CN111348362A

CN111348362A - Goods taking control method and device, carrying device and robot

Info

Publication number: CN111348362A
Application number: CN202010069012.5A
Authority: CN
Inventors: 郑睿群; 赵颖; 何佳伟; 孔哲
Original assignee: Shenzhen Hairou Innovation Technology Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2019-09-30
Filing date: 2020-01-21
Publication date: 2020-06-30
Also published as: CN212197049U

Abstract

The disclosure relates to a pickup control method, a control device, a carrying device, and a carrying robot. The method comprises the following steps: receiving a goods taking instruction, and acquiring positioning information of target goods according to the goods taking instruction; obtaining size information of the target goods and position relation information between the carrying device and the target goods; according to the positioning information, the position relation information and the size information of the target cargo, the transfer robot is moved to a target position, and the pose of the transfer device is adjusted, wherein the pose at least comprises the step of adjusting the distance between the first arm part and the second arm part to adapt to the size of the target cargo; and taking out the target cargo with the first arm portion and the second arm portion at the adjusted interval. The scheme provided by the disclosure can control the transfer robot to transfer goods with different sizes, and effectively improves the applicability and the transfer efficiency of the transfer robot.

Description

Goods taking control method and device, carrying device and robot

Technical Field

The disclosure relates to the technical field of intelligent warehousing, in particular to a goods taking control method, a control device, a carrying device and a carrying robot.

Background

The intelligent storage is a link in the logistics process, and the application of the intelligent storage ensures the speed and the accuracy of data input in each link of goods warehouse management, ensures that enterprises timely and accurately master real data of the inventory, and reasonably keeps and controls the inventory of the enterprises. Through scientific coding, the batch, the shelf life and the like of the inventory goods can be conveniently managed. By utilizing the warehouse location management function of the warehousing system, the current positions of all the warehoused goods can be mastered in time, and the improvement of the working efficiency of warehouse management is facilitated. The transfer robot plays an important role in intelligent warehousing, replaces manual goods transfer, but the robot used in the current warehousing logistics generally only can take and place containers with fixed sizes, and is not flexible enough and low in efficiency.

Disclosure of Invention

In order to overcome the problems in the related art, the present disclosure provides a method for controlling pickup, a control device and a transfer robot, which can control the transfer robot to transfer goods with different sizes.

According to a first aspect of the embodiments of the present disclosure, there is provided a pickup control method applied to a transfer robot having a chassis and a transfer device supported on the chassis for picking up goods, the transfer device having a first arm and a second arm, the transfer device being configured to place goods between the first arm and the second arm at the time of picking up the goods; the method comprises the following steps:

receiving a goods taking instruction, and acquiring positioning information of target goods according to the goods taking instruction;

obtaining size information of the target cargo;

obtaining the position relation information between the carrying device and the target cargo;

according to the positioning information, the position relation information and the size information of the target cargo, the transfer robot is moved to a target position, and the pose of the transfer device is adjusted, wherein the pose at least comprises the step of adjusting the distance between the first arm part and the second arm part to adapt to the size of the target cargo; and the number of the first and second groups,

and taking out the target cargo with the first arm part and the second arm part at the adjusted distance.

According to a second aspect of the embodiments of the present disclosure, there is provided a control apparatus including:

at least one processor; and

a memory communicatively coupled to the at least one processor, the memory storing executable code that, when executed by the at least one processor, causes the at least one processor to perform the method as described above.

According to a third aspect of the embodiments of the present disclosure, there is provided a transfer robot, including a moving chassis, a transfer device, a storage shelf, a lifting assembly and the control device, where the storage shelf is mounted on the moving chassis, the storage shelf is provided with a plurality of storage pallets distributed in a vertical direction, each storage pallet is used for placing goods, the transfer device is used for transferring goods between a fixed shelf and any one of the storage pallets, and the lifting assembly is used for driving the transfer device to move in the vertical direction, so that the transfer device is lifted to a height corresponding to the storage pallet or a height of the fixed shelf; when the carrying device is lifted to the height corresponding to the storage pallet, the carrying device moves the goods to the corresponding storage pallet along the carrying direction, or the carrying device moves the goods on the corresponding storage pallet out along the carrying direction; when the carrying device is lifted to the height corresponding to the fixed goods shelf, the carrying device moves the goods to the corresponding fixed goods shelf along the carrying direction, or the carrying device moves the goods on the corresponding fixed goods shelf out along the carrying direction.

According to a fourth aspect of the embodiments of the present disclosure, there is provided a conveying device for conveying goods in a conveying direction, the conveying device comprising:

a support frame extending in a direction perpendicular to the carrying direction in a horizontal plane;

the two side arms are respectively arranged at two ends of the extending direction of the supporting frame, the two side arms respectively extend along the carrying direction, and at least one side arm is movably arranged on the supporting frame along the extending direction of the supporting frame;

the transverse driving assembly is in transmission connection with the at least one side arm and drives the at least one side arm to move along the extending direction of the supporting frame, so that the two side arms are close to or far away from each other along the extending direction of the supporting frame, and the two side arms can adapt to the size of the loaded goods when being close to each other along the extending direction of the supporting frame.

According to a fifth aspect of the embodiments of the present disclosure, there is provided a transfer robot, including a moving chassis, a storage rack, a lifting assembly and the above transfer device, where the storage rack is mounted on the moving chassis, the storage rack is provided with a plurality of storage pallets distributed in a vertical direction, each storage pallet is used for placing goods, the transfer device is used for transferring goods between a fixed rack and any one of the storage pallets, and the lifting assembly is used for driving the transfer device to move in the vertical direction, so that the transfer device is lifted to a height corresponding to the storage pallet or a height of the fixed rack; when the carrying device is lifted to the height corresponding to the storage pallet, the carrying device pushes the goods onto the corresponding storage pallet along the carrying direction, or the carrying device pulls the goods on the corresponding storage pallet away along the carrying direction; when the carrying device is lifted to the height corresponding to the fixed goods shelf, the carrying device pushes the goods onto the corresponding fixed goods shelf along the carrying direction, or the carrying device pulls the goods on the corresponding fixed goods shelf away along the carrying direction.

