CN116692320A - Intelligent goods shelf sorting robot and control method - Google Patents

Abstract

The application relates to an intelligent goods shelf arranging robot and a control method, wherein the robot comprises a moving module, a container carrying module and a detecting module, wherein the container carrying module is fixed on the moving module, a rotating shaft and a rotating motor are arranged between the detecting module and the container carrying module, the rotating motor is in driving connection with the rotating shaft, one end of the rotating shaft is connected with the detecting module, and the other end of the rotating shaft is connected with the container carrying module. Compared with the prior art, the application has the advantages of simple operation, flexible movement and the like.

Description

Intelligent goods shelf sorting robot and control method

Technical Field

The application relates to the technical field of shelf finishing devices, in particular to an intelligent shelf finishing robot and a control method.

Background

The goods shelves are important tools for improving efficiency of modern warehouses, not only drive the development of local economy, but also bring new management concepts and management technologies, because the increase in production and the increase in capacity of enterprises are increasingly emphasized, the standardization and the high efficiency of the enterprise warehouses are increasingly emphasized, and the intelligent goods shelves are utilized to arrange robots in the use process of the goods shelves, so that manpower and material resources can be greatly saved, and the operation cost of the enterprises is reduced to a certain extent.

In the prior art, some goods shelves arrangement robots are provided, but most of the robots run on fixed rails, lack autonomous navigation capability, only can be responsible for goods shelves arrangement in fixed areas, and due to poor driving effect of a push rod, gaps often exist between placed containers, so that the placement is not orderly, not only the working efficiency is reduced, but also the use experience is influenced.

As chinese patent CN212265851U discloses a goods shelves arrangement robot with autonomous navigation function, its structure includes the organism, the power cord, the universal wheel, control switch, first loading board and camera, through having set up supplementary arrangement part at the organism right-hand member middle part, through control switch start motor, the motor drives actuating mechanism and moves, actuating mechanism drives the push rod and moves, the push rod drives the push pedal and moves, the push pedal promotes the packing box on the goods shelves, make the space between the packing box disappear, through having set up actuating mechanism in the middle part in the shell, it rotates to drive the pivot through the motor, the pivot drives the movable block and rotates, the movable block drives the slider and slides in spout one side, make the slider drive movable plate activity, the movable plate drives the push rod and moves.

However, in the prior art, when the robot path planning is performed through the camera component, only the area right in front of the robot can be detected, other areas need to be detected through the whole rotation of the robot, the detection of the cargo area by the robot is not facilitated, the intelligent planning of the moving path of the robot is further not facilitated, the energy consumption of the robot is further increased, and the cruising duration of the robot is shortened; on the other hand, in the prior art, the intelligent robot can only place a container on a goods shelf with a specific height, and the existing goods shelf generally comprises a plurality of partition boards with different heights, so that the application range is narrow, and the practicability is not strong.

Disclosure of Invention

The application aims to overcome the defects that in the prior art, when a robot path is planned through a camera component, only the area right in front of the robot can be detected, the detection of cargo area by the robot is not facilitated, and further the intelligent planning of a moving path by the robot is not facilitated.

The aim of the application can be achieved by the following technical scheme:

the utility model provides an intelligent goods shelves arrangement robot, includes movable module, packing box transport module and detection module, packing box transport module fixes on movable module, be equipped with rotation axis and rotating electrical machines between detection module and the packing box transport module, the rotation axis is connected in the rotating electrical machines drive, detection module is connected to the one end of rotation axis, and packing box transport module is connected to the other end.

Preferably, the cargo box handling module includes a backbone component, a first gripping arm, a second gripping arm, a first load board, and a second load board;

the first bearing plate and the second bearing plate are vertically fixed on one side of the main component, the main component is vertically fixed at one end of the mobile module, the first bearing plate is attached to the upper surface of the mobile module, and the first clamping arm and the second clamping arm are symmetrically fixed on two sides of the main component and are located above the second bearing plate.

