanism matches the height of the target storage location. Only when the two match can the access mechanism b10 successfully push goods b20 into the target storage location. Otherwise, if the height of goods b20 is lower than the height of the target storage location, goods b20 may be stuck outside the target storage location and unable to enter. Therefore, in some embodiments, the goods storage method further includes the following steps:

[0231] In step S900, the storage and retrieval mechanism b10 acquires the height information of the target storage location through laser scanning. The scanning plane of the laser scanning device b4 described above is basically parallel to the horizontal plane. In order to acquire the height information of the target storage location, a laser scanning device b5 with a vertical scanning plane can be set up to acquire the height information of the target storage location.

[0232] In step S900 above, referring to Figure 28, the storage and retrieval mechanism b10 obtains the height information of the target storage location through laser scanning, specifically including the following steps:

[0233] First, when the access mechanism b10 reaches the vicinity of the target storage location using the encoder, it acquires the point cloud information of the storage location beam b31 in front of the target storage location using the side laser scanning device b5 installed on the access mechanism b10. When the access mechanism b10 is in the working position, the beam b31 closest to the access mechanism b10 is the beam of the target storage location. Alternatively, when in the working position, it acquires the point cloud information of multiple beams of the shelf b30 closest to the access mechanism b10, such as three, five, or seven beams. Among these beams, the beam located in the exact middle of the shelf height direction is the beam b31 of the target storage location.

[0234] Secondly, the height information of the target storage location is calculated based on the point cloud information of the crossbeam b31. In other embodiments, the height deviation between the target storage location and the bearing surface of the storage mechanism b10 used to carry the goods b20 is calculated based on the point cloud information of the crossbeam b31, and the storage mechanism b10 is used to determine whether the goods b20 can be successfully stored in the warehouse based on the deviation.

[0235] The ideal box delivery height of the storage and retrieval mechanism b10 is calculated based on the point cloud information of the obtained beam b31. Based on this delivery height, the storage and retrieval mechanism b10 is controlled to move to the designated position to ensure the safety and reliability of goods entering the warehouse.

[0236] Step S1000: Based on the height information of the target storage location, calculate whether the height of the bearing surface of the storage mechanism b10 used to carry the goods b20 matches the height of the target storage location.

[0237] In step S1100, if the height of the bearing surface of the storage mechanism b10 used to carry the goods b20 matches the height of the target storage location, then the goods b20 carried by the storage mechanism b10 are moved to the target storage location.

[0238] In step S1200, if the height of the bearing surface of the storage mechanism b10 used to carry the goods b20 does not match the height of the target storage location, the height of the storage mechanism b10 is adjusted until the height of the bearing surface of the storage mechanism b10 used to carry the goods b20 matches the height of the target storage location.

[0239] As described above, the access mechanism b10 can move vertically or horizontally, which is equivalent to the shelf b30. By moving the access mechanism b10 vertically along the shelf b30, the height of the access mechanism b10 can be changed.

[0240] This disclosure provides a cargo storage system, including a memory and a processor coupled to the memory, the processor being configured to execute the cargo storage method of any of the foregoing embodiments based on instructions stored in the memory.

[0241] Memory may include, for example, system memory, fixed non-volatile storage media, etc. System memory may store, for example, the operating system, application programs, boot loader, and other programs.

[0242] Some embodiments of this disclosure also provide a computer-readable storage medium having a computer program stored thereon. When executed by a processor, the program implements the cargo storage method of any of the above embodiments.

[0243] The processors described herein may include general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general-purpose processor may be a microprocessor, but in alternatives, it may be any conventional processor, controller, microcontroller, or state machine. The processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors cooperating with a DSP core, or any other such configuration.

[0244] Storage media can be any available medium that can be accessed by a computer. By way of example and not limitation, such computer-readable media may include RAM, ROM, EEPROM, CD-ROM or other optical disc storage, disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Any connection is also properly referred to as computer-readable media. For example, if software is transmitted from a website, server, or other remote source using coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwave, then such coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of media. As used herein, disk and disc include compact discs (CDs), laser discs, optical discs, digital multi-purpose discs (DVDs), floppy disks, and Blu-ray discs, where disks typically reproduce data magnetically, and discs reproduce data optically using lasers. Combinations of the above should also be included within the scope of computer-readable media.

[0245] Those skilled in the art will understand that the method embodiments of this disclosure can be provided as a method, system, or computer program product. Therefore, this disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this disclosure can take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. The above embodiments of the cargo conveying device of this disclosure are applicable to various warehousing and logistics systems; therefore, in one aspect of this disclosure, a warehousing and logistics system is also provided, including: a rack and the cargo conveying device of any of the foregoing embodiments.

[0246] The embodiments of this disclosure have now been described in detail. To avoid obscuring the concept of this disclosure, some details known in the art have not been described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein based on the above description.