In the embodiment of the disclosure, the carrying device of the carrying robot can adapt to goods with different sizes, and under the condition that the sizes of the goods on different goods shelves are different, the completion of carrying tasks can be ensured, so that the applicability and the carrying efficiency of the carrying robot are effectively improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The above and other objects, features and advantages of the present disclosure will become more apparent by describing in greater detail exemplary embodiments thereof with reference to the attached drawings, in which like reference numerals generally represent like parts throughout.

Fig. 1 is a schematic structural view of a transfer robot according to an embodiment of the present disclosure;

FIG. 2 is a flow chart illustrating a pick-up control method according to an embodiment of the present disclosure;

FIG. 3 is a schematic flow chart diagram illustrating a pick-up control method according to another embodiment of the present disclosure;

FIG. 4 is a schematic flow chart diagram illustrating a pick-up control method according to another embodiment of the present disclosure;

FIG. 5 is a flow chart illustrating a pick-up control method according to another embodiment of the present disclosure;

fig. 6 is a schematic structural view illustrating a state in which two side arms of a carrying device provided in an embodiment of the present disclosure are away from each other;

fig. 7 is a schematic structural view illustrating a state in which two side arms of a carrying device provided in an embodiment of the present disclosure are close to each other;

fig. 8 is a schematic structural view of a carrying device according to an embodiment of the present disclosure;

FIG. 9 is a schematic structural view of a handling apparatus according to another embodiment of the present disclosure;

FIG. 10 is a schematic view of an extended state of an inner arm of a carrying device according to an embodiment of the present disclosure;

FIG. 11 is a schematic view of a structure of a movable push rod in an avoidance position according to an embodiment of the disclosure;

FIG. 12 is a schematic structural view of a movable pushing rod in an operating position according to an embodiment of the present disclosure;

fig. 13 is a schematic structural diagram of a control device according to an embodiment of the present disclosure.

Detailed Description

Preferred embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in this disclosure and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

It should be understood that although the terms "first," "second," "third," etc. may be used in this disclosure to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present disclosure. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present disclosure, "a plurality" means two or more unless specifically limited otherwise.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. In contrast, when an element is referred to as being "directly connected" to another element, there are no intervening elements present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.

Technical solutions of embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

Referring to fig. 1, an embodiment of the present disclosure provides a transfer robot 10 including a moving chassis 200, a storage rack 300, a lifting assembly 400, and a transfer device 100. The storage shelf 300 is mounted on the movable chassis 200, the storage shelf 300 is provided with a plurality of storage pallets 310 distributed in a vertical direction, each storage pallet 310 is used for placing goods, the handling device 100 is used for handling goods between a fixed shelf and any one of the storage pallets 310, and the lifting assembly 400 is used for driving the handling device 100 to move in the vertical direction, so that the handling device 100 is lifted to the height of the corresponding storage pallet 310 or the height of the fixed shelf. When the transporting device 100 is lifted to the height corresponding to the storage pallet 310, the transporting device 100 moves the goods onto the corresponding storage pallet 310 along the transporting direction, or the transporting device 100 moves the goods on the corresponding storage pallet 310 out along the transporting direction. When the transporting device 100 is lifted to the height of the corresponding fixed shelf, the transporting device 100 moves the goods onto the corresponding fixed shelf along the transporting direction, or the transporting device 100 moves the goods on the corresponding fixed shelf out along the transporting direction.

In some embodiments, the handling device comprises a support frame, a first arm and a second arm supported by the support frame, and a drive device for driving at least one of the first arm and the second arm to move so as to adjust a spacing between the first arm and the second arm, wherein the goods are placed between the first arm and the second arm when the handling device moves out of the goods, and the adjustment of the spacing between the first arm and the second arm can enable the handling device to adapt to goods with different sizes.

In some embodiments, the carrying device further comprises a bracket, the bracket can move along the vertical direction, and the supporting frame is rotatably arranged on the bracket along the axis of the vertical direction.

Fig. 2 is a schematic flow chart of a pickup control method according to an embodiment of the present disclosure, which can be applied to the transfer robot described above. It is understood that the method of the present embodiment may also be applied to other transfer robots capable of accommodating different sizes of goods by adjusting the distance between the two arm portions. Referring to fig. 2, the method includes:

and S21, the carrying robot receives the goods taking instruction and obtains the positioning information of the target goods.

The positioning information of the target cargo may be positioning information of the target cargo itself, or positioning information of a shelf on which the target cargo is stored.

In some embodiments, the pick instruction may include identification information of the target item or a shelf on which the target item is stored; after receiving the goods taking instruction, the carrying robot can obtain the positioning information of the target goods through the inquiry of the identification information.

In some embodiments, the pick order may include location information of the target cargo, and the transfer robot may directly obtain the location information of the target cargo from the pick order.

In some embodiments, the positioning information of the target cargo includes plane position information, such as coordinate values on a horizontal plane, or a row number and a column number in a cargo compartment, orientation information, such as a conveying direction of the target cargo, and/or height information, such as a number of shelves, or coordinate values in a height direction.

And S22, moving the transfer robot to the target position according to the positioning information of the target cargo.

In some embodiments, the positioning information of the target cargo includes plane position information and height information; moving the transfer robot to the target position includes: moving the transfer robot to a position corresponding to the plane position information; and lifting the carrying device to the height corresponding to the height information.

In some embodiments, moving the transfer robot to the target position further comprises: the conveying device is rotated to the conveying direction of the target cargo. If the transporting device can transport the load from only one direction, the transporting device needs to be rotated to the transporting direction of the load.

In some embodiments, the chassis of the transfer robot may be moved to the target plane position, and then the transfer device may be raised and lowered to the target height and/or rotated to the target orientation.