Preferably, the trunk component comprises a first trunk member, a telescopic shaft and a second trunk member which are sequentially connected;

one end of the first trunk component is fixed on the mobile module, the other end of the first trunk component is connected with the lower end of the telescopic shaft, the second trunk component is connected with the upper end of the telescopic shaft, and the second bearing plate, the first clamping arm and the second clamping arm are all fixed on the second trunk component.

Preferably, the first clamping arm and the second clamping arm are of a swing arm structure, and the swing arm structure comprises a first swing arm, a second swing arm, a clamping plate and a connecting rod;

the connecting rod is fixed on the trunk part, the connecting rod is connected in rotatable one end of first swing arm, and the second swing arm is connected in rotatable the other end, the rotatable online splint of second swing arm.

Preferably, the first swing arm is connected with the second swing arm through a hinge, the second swing arm is connected with the clamping plate through a hinge, and one side of the clamping plate is connected with a rubber pad.

Preferably, the container handling module further comprises an auxiliary collating component comprising a pushing shaft motor, a pushing shaft, a pushing plate and a pressure sensor;

the pushing shaft motor is fixed on the main component, the pushing shaft motor is in driving connection with the pushing shaft, the pushing plate is fixed at one end of the pushing shaft, and the pressure sensor is fixed on the front surface of the pushing shaft.

Preferably, the detection module comprises a box body, the box body is fixed at the upper end of the rotating shaft, the front end of the box body is provided with a camera shooting fixing hole, and a high-definition camera and an infrared camera are fixed in the camera shooting fixing hole.

Preferably, the mobile module comprises a chassis, a driving wheel, a driven wheel, a driving motor, a control module and a power supply bin for supplying power to the device, wherein the driving wheel is rotatably fixed at the rear end of the chassis, the driving motor is in driving connection with the driving wheel, the control module is connected with the driving motor, the driven wheel is fixed at the front end of the chassis, and the driven wheel is a universal wheel.

Preferably, the mobile module further comprises a monocular camera, a depth camera and an ultrasonic sensor;

the monocular camera, the depth camera and the ultrasonic sensors are all fixed at the front end of the chassis and are all connected with the control module, and the number of the ultrasonic sensors is multiple.

Preferably, the front end of the mobile module is also provided with an infrared sensor, and the infrared sensor is connected with the control module.

The scheme also provides a control method of the intelligent shelf sorting robot, which comprises the following steps:

s1: the robot moves in the area, the area information is acquired in real time through the high-definition camera, the area where the container exists is set as a target area, and the step S2 is executed;

s2: acquiring image data of a monocular camera and a depth camera at the moment, positioning a target area, and moving a robot to the target area;

s3: the control module controls the first clamping arm and the second clamping arm to approach and clamp the container, and then the container is placed on the first bearing plate or the second bearing plate, and the step S4 is executed;

s4: acquiring image data of the monocular camera and the depth camera again, positioning the area of the target goods shelf, and executing step S5 before the robot moves to the goods shelf;

s5: the cargo box on the first bearing plate or the second bearing plate is placed on the goods shelf through the clamping plates, the first swing arm and the second swing arm, the cargo box is pushed through the auxiliary arrangement part, gaps among the cargo boxes are eliminated, and goods shelf arrangement is completed.

Compared with the prior art, the application has the following advantages:

1. according to the scheme, the rotating motor drives the rotating shaft to rotate, and then the detection module above the rotating shaft is driven to rotate, so that the detection module can detect and shoot the peripheral area of the robot under the condition that the robot does not move, the movement path after the robot planning is carried out, and the movement module drives the robot to move and places a container on a corresponding goods shelf through the container carrying module. The rotation shaft drives the detection module to detect the wider area around the robot so as to make a more comprehensive action plan, and the action of the movement module is safer and more reasonable, meanwhile, the movement of the movement module is reduced, the energy consumption of the robot is reduced, and the service time of the device is prolonged.