[0247] While specific embodiments of this disclosure have been described in detail by way of examples, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of this disclosure. Those skilled in the art should understand that modifications can be made to the above embodiments or equivalent substitutions can be made to some technical features without departing from the scope and spirit of this disclosure. The scope of this disclosure is defined by the appended claims.

Claims

1. A goods conveying device for a shelf, comprising: The storage and retrieval mechanism is configured to store goods in shelf locations on the shelf or retrieve goods from the shelf locations; A drive mechanism, connected to the access mechanism, is configured to drive the access mechanism to move relative to the shelf; and A first lidar, mounted on the storage mechanism, is configured to scan the shelf storage locations so that the storage mechanism can store and retrieve goods.

2. The cargo conveying device according to claim 1, wherein, The storage and retrieval mechanism has a carrying portion for carrying goods, and the first lidar is located on at least one side of the carrying portion along a first direction, which intersects the goods storage and retrieval direction of the storage and retrieval mechanism.

3. The cargo conveying device according to claim 2, wherein, The drive mechanism is configured to drive the access mechanism to move relative to the shelf in at least one direction parallel to a reference plane, the reference plane being parallel to both the first direction and the vertical direction.

4. The cargo conveying device according to claim 2 or 3, wherein, The first direction is perpendicular to the cargo access direction of the access mechanism and parallel to the horizontal plane.

5. The cargo conveying device according to any one of claims 2-4, wherein, The cargo conveying device includes two sets of first lidar, each set of first lidar including one or more first lidar, and the two sets of first lidar are respectively located on both sides of the bearing part along the first direction.

6. The cargo conveying device according to claim 5, wherein, The two sets of first lidars are spaced at the same distance from the support in the first direction and are installed at the same height in the vertical direction.

7. The cargo conveying device according to any one of claims 1-6, wherein, The rotating scanning plane formed by the first lidar is parallel to the horizontal plane.

8. The cargo conveying device according to any one of claims 1-7, wherein, The first lidar is configured to perform at least one of the following operations: Point cloud data of the surface of the goods is obtained by scanning the goods in the shelf storage location to be picked up on the shelf, so as to determine the distance between the goods and the storage mechanism in the goods storage and retrieval direction of the storage mechanism. By scanning the shelf locations on the shelves where goods are to be stored, it can be determined whether the shelf locations are already occupied. By scanning at least one shelf storage location adjacent to the shelf storage location to be stored, point cloud data of the surface of the goods in the adjacent shelf storage location is obtained, so as to determine whether the space separated by the goods in the adjacent shelf storage location has sufficient space to store the goods.

9. The cargo conveying device according to any one of claims 1-8, further comprising: A second lidar is mounted on the access mechanism and configured to scan the underside of the access mechanism to determine whether there are foreign objects on the underside of the access mechanism.

10. The cargo conveying device according to claim 9, wherein, The storage and retrieval mechanism has a carrying section for carrying goods, and the second lidar is located on the lower side of the carrying section.

11. The cargo conveying device according to claim 9 or 10, wherein, The rotating scanning plane formed by the second lidar is perpendicular to the horizontal plane.

12. The cargo conveying device according to claim 11, wherein, The drive mechanism is configured to drive the access mechanism to move relative to the shelf in at least one direction parallel to the reference plane, wherein the rotating scanning plane formed by the second lidar is parallel to the reference plane.

13. The cargo conveying device according to any one of claims 1-12, further comprising: A third lidar, mounted on the access mechanism, is configured to scan the vertical multi-level shelving locations of the shelf.

14. The cargo conveying device according to claim 13, wherein, The rotating scanning plane or rotating scanning arc surface formed by the third lidar is configured to cover the height range of all shelf storage positions of the shelf.

15. The cargo conveying device according to claim 13 or 14, wherein, The third lidar is located on at least one side of the access mechanism along a first direction, and the drive mechanism is configured to drive the access mechanism to move relative to the shelf in at least one direction parallel to a reference plane, the first direction intersecting the goods access direction of the access mechanism, and the reference plane being configured to pass through the crossbeams of the multi-level shelf storage positions of the shelf in the vertical direction. Wherein, the rotating scanning plane formed by the third lidar is perpendicular to the reference plane; or, the rotating scanning plane or rotating scanning arc surface formed by the third lidar intersects the reference plane at an angle, and the intersection position is located outside the access mechanism.

16. The cargo conveying device according to claim 15, wherein, The cargo conveying device includes two sets of third lidar, each set of third lidar including one or more third lidar, and the two sets of third lidar are respectively located on both sides of the storage and retrieval mechanism along the first direction.