In other embodiments, the chassis of the transfer robot may be moved to the target plane position, and the transfer device may be raised and lowered to the target height and/or rotated to the target orientation during the movement of the chassis of the transfer robot.

S23, the first camera of the transfer robot attempts to read the preset identification.

In some embodiments, the first camera is disposed on the handling device as a two-dimensional camera. Before the two-dimensional camera reads the preset identification, the handling robot turns on the lighting device to provide a light source for the two-dimensional camera. The lighting device may be provided in a handling apparatus or other suitable location.

In some embodiments, the preset identifier is a shelf identifier of a shelf on which the target item is stored. In other embodiments, the preset identifier is a cargo identifier on the target cargo. The preset identifier may be a two-dimensional code or any other identifier that can be read photographically by the first camera.

And S24, if the first camera can not read the preset mark, entering an error recovery mode and stopping the task.

In some embodiments, if the first camera does not read the preset identifier for the first time, the transfer robot repeatedly raises and lowers the transfer device by a preset amplitude, and the first camera reads the preset identifier again during the raising and lowering of the transfer device, and if the number of times that the first camera does not successfully read the preset identifier exceeds a preset threshold, the error recovery mode is entered, and the transfer robot reports to the server, and the lighting equipment is turned off.

And S25, if the first camera successfully reads the preset identifier, judging whether the carrying device can directly reach the position of the target goods from the current station of the carrying robot or not based on the position relation between the carrying robot and the preset identifier.

In some embodiments, the preset identifier is further checked for missing codes or being reversed when the first camera reads the preset identifier. If the code is lost or the code is pasted reversely, the system enters a reset mode and reports to the server to inform the staff of correction.

In some embodiments, determining whether the transfer device can directly reach the position of the target cargo from the current station of the transfer robot may include: judging whether the chassis of the transfer robot is within a preset range of a preset mark or not; if the current station position of the transfer robot is out of the preset range, the current station position of the transfer robot indicates that the transfer device cannot directly reach the position of the target goods, and the chassis position of the transfer robot needs to be adjusted.

And S26, if the current station position of the transfer robot is judged to be unable to reach the target goods directly, adjusting the chassis position of the transfer robot, and returning to execute S23 to read the preset mark again.

And S27, if the carrying device is judged to be capable of directly reaching the target goods from the current station of the carrying robot, the second camera of the carrying robot is used for shooting the corresponding position of the target goods so as to obtain the attitude information of the target goods, including the size information of the goods.

In some embodiments, the second camera is disposed on the handling device and is a three-dimensional camera, such as a depth camera, a panoramic camera, or the like.

In some embodiments, the second camera is a two-dimensional camera, or other device that can capture three-dimensional imaging information. For example, in one implementation, a time-of-flight three-dimensional imaging device may be used that can obtain the target object distance by sending a pulse of light to the target and then receiving light back from the object with a sensor by detecting the time of flight (round trip) of the light pulse.

In some embodiments, the attitude information of the target cargo includes, in addition to the cargo size information, depth information, and/or lying angle information, etc., of the target cargo with respect to the handling device.

In some embodiments, after determining that the transporting device can directly reach the target cargo from the current station of the transporting robot, whether the cargo is located at the position corresponding to the target cargo is determined based on the shooting information of the second camera, and if the cargo is located at the position corresponding to the target cargo, whether the size of the cargo is within the size range of the transporting device is further determined. And if the position corresponding to the target cargo is judged to have no cargo or the size of the cargo exceeds the size range of the carrying device, entering a reset mode and reporting to the server.

And S28, adjusting the pose of the carrying device according to the pose information of the target cargo.

The relative position of the target cargo and the carrying device can be known according to the attitude information of the target cargo, so that the pose of the carrying device is further adjusted, and the carrying device can obtain the target cargo along the carrying direction.

The attitude information of the target cargo comprises cargo size information, and the adjusting of the pose of the handling device comprises adjusting the distance between a first arm and a second arm of the handling device according to the cargo size information so as to adapt to the size of the target cargo.

In some embodiments, adjusting the pose of the handling apparatus further comprises: adjusting a chassis position of the transfer robot, lifting the transfer device, and/or rotating the transfer device to align a specific position of the transfer robot with a specific position of the target cargo.

In some embodiments, the first arm and the second arm of the handling device are both movable arms. Adjusting the position and posture of the carrying device comprises: adjusting the chassis position of the handling robot, lifting the carrier of the handling device, and/or rotating the support frame of the handling device such that a specific position (e.g. a middle position) between the first arm and the second arm is aligned with a specific position (e.g. a central position) of the target cargo, and simultaneously or sequentially adjusting the first arm and the second arm such that the spacing of the first arm and the second arm is adapted to the size of the target cargo. The adjustment distances of the first arm portion and the second arm portion may be the same or different.

In other embodiments, the first arm is a movable arm and the second arm is a fixed arm. Adjusting the position and posture of the carrying device comprises: adjusting the position of the chassis of the transfer robot, lifting the carriage of the transfer device, and/or rotating the support frame of the transfer device within a preset range of amplitude to bring the first arm into corresponding preset positional relationship with one side edge of the target cargo (e.g., the first arm is outside the one side edge of the target cargo with a preset spacing therebetween), and adjusting the second arm to bring the second arm into corresponding preset positional relationship with the other side edge of the target cargo (e.g., the second arm is outside the other side edge of the target cargo with a preset spacing therebetween), so that the spacing between the first arm and the second arm is adapted to the size of the target cargo.

And S29, taking out the target cargo with the first arm part and the second arm part at the adjusted distance.

After the position and posture of the carrying device are adjusted by the carrying robot, the carrying device is stretched out, and the target goods are taken out by the first arm and the second arm at the adjusted distance.