2. According to the scheme, the second bearing plate, the first clamping arm and the second clamping arm are fixed on the second trunk component of the trunk component, the height of the second trunk component is adjusted through the telescopic shaft, the height of a container on the second bearing plate is further adjusted, the container is placed on shelves of different heights, the defect that a traditional shelf arranging robot is arranged in arrangement height is overcome, and arrangement of the containers on shelves of different heights is achieved.

3. According to the goods shelf sorting robot, the driving wheel and the universal driven wheel are used for controlling the movement of the robot, so that the limitation of moving to a range by utilizing the fixed track is avoided, and the robot can be moved to the goods shelves at a plurality of different positions to sort containers.

4. According to the scheme, the ultrasonic sensor is arranged at the front end of the robot base, the plurality of cameras are combined to obtain the situation on the moving route of the robot, the robot is helped to do moving route planning, obstacle avoidance capability is provided for the robot, and the efficiency of the robot in arrangement and in going to a target area is ensured.

Drawings

Fig. 1 is a front view of a robot provided by the present application;

fig. 2 is a left side view of the robot provided by the present application;

FIG. 3 is a schematic view of the structure of the auxiliary finishing member provided by the present application;

in the figure: 1. a moving module 2, a container carrying module 3, a detecting module 4, a rotating shaft 5, a rotating motor 6, a main component 7, a first clamping arm 8 and a second clamping arm, 9, a first bearing plate, 10, a second bearing plate, 11, a first swing arm, 12, a second swing arm, 13, a clamping plate, 14, a connecting rod, 15 and an auxiliary finishing component; 101. chassis, 102, driving wheel, 103, driven wheel, 104, monocular camera, 105, depth camera, 106, ultrasonic sensor, 107, infrared sensor; 31. the device comprises a box body, 32, a high-definition camera, 33, an infrared camera, 61, a first trunk member, 62, a telescopic shaft, 63, a second trunk member, 151, a pushing shaft motor, 152, a pushing shaft, 153, a pushing plate, 154 and a pressure sensor.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

In the description of the present application, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships conventionally put in use of the inventive product, are merely for convenience of describing the present application and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present application.

It should be noted that the terms "first," "second," and "second" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying a number of technical features being indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

Furthermore, the terms "horizontal," "vertical," and the like do not denote a requirement that the component be absolutely horizontal or overhang, but rather may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

Example 1

This implementation provides an intelligent goods shelves arrangement robot, including moving module 1, packing box transport module 2 and detection module 3, packing box transport module 2 is fixed on moving module 1, is equipped with rotation axis 4 and rotating electrical machines 5 between detection module 3 and the packing box transport module 2, and rotation axis 4 is connected in the driving of rotating electrical machines 5, and detection module 3 is connected to rotation axis 4's one end, and packing box transport module 2 is connected to the other end.

Working principle: the rotating motor 5 drives the rotating shaft 4 to rotate, and then the detection module 3 above the rotating shaft 4 is driven to rotate, so that the detection module 3 can detect and shoot the peripheral area of the robot under the condition that the robot does not move, the moving module 1 drives the robot to move along the action path after the robot planning, and the container is placed on a corresponding goods shelf through the container carrying module 2.

This scheme drives rotation axis 4 through rotating electrical machines 5 and rotates, and then drives the detection module 3 of rotation axis 4 top and rotate, makes detection module 3 can detect the peripheral region of robot under the condition that the robot does not remove and shoots, and the action path after the robot planning, and movement module 1 drives the robot and removes to place the goods shelves that correspond with the packing box through packing box transport module 2. The rotation shaft 4 drives the detection module 3 to detect a wider area around the robot so as to make a more comprehensive action plan, and the action of the mobile module is safer and more reasonable, meanwhile, the movement of the mobile module 1 is reduced, the energy consumption of the robot is reduced, and the service time of the device is prolonged.