17. The cargo conveying device according to claim 15 or 16, wherein, The third lidar is configured to perform at least one of the following operations: Inspection is performed by scanning the vertical multi-level storage locations of the shelving to determine whether there are any abnormal conditions in each level of storage location; The height information of the beams of each shelf storage location is obtained by scanning the multi-layer shelf storage locations in the vertical direction, so that the drive mechanism can perform height positioning of the storage and retrieval mechanism.

18. The cargo conveying device according to claim 1, wherein, The access mechanism includes: The cargo section has a bearing surface for carrying cargo boxes and is configured to move along the arrangement direction of the plurality of cargo boxes; The hook-shaped component can extend outward relative to the cargo section to hook a box that needs to be removed from the shelf, or retract inward relative to the cargo section to pull the box toward the cargo section. The first drive unit is configured to drive the hook-shaped component to extend and retract relative to the cargo section; The second drive unit is configured to drive the cargo unit to move along the arrangement direction of the cargo box; A distance detection component is configured to scan the cargo box in a plane parallel to the bearing surface to detect the position of the cargo box relative to the access mechanism; The controller is signal-connected to the first drive unit, the second drive unit, and the distance detection unit, respectively, and is configured to control the cargo loading unit to move along the arrangement direction according to the position of the cargo box relative to the storage mechanism to align the storage mechanism with the cargo box, or to control the hook-shaped member to extend outward of the cargo loading unit by a certain distance to hook the cargo box.

19. The cargo conveying device according to claim 18, wherein, The controller is configured to control the distance detection component to scan the end face of the cargo box near the storage mechanism along the extension direction of the hook-shaped component, in order to obtain the distance between the cargo box and the storage mechanism in the extension direction, and to control the distance by which the hook-shaped component extends outward from the cargo section based on the distance.

20. The cargo conveying device according to claim 18 or 19, wherein, The controller is configured to control the distance detection component to scan the end face of the cargo box near the end of the storage mechanism along the extension direction of the hook-shaped component, in order to obtain the distance between the cargo box to be removed from the shelf and the storage mechanism in the cargo box arrangement direction, and to control the loading part to move along the arrangement direction according to the distance so that the storage mechanism is aligned with the cargo box.

21. The cargo conveying device according to any one of claims 18-20, wherein, The controller is configured to control the distance detection component to scan the end face of the cargo box near the end of the access mechanism along the extension direction of the hook-shaped component, in order to determine whether the end face is tilted relative to the arrangement direction.

22. The cargo conveying device according to any one of claims 18-21, wherein, The access mechanism further includes a displacement detection component for detecting the displacement of the hook-shaped component. The controller is signal-connected to the displacement detection component and determines whether the speed at which the hook-shaped component retracts towards the inside of the cargo compartment is consistent with the speed at which the cargo box moves towards the cargo compartment.

23. The cargo conveying device according to claim 22, wherein, The controller determines whether the hook-shaped component has moved to a predetermined position detached from the cargo box based on the displacement detected by the displacement detection component.

24. The cargo conveying device according to any one of claims 18-23, wherein, The controller is configured to control the distance detection component to scan the side of the cargo box located at one end along the arrangement direction of the cargo box or the end face of the cargo box near the access mechanism along the extension direction of the hook-shaped component, in order to determine whether the cargo box has moved to a predetermined position disengaged from the hook-shaped component.

25. A method for retrieving a cargo box based on the storage and retrieval mechanism in a cargo conveying device according to any one of claims 18 to 24, comprising: The moving step includes controlling the storage and retrieval mechanism to move along the arrangement direction of the boxes to the position of the box to be retrieved from the shelf; The hooking step includes controlling the distance detection component to scan the cargo box to obtain the distance between the cargo box and the storage mechanism in the extension direction of the hook-shaped component, and controlling the distance by which the hook-shaped component extends outward from the cargo-carrying part to hook the cargo box according to the distance. The pulling step includes controlling the hook-shaped component to retract inward toward the cargo compartment to pull the cargo box toward the cargo compartment.

26. The method of claim 25, wherein, The moving step also includes: The distance detection component is controlled to scan the end face of the cargo box near the storage mechanism along the extension direction of the hook-shaped component to obtain the distance between the cargo box and the storage mechanism in the cargo box's arrangement direction, and the cargo-carrying part is controlled to move along the arrangement direction based on the distance so that the storage mechanism is aligned with the cargo box.

27. The method according to claim 25 or 26, wherein, The hooking step includes controlling the distance detection component to scan the end face of the cargo box near the storage mechanism along the extension direction of the hook-shaped component, in order to obtain the distance between the cargo box and the storage mechanism in the extension direction.

28. The method according to any one of claims 25-27, wherein, The distance detection component is controlled to scan the end face of the cargo box near the storage mechanism along the extension and retraction direction of the hook-shaped component to determine whether the end face is tilted relative to the arrangement direction.