In some embodiments, after the transfer robot adjusts the pose of the transfer device, in the process of taking out the target cargo by the first arm portion and the second arm portion at the adjusted distance, it may be determined whether the first arm portion and the second arm portion may collide with the target cargo, for example, by a sensor provided in the first arm portion and/or the second arm portion; if the collision is judged, stopping the goods taking task, such as stopping or retracting the two arms, informing a manager to process the goods, or stopping the goods taking task and giving up the goods taking; if the goods can not be hit, the goods are taken.

In the above embodiment, the size information of the cargo is obtained by photographing the target cargo using the three-dimensional camera. As an alternative, the size information of the target cargo may be obtained from an external management system of the transfer robot. For example, in some embodiments, the goods taking instruction received by the transfer robot includes the size information of the target goods, so that the size information of the target goods can be directly obtained from the goods taking instruction.

In the above embodiment, the two-dimensional camera is used to photograph preset marks such as goods marks or shelf marks, and the three-dimensional camera is used to photograph target goods to obtain size information of the goods. Alternatively, the preset identifier is set to an identifier that can be read by shooting with a three-dimensional camera, so that in some embodiments, the transfer robot may set only the three-dimensional camera, i.e., the first camera and the second camera in the above embodiments represent the same three-dimensional camera.

In the above embodiment, the attitude of the carrying device is adjusted based on the attitude information of the target cargo captured by the three-dimensional camera. Fig. 3 is a schematic flow chart of a pickup control method according to another embodiment of the present disclosure, in this embodiment, the posture of the handling device is adjusted according to a preset mark on the target cargo. Referring to fig. 3, the method includes:

and S31, the carrying robot receives the goods taking instruction and obtains the positioning information and the size information of the target goods.

The positioning information of the target goods may be positioning information of a target shelf storing the target goods.

In some embodiments, the pick instruction may include identification information of the target shelf; after receiving the goods taking instruction, the carrying robot can obtain the positioning information of the target goods shelf through the identification information inquiry.

In some embodiments, the pick instruction may include location information of the target shelf, and the transfer robot may directly obtain the location information of the target shelf from the pick instruction.

And S32, moving the transfer robot to the target position according to the positioning information of the target cargo.

In some embodiments, the positioning information of the target good includes planar position information and height information of the target shelf; moving the transfer robot to the target position includes: moving the transfer robot to a planar position of the target shelf; and lifting the carrying device to the height of the target shelf.

In some embodiments, moving the transfer robot to the target position further comprises: the carrying device is rotated to the direction of carrying the goods.

S33, the camera of the transfer robot attempts to read the shelf identification.

In some embodiments, the camera is disposed on the transport device as a two-dimensional camera. Before the two-dimensional camera reads the shelf identification, the transfer robot turns on the illumination device to provide a light source for the two-dimensional camera. The lighting device may be provided in a handling apparatus or other suitable location.

The shelf mark can be a two-dimensional code or any other mark which can be shot and read by a camera.

And S34, if the camera cannot read the shelf mark, entering an error recovery mode and stopping the task.

In some embodiments, if the shelf identifier is not read by the camera for the first time, the carrying robot repeatedly raises and lowers the carrying device by a preset amplitude, and the shelf identifier is read by the camera again in the process of raising and lowering the carrying device, and if the number of times that the shelf identifier is not successfully read by the camera exceeds a preset threshold value, the carrying robot enters an error recovery mode, reports to the server, and turns off the lighting equipment.

And S35, if the camera successfully reads the shelf mark, judging whether the carrying device can directly reach the position of the target goods from the current station of the carrying robot or not based on the position relation between the carrying robot and the shelf mark.

In some embodiments, the shelf identification is checked for missing codes or reversed when read by the camera. If the code is lost or the code is pasted reversely, the system enters a reset mode and reports to the server to inform the staff of correction.

In some embodiments, determining whether the transfer device can reach the position of the target cargo from the current station of the transfer robot may include: judging whether a chassis of the transfer robot is within a preset range of the shelf identification; if the current station position of the transfer robot is out of the preset range, the transfer device cannot directly reach the position of the target goods from the current station position of the transfer robot, and the chassis position of the transfer robot needs to be adjusted.

And S36, if the transfer device is judged not to be able to directly reach the target goods from the current station of the transfer robot, adjusting the chassis position of the transfer robot, and returning to execute S33 to read the shelf mark again.

And S37, if the carrying device is judged to be capable of directly reaching the target goods from the current station of the carrying robot, the camera shoots and reads the preset mark on the target goods.

And S38, adjusting the pose of the carrying device according to the preset mark on the target cargo and the cargo size information.

In some embodiments, the preset mark on the target cargo is set at a specific position (e.g., a central position) of the cargo, and adjusting the pose of the handling device includes: adjusting a chassis position of the transfer robot, lifting the transfer device, and/or rotating the transfer device to align a specific position of the transfer robot with a specific position of the preset mark on the target cargo.

Adjusting the position and posture of the handling device further comprises: and adjusting the distance between the first arm part and the second arm part of the carrying device according to the cargo size information so as to adapt to the size of the target cargo.

And S39, taking out the target cargo with the first arm part and the second arm part at the adjusted distance.

After the posture of the carrying device is adjusted by the carrying robot, the carrying device is extended out, and the target goods are taken out by the first arm part and the second arm part at the adjusted distance.

In some embodiments, after the transfer robot adjusts the posture of the transfer device and before the transfer device is extended to pick up the goods, it is determined whether the extension of the transfer device will collide with the shelf.

In the above embodiment, the pickup instruction received by the transfer robot includes the size information of the target cargo, and the transfer robot directly obtains the size information of the target cargo from the pickup instruction. In some embodiments, the transfer robot may also obtain the size information of the target cargo by making the photographing camera photograph the target cargo.