As a preferred embodiment, the container handling module 2 comprises a backbone component 6, a first gripping arm 7, a second gripping arm 8, a first load-bearing plate 9 and a second load-bearing plate 10;

the first bearing plate 9 and the second bearing plate 10 are vertically fixed on one side of the main component 6, the main component 6 is vertically fixed on one end of the mobile module 1, the first bearing plate 9 is abutted against the upper surface of the mobile module 1, and the first clamping arm 7 and the second clamping arm 8 are symmetrically fixed on two sides of the main component 6 and are located above the second bearing plate 10.

Through getting arm and second clamp with second loading board, first clamp and getting the arm and fix on the second truck member of backbone part, through the height of telescopic shaft adjustment second truck member, and then adjust the height of packing box on the second loading board, place the packing box on the goods shelves of different co-altitude, overcome traditional goods shelves arrangement robot not enough on the arrangement height, realize carrying out the arrangement to the packing box on the goods shelves of different co-altitude.

Specifically, the trunk part 6 includes a first trunk member 61, a telescopic shaft 62, and a second trunk member 63 connected in this order;

one end of the first trunk member 61 is fixed on the mobile module 1, the other end is connected with the lower end of the telescopic shaft 62, the second trunk member 63 is connected with the upper end of the telescopic shaft 62, and the second bearing plate 10, the first clamping arm 7 and the second clamping arm 8 are all fixed on the second trunk member 63.

The first clamping arm 7 and the second clamping arm 8 are of swing arm structures, and the swing arm structures comprise a first swing arm 11, a second swing arm 12, a clamping plate 13 and a connecting rod 14;

the connecting rod 14 is fixed on the trunk part 6, one end of the first swing arm 11 is rotatably connected with the connecting rod 14, the other end is rotatably connected with the second swing arm 12, and the second swing arm 12 is rotatably connected with the online clamping plate 13.

The first swing arm 11 is connected with the second swing arm 12 through the hinge, the second swing arm 12 is connected with the clamping plate 13 through the hinge, and one side of the clamping plate 13 is connected with a rubber pad. The friction force between the clamping plate 13 and the container is increased, and the first swing arm 11 and the second swing arm 12 can transfer the container more stably.

Specifically, the cargo box handling module 2 further includes an auxiliary finishing member 15, and the auxiliary finishing member 15 includes a pushing shaft motor 151, a pushing shaft 152, a push plate 153, and a pressure sensor 154;

the pushing shaft motor 151 is fixed on the main body part 6, the pushing shaft motor 151 is in driving connection with the pushing shaft 152, the pushing plate 153 is fixed at one end of the pushing shaft 152, and the pressure sensor 154 is fixed on the front surface of the pushing shaft 152.

The pushing shaft motor 151 is connected with the pushing shaft 152 in a driving way, the pushing plate 153 is driven to push the container on the first bearing plate 9, and when the value of the pressure sensor 154 fixed on the front surface of the pushing plate 153 is higher than the pressure threshold value, the clearance between the containers is determined to disappear, so that the container is placed completely.

The detection module 3 comprises a box body 31, the box body 31 is fixed at the upper end of the rotary shaft 4, a camera shooting fixing hole is formed in the front end of the box body 31, and a high-definition camera 32 and an infrared camera 33 are fixed in the camera shooting fixing hole.

The mobile module 1 comprises a chassis 101, a driving wheel 102, a driven wheel 103, a driving motor, a control module and a power supply bin for supplying power to the device, wherein the driving wheel 102 is rotatably fixed at the rear end of the chassis 101, the driving motor is in driving connection with the driving wheel 102, the control module is connected with the driving motor, the driven wheel 103 is fixed at the front end of the chassis 101, and the driven wheel 103 is a universal wheel.

The mobile module 1 further comprises a monocular camera 104, a depth camera 105 and an ultrasonic sensor 106;

the monocular camera 104, the depth camera 105 and the ultrasonic sensor 106 are all fixed at the front end of the chassis 101 and are all connected with the control module, and the number of the ultrasonic sensors 106 is a plurality.