29. The method according to any one of claims 25-28, wherein, The pulling step includes: The movement speed of the cargo box and the movement speed of the hook-shaped component are detected, and it is determined whether the movement speeds of the cargo box and the hook-shaped component are consistent. If the two speeds are inconsistent, it is determined that the hook-shaped component has detached from the cargo box.

30. The method according to any one of claims 25-29, further comprising: In the unhooking step, it is determined whether the cargo box has moved to a predetermined position where it is detached from the hook-shaped component. If the cargo box has moved to the predetermined position where it is detached from the hook-shaped component, the hook-shaped component is controlled to separate from the cargo box.

31. The method according to claim 30, wherein, The distance detection component is controlled to scan the side of the cargo box located at one end along the arrangement direction of the cargo box or the end face of the cargo box near the storage mechanism along the extension direction of the hook-shaped component, and to determine whether the cargo box has moved to a predetermined position where it is disengaged from the hook-shaped component. The displacement of the hook-shaped component is detected to determine whether the cargo box has moved to a predetermined position where it is disengaged from the hook-shaped component.

32. The method according to claim 30 or 31, wherein, The distance detection component is controlled to scan the side of the cargo box located at one end along the cargo box's arrangement direction to determine whether the cargo box has moved to the target position on the cargo loading section.

33. A method for storing goods based on the storage and retrieval mechanism in a goods conveying device according to any one of claims 1 to 24, comprising the following steps: The storage and retrieval mechanism determines the storage coordinates of the target storage location on the shelf based on the acquired storage box task; wherein, the storage and retrieval mechanism carries goods; The storage and retrieval mechanism moves the goods to the working position corresponding to the target storage location according to the storage coordinates; The access mechanism acquires point cloud information of the target storage location through laser scanning; Determine whether the target storage location meets the cargo storage requirements based on the point cloud information of the target storage location; If the target storage location meets the storage requirements, the goods are moved from the storage mechanism to the target storage location on the shelf.

34. The method according to claim 33, wherein, The step of determining whether the target storage location meets the cargo storage requirements based on the point cloud information of the target storage location specifically includes the following steps: Based on the point cloud information of the target storage location, determine whether the target storage location has been occupied, and / or calculate that the width of the target storage location is greater than the width of the goods; If the target storage location is not occupied, and / or the width of the target storage location is greater than the width of the goods, then the target storage location meets the storage requirements for the goods.

35. The method according to claim 34, wherein, The width of the target storage location is calculated as follows: The width of the target storage location is calculated based on the point cloud information of the target storage location; or, the shortest distance between the goods on both sides of the target storage location in the point cloud information of the target storage location is taken as the width of the target storage location.

36. The method according to claim 34 or 35, further comprising the step of: If the target storage location is occupied, the target storage location will be reassigned to the goods.

37. The method according to any one of claims 34-36, further comprising the step of: If the width of the target storage location is less than or equal to the width of the goods, then the target storage location is reassigned to the goods.

38. The method according to any one of claims 33-37, further comprising the step of: The laser scan acquires the point cloud information of the stored goods at the target storage location; Based on the point cloud information of the goods, determine whether the storage location of the goods in the target storage location meets the requirements; If the storage location of the goods in the target storage location does not meet the requirements, the goods shall be removed and then moved back to the target storage location.

39. The method according to any one of claims 33-38, wherein, After the step of the access mechanism acquiring the point cloud information of the target storage location through laser scanning, the following steps are also included: Move the position of the goods carried by the access mechanism on the access mechanism so that the goods are away from the target storage location.

40. The method according to any one of claims 33-39, further comprising the step of: The access mechanism obtains the height information of the target storage location through laser scanning; Based on the height information of the target storage location, calculate whether the height of the bearing surface of the storage and retrieval mechanism used to support the goods matches the height of the target storage location; If the height of the carrying surface of the access mechanism used to carry the goods matches the height of the target storage location, then the goods carried by the access mechanism are moved into the target storage location.

41. The method of claim 40, further comprising the step of: If the height of the bearing surface of the storage mechanism used to carry the goods does not match the height of the target storage location, the height of the storage mechanism is adjusted until the height of the bearing surface of the storage mechanism used to carry the goods matches the height of the target storage location.

42. The method according to claim 40 or 41, wherein, The access mechanism obtains the height information of the target storage location through laser scanning, specifically including the following steps: At the working position, acquire point cloud information of the beam relative to the target storage location; The height information of the target storage location is calculated based on the point cloud information of the crossbeam.

43. A cargo storage system, comprising: Memory; and A processor coupled to the memory, the processor being configured to execute the cargo storage method as described in any one of claims 33 to 42 based on instructions stored in the memory.

44. A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the cargo storage method as described in any one of claims 33 to 42.

45. A warehousing and logistics system, comprising: Shelves; and The cargo conveying device according to any one of claims 1-24.

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