Fig. 4 is a schematic flow diagram of a pick control method according to another embodiment of the present disclosure, applied to a transfer robot having a chassis and a transfer device supported on the chassis for picking, the transfer device having a first arm and a second arm, the transfer device being configured to place a cargo between the first arm and the second arm when picking; referring to fig. 4, the method includes: s41, receiving a goods taking instruction, and obtaining positioning information of target goods according to the goods taking instruction;

s42, obtaining size information of the target cargo and position relation information between the carrying device and the target cargo;

s43, moving the transfer robot to a target position according to the positioning information, the position relation information and the size information of the target cargo, and adjusting the pose of the transfer device, wherein the pose at least comprises adjusting the distance between the first arm part and the second arm part to adapt to the size of the target cargo;

and S44, taking out the target cargo by the first arm part and the second arm part at the adjusted distance.

It is understood that the pick-up control method in the present disclosure does not have to be performed in the order shown in fig. 4, for example, the partial information in S42 may be obtained first, then the partial action in S43 may be performed, then the other partial information in S42 may be obtained, and the other partial action in S43 may be performed; for example, it is also possible to perform the partial action in S43 first, obtain the information in S42, and then perform the other partial actions in S43; and the like as long as the object of the present disclosure can be achieved.

In another embodiment, the obtaining the size information of the target cargo comprises: obtaining size information of the target cargo by causing the transfer robot to acquire image information of the target cargo; the taking out the target cargo with the first and second arm parts at the adjusted interval includes: and extending the first arm part and the second arm part to positions where the first arm part and the second arm part can take out the goods with the largest size in the goods taking direction from all the goods to be taken, so as to take out the target goods at the adjusted distance. In this embodiment, a two-dimensional or three-dimensional camera may be provided in the transfer robot, the identification code is photographed by the camera to obtain the size information of the goods, and the identification code is attached to the goods, and the positional relationship between the transfer robot and the goods is obtained by photographing by the camera. Alternatively, the distance between the first arm part and the second arm part can be adjusted to the maximum value of the widths of all goods to be taken in the warehouse during the process that the chassis moves to the target position, so that the goods taking time is saved. It can be understood that, when the first arm portion and the second arm portion are made to take out the target goods at the adjusted distance, it may be determined whether size information of the goods in the goods taking direction can be obtained according to the image information of the goods, if so, the size information is used to control the extending size of the first arm portion and the second arm portion to take the goods, otherwise, the first arm portion and the second arm portion are made to extend to a position where the largest size in the goods taking direction of all the goods to be taken can be taken out.

In another embodiment, the obtaining the size information of the target cargo comprises: obtaining size information of the target cargo by causing the transfer robot to acquire three-dimensional imaging information of the target cargo; the taking out the target cargo with the first and second arm parts at the adjusted interval includes: and enabling the first arm part and the second arm part to extend to a preset maximum extension size, and taking out the target cargo at an adjusted distance. In this embodiment, a three-dimensional camera may be provided in the transfer robot, the size information of the goods may be obtained by shooting with the three-dimensional camera, the identification code may be attached to the goods, and the positional relationship between the transfer robot and the goods may be obtained by shooting the identification code with the two-dimensional camera. Alternatively, the distance between the first arm part and the second arm part can be adjusted to the maximum value of the widths of all goods to be taken in the warehouse during the process that the chassis moves to the target position, so that the goods taking time is saved. It can be understood that when the target goods are taken out by the first arm portion and the second arm portion at the adjusted distance, whether size information of the goods in the goods taking direction can be obtained according to three-dimensional imaging information of the goods can be judged firstly, if yes, the size information is used for controlling the extending sizes of the first arm portion and the second arm portion to take the goods, and otherwise, the first arm portion and the second arm portion are made to extend out of the preset maximum extending size to take the goods.

In another embodiment, the obtaining the size information of the target cargo comprises: obtaining size information of the target cargo from an external management system of the transfer robot; the obtaining of the positional relationship information between the carrying device and the target cargo includes: obtaining the position relation information between the carrying device and the target goods based on the preset identification on the target goods; the moving the transfer robot to a target position and adjusting the pose of the transfer device according to the positioning information, the position relation information, and the size information of the target cargo includes: and moving a chassis of the transfer robot to a target position according to the positioning information and the size information of the target goods, adjusting the distance between the first arm and the second arm according to the size information of the target goods in the moving process of the chassis or after the chassis moves to the target position, and adjusting the pose of the transfer device according to the position relation information between the transfer device and the target goods, which is obtained based on the preset mark on the target goods. In this embodiment, there may be a case where the size information of the target cargo obtained from the external management system is wrong, resulting in no cargo being taken, and therefore, in the process of taking out the target cargo with the first arm portion and the second arm portion at the adjusted distance, it may be determined whether the first arm portion and the second arm portion may collide with the target cargo by a sensor provided in the first arm portion and/or the second arm portion; if the container is judged to be collided, stopping the goods taking task, such as stopping or retracting the two arms, informing a manager to process the goods, or stopping the goods taking task and giving up taking the container; if the goods can not be hit, the goods are taken. In the embodiment, the three-dimensional camera is not required to be arranged, and the cost is low.

In another embodiment, the moving the transfer robot to the target position includes: moving a chassis of the transfer robot to a target position, and adjusting a distance between the first arm and the second arm according to pre-stored size information of a target cargo obtained from an external management system of the transfer robot; the obtaining of the size information of the target cargo comprises: acquiring actual size information of the target cargo by causing the transfer robot to acquire three-dimensional imaging information of the target cargo; the adjusting the posture of the carrying device includes: and judging whether the actual size information of the target cargo is consistent with the pre-stored size information of the target cargo, if not, readjusting the distance between the first arm part and the second arm part according to the actual size information. In this embodiment, the width between the two arm portions of the transfer device can be adjusted before the transfer robot moves to the target position, and the efficiency of the entire system can be improved.