The front end of the mobile module 1 is also provided with an infrared sensor 107, and the infrared sensor 107 is connected with the control module.

In combination with the above preferred embodiments, the present embodiment provides an optimal implementation, specifically including being an intelligent goods shelves arrangement robot that vision-based multisensor fuses, including robot chassis, camera group and sensor group all set up in the robot body outside, and camera group includes depth camera, monocular camera, infrared camera and high definition camera, and sensor group includes ultrasonic sensor, infrared sensor and pressure sensor, and this internal control system that is equipped with of robot, and control system connects camera group and sensor group.

As shown in fig. 1, the box 31 is disposed above the robot body, the robot body is provided with a rotation shaft 4 and a rotation motor 5 for driving the rotation shaft 4, a through hole for the rotation shaft 4 to pass through is formed in the center of the robot body, the box 31 is fixed at one end of the rotation shaft 4 passing through the through hole, a high-definition camera 32 and an infrared camera 33 are disposed on the box 31, and the box 31 is kept 360 degrees to rotate when the robot works.

Be fixed with connecting rod 14 in the robot main part, connecting rod 14 drives the swing of first swing arm 11, first swing arm 11 drives the swing of second swing arm 12, second swing arm 12 drives splint 13 and is close to the packing box, utilize the connecting axle to connect between first swing arm 11, second swing arm 12, splint 13, make splint start through control switch, splint are the cuboid form, and a side is glued and is used for antiskid with the rubber pad, splint and packing box surface contact, when splint 13 surface pressure sensor's numerical value reaches pressure threshold value, confirm that the packing box has pressed from both sides tightly, then place the packing box on first loading board 9 or second loading board 10 through splint, first swing arm and second swing arm.

The motor starts after the robot opens the control switch, and the motor drives the driving system to move, and the driving mechanism drives the telescopic trunk component to move, and the telescopic trunk component drives the second bearing plate to move.

The front of the robot chassis is provided with a monocular camera 104 and a depth camera 105, two driving wheels 102 and two universal driven wheels 103 are arranged below the robot chassis, the two driving wheels are directly driven by a stepping hub motor, and the motor is connected with a control module, so that the shelf sorting robot can move forwards and backwards in any direction. The ultrasonic sensor 106 is provided with two pieces of obstacle information for collecting obstacle information on the moving path, and the control system avoids the obstacle when necessary according to the information of the ultrasonic sensor.

And an accelerometer and a gyroscope are also arranged in the robot chassis, can be integrated into an IMU, are arranged in the robot chassis, and are used for calculating the attitude angle and the acceleration in real time and controlling the forward, backward and steering of the robot.

The battery compartment is also arranged in the robot chassis, when the electric quantity of the robot is insufficient, the control system transmits the current positioning information and the information to be charged to the remote computer, and meanwhile, the control system controls the robot to go to the charging station, and opens a compartment door of the battery compartment for charging preparation; meanwhile, the remote computer controls the robot with a relatively short distance to execute the shelf arrangement task of the charging robot.

After the robot starts the control switch, the pushing shaft motor is started, the pushing shaft motor 151 drives the pushing shaft 152 to move, the pushing shaft 152 drives the pushing plate 153 to move, the pushing plate is cuboid, a waterproof oxidation-resistant layer is adhered to the outer surface of the pushing plate, rust or oxidation corrosion is prevented, the pushing plate 153 pushes a container on a goods shelf, when the numerical value of the pushing plate surface pressure sensor 154 is higher than a pressure threshold value, the gap between the containers is determined to disappear, the pushing shaft motor drives the pushing shaft to move, and the movement distance of the limiting plate and the thrust limiting pushing shaft prevents excessive pushing or the pushing shaft from falling off.

The embodiment also provides a control module, which comprises an industrial personal computer and a driving circuit board, wherein the industrial personal computer and the driving circuit board are connected through a serial port, and the following steps are executed when the robot carries out shelf arrangement:

step S1, after a control switch is turned on, controlling the robot to move in a field, acquiring area information of a high-definition camera in real time, setting a current area as a target area and moving the current area to the area when a container is identified in a certain area, and executing step S2;

s2, acquiring image data of a monocular camera and a depth camera, positioning a target area, and controlling a robot to move to the target area;

step S3, starting a connecting rod through a control switch, controlling the swing of a first swing arm through the connecting rod, controlling the swing of a second swing arm through the first swing arm, driving a clamping plate to be close to a container through the second swing arm, starting the clamping plate through the control switch, enabling the clamping plate to be in contact with the outer surface of the container, determining that the container is clamped when the value of a clamping plate surface pressure sensor is higher than a second pressure threshold value, and then placing the container on a first bearing plate or a second bearing plate through the clamping plate, the first swing arm and the second swing arm, and executing the step S4;

step S4, acquiring image data of the monocular camera and the depth camera again, positioning the area of the target goods shelf, enabling the robot to move to the front of the goods shelf through the control switch 5, and executing step S5;

step S5, before the robot moves to the goods shelf, the container on the first bearing plate or the second bearing plate is placed on the goods shelf through the clamping plates, the first swing arm and the second swing arm, if gaps exist between the containers, the auxiliary arrangement part is started through the control switch, the motor in the pushing shaft control box drives the pushing shaft to move, the pushing shaft drives the pushing plate to push the containers, when the numerical value of the pressure sensor arranged on the surface of the pushing plate is higher than a third pressure threshold value, the gaps between the containers are determined to be eliminated, and goods shelf arrangement is completed.

The method for judging whether the container exists in the image acquired by the high-definition camera comprises the following steps:

the image obtained by the high-definition camera is combined with a trained recognition model by using a YOLO target detection algorithm, and a judgment result is obtained; the training process of the identification model is as follows: and inputting a plurality of pictures with the container, and taking the label of whether the container appears as an output training recognition model.

In addition, the remote computer stores the complete map data of the field, the incremental composition of the robot can be realized and the path of the robot shelf arrangement can be optimized based on an improved A-scale algorithm of global planning and local optimization, and the efficiency of the robot shelf arrangement can be improved.

In this embodiment, the reason that ultrasonic sensor, pressure sensor and infrared sensor set up to a plurality of is, if one of them sensor breaks down, can in time discover through the data that control system obtained, avoid the robot goods shelves to arrange in order because the sensor trouble leads to unable operational aspect.

The foregoing describes in detail preferred embodiments of the present application. It should be understood that numerous modifications and variations can be made in accordance with the concepts of the application by one of ordinary skill in the art without undue burden. Therefore, all technical solutions which can be obtained by logic analysis, reasoning or limited experiments based on the prior art by the person skilled in the art according to the inventive concept shall be within the scope of protection defined by the claims.

Claims (10)

1. The utility model provides an intelligent goods shelves arrangement robot, its characterized in that, including mobile module (1), packing box transport module (2) and detection module (3), packing box transport module (2) are fixed on mobile module (1), be equipped with rotation axis (4) and rotating electrical machines (5) between detection module (3) and packing box transport module (2), rotation axis (4) are connected in the drive of rotating electrical machines (5), detection module (3) are connected to one end of rotation axis (4), and packing box transport module (2) are connected to the other end.

2. An intelligent shelf grooming robot according to claim 1, characterized in that the container handling module (2) comprises a backbone component (6), a first gripping arm (7), a second gripping arm (8), a first carrier plate (9) and a second carrier plate (10);

the first bearing plate (9) and the second bearing plate (10) are vertically fixed on one side of the main component (6), the main component (6) is vertically fixed on one end of the mobile module (1), the first bearing plate (9) is attached to the upper surface of the mobile module (1), and the first clamping arm (7) and the second clamping arm (8) are symmetrically fixed on two sides of the main component (6) and are located above the second bearing plate (10).