Fig. 5 is a schematic flow diagram of a pick control method according to another embodiment of the present disclosure, applied to a transfer robot having a chassis and a transfer device supported on the chassis for picking, the transfer device having a first arm and a second arm, the transfer device being configured to place a cargo between the first arm and the second arm when picking; referring to fig. 5, the method includes:

s51, receiving a goods taking instruction, and obtaining positioning information of target goods according to the goods taking instruction;

s52, moving the transfer robot to a target position according to the positioning information;

s53, obtaining size information of the target cargo;

s54, obtaining the position relation information between the carrying device and the target cargo;

s55, adjusting the pose of the handling device according to the positional relationship information and the size information of the target cargo, wherein adjusting the pose of the handling device at least includes adjusting the distance between the first arm and the second arm to adapt to the size of the target cargo; and the number of the first and second groups,

and S56, taking out the target cargo by the first arm part and the second arm part at the adjusted distance.

In some embodiments, obtaining the dimensional information of the target good includes at least one of: obtaining size information of the target cargo from an external management system of the transfer robot; and obtaining size information of the target cargo based on perception of the transfer robot on the target cargo.

In some embodiments, obtaining the dimensional information of the target good includes at least one of: obtaining size information of the target cargo from the pick-up instruction; obtaining size information of the target cargo based on a preset identifier on the target cargo; and obtaining size information of the target cargo by causing the transfer robot to acquire image information of the target cargo.

In some embodiments, the first arm is a movable arm and the second arm is a fixed arm, and the adjusting the distance between the first arm and the second arm is performed by moving the first arm.

In some embodiments, the first arm and the second arm are both movable arms, and the adjusting the spacing of the first arm and the second arm is performed by moving the first arm and the second arm simultaneously or sequentially.

In some embodiments, the handling device or handling robot further has at least one sensing device; the obtaining of the positional relationship information between the transfer robot and the target cargo includes: obtaining position relation information between the transfer robot and the target goods based on first sensing information obtained by the at least one sensing device acting on a preset identifier; the obtaining of the size information of the target cargo comprises: and obtaining the size information of the target cargo based on second perception information obtained by the at least one perception device acting on the target cargo.

In some embodiments, the handling device or the handling robot has two sensing devices, one of which is a two-dimensional camera and the other of which is a three-dimensional camera, the first sensing information is obtained by the two-dimensional camera, and the second sensing information is obtained by the three-dimensional camera.

In some embodiments, the handling device has only one two-dimensional camera or only one three-dimensional camera.

In some embodiments, the preset identifier is a goods identifier or a positioning identifier on the target goods, or a shelf identifier or a positioning identifier on a shelf storing the target goods. It will be appreciated that the cargo identification of the target cargo may be an identification code provided on the surface of the cargo or cargo container, and the identification code may be a unique identification of the cargo or cargo container or may be the same identification as other cargo or cargo containers.

In some embodiments, before obtaining the information of the positional relationship between the handling device and the target cargo, the method further includes: judging whether the target goods exist or not; and if the target cargo exists, judging whether the size of the target cargo is within the range of the size which is advisable for the carrying device.

In some embodiments, the adjusting the posture of the handling apparatus further comprises: and aligning the specific position of the transfer robot with the specific position of the preset mark on the target cargo by at least one of driving a chassis of the transfer robot, lifting the transfer device or rotating the transfer device. It will be appreciated that the preset mark on the target cargo may be a cargo mark on the target cargo or its cargo box, or may be other positioning marks provided on the cargo or cargo box.

In some embodiments, the adjusting the posture of the handling apparatus further comprises: aligning a specific position of the transfer robot with a specific position of the target cargo by at least one of driving a chassis of the transfer robot, lifting the transfer device, or rotating the transfer device.

In some embodiments, the adjusting the posture of the handling apparatus includes: the method includes the steps of aligning a specific position between the first arm and the second arm with a specific position of the target cargo by at least one of driving a chassis of the transfer robot, lifting the transfer device, or rotating the transfer device, and simultaneously or sequentially adjusting the first arm and the second arm such that a distance between the first arm and the second arm is adapted to a size of the target cargo.

In some embodiments, the adjusting the posture of the handling apparatus includes: the first arm portion is aligned with one side edge of the target cargo by at least one of driving a chassis of the transfer robot, lifting the transfer device, or rotating the transfer device, and the second arm portion is adjusted so that the second arm portion is aligned with the other side edge of the target cargo.

In some embodiments, the moving the transfer robot to the target position includes: firstly, moving a chassis of the carrying robot to a target position, then lifting the carrying device to a target height and/or rotating the carrying device to a target direction; or, the chassis of the transfer robot is moved to a target position, and the transfer device is raised and lowered to a target height and/or rotated to a target direction during the movement of the chassis of the transfer robot.

In some embodiments, the causing the first arm portion and the second arm portion to take out the target cargo at the adjusted interval includes: and judging whether the target cargo is collided or not through a sensor arranged on the first arm part and/or the second arm part in the cargo taking process of the first arm part and the second arm part, if so, stopping or terminating the cargo taking task, and if not, taking the cargo.

In the above embodiments, the example of taking out the goods from the fixed shelf is described. It is understood that the process of removing the goods from the storage shelves 300 can be obtained by those skilled in the art from the above embodiments, and the details are not repeated in the present disclosure.

While a specific example of a handling device 100 that can perform the methods of the various embodiments described above is provided below, it will be appreciated that the present disclosure is not limited thereto and may be implemented by other suitable handling devices.

As shown in fig. 6 to 7, an embodiment of the present disclosure provides a conveying device 100 for conveying goods in a conveying direction, where the conveying device 100 includes: a support bracket 110, two side arms 120, and a lateral drive assembly 130. The two side arms 120 may be used as the first arm and the second arm in the above method. The support stand 110 extends in a direction perpendicular to the conveying direction in a horizontal plane. The two side arms 120 are respectively disposed at two ends of the supporting frame 110 in the extending direction, the two side arms 120 respectively extend along the carrying direction, and at least one side arm 120 is movably disposed on the supporting frame 110 in the extending direction of the supporting frame 110. The transverse driving assembly 130 is in transmission connection with the at least one side arm 120, the transverse driving assembly 130 drives the at least one side arm 120 to move along the extending direction of the supporting frame 110, so that the two side arms 120 approach or depart from each other along the extending direction of the supporting frame 110, and the two side arms 120 can adapt to the size of the loaded goods when approaching each other along the extending direction of the supporting frame 110. According to the carrying device 100, the side arms 120 which are movable along the extending direction of the supporting frame 110 can adjust the distance between the two side arms 120 according to the overall dimension of the cargo, and then all parts of the carrying device 100 cooperatively perform carrying actions, so that the adaptability of the carrying device 100 and the carrying robot 10 provided by the disclosure to containers with different dimensions is greatly enhanced, and the carrying efficiency of the cargo is effectively improved.

The distance between the two side arms 120 along the extending direction of the supporting frame 110 can be suitable for the goods to be carried when the distance varies within a set range. Optionally, the two side arms 120 are movably disposed on the supporting frame 110 along the extending direction of the supporting frame 110; or only one side arm 120 is movably arranged on the support frame 110 along the extending direction of the support frame 110, and the other side arm 120 is fixedly arranged on the support frame 110 along the extending direction of the support frame 110; it should be noted that the side arm 120 fixed to the support frame 110 along the extending direction of the support frame 110 is movable relative to the support frame 110 in other directions, or is fixed relative to the support frame 110 in the same manner in other directions. The distance between the two side arms 120 along the extending direction of the supporting frame 110 can be adjusted by both of the above two schemes, and the present disclosure does not limit the number of the side arms 120 movably disposed on the supporting frame 110 along the extending direction of the supporting frame 110. As shown in fig. 6 to 7, in an embodiment of the present disclosure, the two side arms 120 are a transverse fixed arm 120a and a transverse movable arm 120b, respectively, the transverse fixed arm 120a is fixedly disposed at one end of the supporting frame 110 along an extending direction of the supporting frame 110, and the transverse movable arm 120b is movably disposed on the supporting frame 110 along the extending direction of the supporting frame 110. When the transverse movable arm 120b moves along the extending direction of the supporting frame 110, the transverse movable arm is close to or away from the transverse fixed arm 120a, and this arrangement ensures that the carrying device 100 has a simpler structure on the premise of adjusting the distance between the two side arms 120, thereby ensuring the operation stability of the carrying device 100 provided by this embodiment.

The transverse driving assembly 130 is used for driving the side arms 120 movably disposed along the extending direction of the supporting frame 110 to move along the extending direction of the supporting frame 110, so as to adapt the size of the carrying device 100 to the goods to be carried. In an implementation manner, the transverse driving assembly 130 includes a transverse power source and a transverse transmission structure, an output end of the transverse power source is in transmission connection with an input end of the transverse transmission structure, and an output end of the transverse transmission structure is fixedly connected with the transverse movable arm 120b along the extending direction of the supporting frame 110. In other embodiments, the transverse driving assembly 130 may only include a power source, and an output end of the power source is directly connected to the transverse movable arm 120b in a transmission manner, so as to drive the transverse movable arm 120b to move along the extending direction of the supporting frame 110; for example, the lateral drive assembly 130 may include an air cylinder, a hydraulic cylinder, a linear motor, or the like.

Further, as shown in fig. 6 to 7, the transverse power source includes a transverse motor 131, the transverse transmission structure includes a transverse traction cable 132 and at least two transverse transmission wheels 133, the at least two transverse transmission wheels 133 are disposed at intervals on the supporting frame 110 along the extending direction of the supporting frame 110, the at least one transverse transmission wheel 133 is in transmission connection with an output shaft of the transverse motor 131, the transverse traction cable 132 is sleeved on the at least two transverse transmission wheels 133, the transverse traction cable 132 is fixedly connected with the transverse movable arm 120b along the extending direction of the supporting frame 110, and the at least one transverse transmission wheel 133 drives the transverse traction cable 132 to move when rotating, so as to drive the transverse movable arm 120b to move along the extending direction of the supporting frame 110. The combination mode of the motor and the driving wheel has the advantages of high driving efficiency, convenient control, mature technology and low cost. Alternatively, the output shaft of the motor is directly in driving connection with the transverse driving wheel 133 or in driving connection through a gear structure. In one implementation, the motor is a stepper motor. In other implementations, the power source is a pneumatic motor or a hydraulic motor, as long as the driving of the transverse rotating wheel can be achieved. Similarly, the combination of the transverse traction cable 132 and the transverse transmission wheel 133 has the advantages of simple structure, stable performance, low cost and convenient replacement while realizing transmission. Alternatively, the transverse traction cable 132 is a belt or chain and the corresponding transverse sprocket is a pulley or sprocket.

Further, as shown in fig. 6 to 8, the transverse driving assembly 130 includes two sets of transverse transmission structures, the two sets of transverse transmission structures are disposed at intervals on the supporting frame 110 along the conveying direction, the transverse driving assembly 130 further includes a transverse transmission shaft 134, an output shaft of the transverse motor 131 is in transmission connection with the transverse transmission shaft 134, the transverse transmission shaft 134 is in transmission connection with one transverse transmission wheel 133 of the two sets of transverse transmission structures, and the transverse traction cables 132 of the two sets of transverse transmission structures are in transmission connection with the transverse movable arm 120 b. The two sets of transverse transmission structures can respectively drive the transverse movable arm 120b through different positions on the transverse movable arm 120b, so that the transverse movable arm 120b is favorably stressed uniformly when moving along the extending direction of the supporting frame 110, and the situation that the transverse movable arm 120b is blocked due to nonuniform stress during moving is avoided. Meanwhile, the two sets of transverse transmission structures are simultaneously driven by the transverse motor 131 through the transverse transmission shaft 134, so that synchronous driving of the two sets of transverse transmission structures is realized, and further, the stability of the movement of the transverse movable arm 120b along the extension direction of the support frame 110 is ensured.