3. An intelligent shelf grooming robot according to claim 2, characterized in that the backbone component (6) comprises a first torso member (61), a telescopic shaft (62) and a second torso member (63) connected in sequence;

one end of the first trunk member (61) is fixed on the mobile module (1), the other end of the first trunk member is connected with the lower end of the telescopic shaft (62), the second trunk member (63) is connected with the upper end of the telescopic shaft (62), and the second bearing plate (10), the first clamping arm (7) and the second clamping arm (8) are all fixed on the second trunk member (63).

4. The intelligent shelf grooming robot of claim 2, wherein the first clamping arm (7) and the second clamping arm (8) are swing arm structures, and the swing arm structures comprise a first swing arm (11), a second swing arm (12), a clamping plate (13) and a connecting rod (14);

the connecting rod (14) is fixed on the main component (6), one end of the first swing arm (11) is rotatably connected with the connecting rod (14), the other end of the first swing arm is rotatably connected with the second swing arm (12), and the second swing arm (12) is rotatably connected with the online clamping plate (13).

5. The intelligent shelf arranging robot according to claim 4, wherein the first swing arm (11) is connected with the second swing arm (12) through a hinge, the second swing arm (12) is connected with the clamping plate (13) through a hinge, and one side of the clamping plate (13) is connected with a rubber pad.

6. An intelligent shelf grooming robot according to claim 2, characterized in that the container handling module (2) further comprises an auxiliary grooming component (15), the auxiliary grooming component (15) comprising a push shaft motor (151), a push shaft (152), a push plate (153) and a pressure sensor (154);

the pushing shaft motor (151) is fixed on the main component (6), the pushing shaft motor (151) is in driving connection with the pushing shaft (152), the pushing plate (153) is fixed at one end of the pushing shaft (152), and the pressure sensor (154) is fixed on the front surface of the pushing shaft (152).

7. The intelligent shelf sorting robot according to claim 1, wherein the detection module (3) comprises a box body (31), the box body (31) is fixed at the upper end of the rotating shaft (4), a camera shooting fixing hole is formed in the front end of the box body (31), and a high-definition camera (32) and an infrared camera (33) are fixed in the camera shooting fixing hole.

8. The intelligent shelf arranging robot according to claim 1, wherein the moving module (1) comprises a chassis (101), a driving wheel (102), a driven wheel (103), a driving motor, a control module and a power supply bin for supplying power to the device, the driving wheel (102) is rotatably fixed at the rear end of the chassis (101), the driving motor is in driving connection with the driving wheel (102), the control module is connected with the driving motor, the driven wheel (103) is fixed at the front end of the chassis (101), and the driven wheel (103) is a universal wheel.

9. The intelligent shelf grooming robot of claim 8, wherein the mobile module (1) further comprises a monocular camera (104), a depth camera (105), an ultrasonic sensor (106) and an infrared sensor (107);

the monocular camera (104), the depth camera (105), the ultrasonic sensor (106) and the infrared sensor (107) are all fixed at the front end of the chassis (101) and are all connected with the control module, and the number of the ultrasonic sensors (106) is multiple.

10. A control method based on the intelligent shelf finishing robot of any one of claims 1-9, comprising the steps of:

s1: the robot moves in the area, the area information is acquired in real time through the high-definition camera, the area where the container exists is set as a target area, and the step S2 is executed;

s2: acquiring image data of a monocular camera and a depth camera at the moment, positioning a target area, and moving a robot to the target area;

s3: the control module controls the first clamping arm and the second clamping arm to approach and clamp the container, and then the container is placed on the first bearing plate or the second bearing plate, and the step S4 is executed;

s4: acquiring image data of the monocular camera and the depth camera again, positioning the area of the target goods shelf, and executing step S5 before the robot moves to the goods shelf;

s5: the cargo box on the first bearing plate or the second bearing plate is placed on the goods shelf through the clamping plates, the first swing arm and the second swing arm, the cargo box is pushed through the auxiliary arrangement part, gaps among the cargo boxes are eliminated, and goods shelf arrangement is completed.