As shown in fig. 6 and 9, in an embodiment of the present disclosure, the two side arms 120 are a first movable arm 120c and a second movable arm 120d, respectively, and the first movable arm 120c and the second movable arm 120d are movably disposed on the supporting frame 110 along an extending direction of the supporting frame 110, respectively; the first movable arm 120c and the second movable arm 120d are respectively connected with the transverse driving assembly 130 in a transmission manner, the transverse driving assembly 130 drives the first movable arm 120c and the second movable arm 120d to move along the extending direction of the supporting frame 110, so that the first movable arm 120c and the second movable arm 120d are close to or away from each other along the extending direction of the supporting frame 110, and the first movable arm 120c and the second movable arm 120d can adapt to the size of a loaded container when being close to each other along the extending direction of the supporting frame 110. The first movable arm 120c and the second movable arm 120d are movably disposed respectively, so that adaptability to containers of different sizes can be realized more efficiently, and compared with a carrying device with only one side arm 120 capable of moving, the carrying device 100 provided by the embodiment can save half of adjusting time consumed by adapting to the size of the container.

The transverse driving assembly 130 is used for driving the side arms 120 movably disposed along the extending direction of the supporting frame 110 to move along the extending direction of the supporting frame 110, so as to adapt the size of the carrying device 100 to the goods to be carried. As an implementation manner, as shown in fig. 6 and 9, the transverse driving assembly 130 includes a transverse power source and a transverse transmission structure, an output end of the transverse power source is in transmission connection with an input end of the transverse transmission structure, and an output end of the transverse transmission structure is fixedly connected with the first movable arm 120c and the second movable arm 120d respectively along the extending direction of the supporting frame 110. In other embodiments, the lateral driving assembly 130 may only include a power source, and an output end of the power source is directly connected to the first movable arm 120c and the second movable arm 120d in a transmission manner, so as to drive the first movable arm 120c and the second movable arm 120d to approach or move away from each other along the extending direction of the supporting frame 110; for example, the lateral drive assembly 130 may include one or more of an air cylinder, a hydraulic cylinder, or a linear motor.

Further, as shown in fig. 6 and 9, the transverse power source includes a transverse motor 131, the transverse transmission structure includes a transverse traction cable 132 and at least two transverse transmission wheels 133, the at least two transverse transmission wheels 133 are disposed at intervals on the supporting frame 110 along the extending direction of the supporting frame 110, the at least one transverse transmission wheel 133 is in transmission connection with an output shaft of the transverse motor 131, and the transverse traction cable 132 is sleeved on the at least two transverse transmission wheels 133. The transverse traction cable 132 bypasses two sections of the transverse transmission wheel 133 and is respectively fixedly connected with the first movable arm 120c and the second movable arm 120d, and when at least one transverse transmission wheel 133 rotates, the transverse traction cable 132 is driven to move, so that the first movable arm 120c and the second movable arm 120d are driven to mutually approach or depart from each other along the extension direction of the support frame 110. The combination mode of the motor and the driving wheel has the advantages of high driving efficiency, convenient control, mature technology and low cost. As an achievable way, the transverse transmission structure further comprises a first connecting block 135 and a second connecting block 136. The first link block 135 fixedly connects the first movable arm 120c and one segment of the transverse traction cable 132 passing around the transverse transmission wheel 133, and the second link block 136 fixedly connects the second movable arm 120d and the other segment of the transverse traction cable 132 passing around the transverse transmission wheel 133.

Optionally, the output shaft of the motor is directly in transmission connection with the transverse transmission wheel or in transmission connection through a gear structure. In one implementation, the motor is a stepper motor. In other implementations, the power source is a pneumatic motor or a hydraulic motor, as long as the driving of the transverse rotating wheel can be achieved. Similarly, the combination of the transverse traction cable 132 and the transverse transmission wheel 133 has the advantages of simple structure, stable performance, low cost and convenient replacement while realizing transmission. Optionally, the transverse traction cable is a belt or a chain, and the corresponding transverse sprocket is a pulley or a sprocket.

Further, as shown in fig. 6 and 9, the transverse driving assembly 130 includes two sets of transverse transmission structures, the two sets of transverse transmission structures are disposed at intervals on the supporting frame 110 along the conveying direction, the transverse driving assembly 130 further includes a transverse transmission shaft 134, an output shaft of the transverse motor 131 is in transmission connection with the transverse transmission shaft 134, the transverse transmission shaft 134 is in transmission connection with one transverse transmission wheel 133 of the two sets of transverse transmission structures, and the transverse traction cables 132 of the two sets of transverse transmission structures bypass two sections of the transverse transmission wheel 133 and are fixedly connected with the first movable arm 120c and the second movable arm 120 d. The two sets of transverse transmission structures can respectively drive the first movable arm 120c and the second movable arm 120d through different positions on the first movable arm 120c and the second movable arm 120d, so that the first movable arm 120c and the second movable arm 120d are favorably stressed uniformly when moving along the extending direction of the supporting frame 110, and the situation that the first movable arm 120c and the second movable arm 120d are blocked due to uneven stress during moving is avoided. Meanwhile, the two sets of transverse transmission structures are simultaneously driven by the transverse motor 131 through the transverse transmission shaft 134, so that synchronous driving of the two sets of transverse transmission structures is realized, and further, the stability of the process that the first movable arm 120c and the second movable arm 120d approach or leave from each other along the extension direction of the support frame 110 is ensured.

In an embodiment of the present disclosure, as shown in fig. 9, the lateral transmission structure includes two lateral transmission wheels 133, and the first movable arm 120c and the second movable arm 120d are symmetrically disposed between the two lateral transmission wheels 133, that is, the first movable arm 120c and the second movable arm 120d are respectively close to the lateral transmission wheels 133 at one end, and the distances between the first movable arm 120c and the second movable arm 120d and the respectively close lateral transmission wheels 133 are the same. The distance between the laterally movable wheels 133 of the first and second

movable arms

120c and 120d, respectively, that are closer to each other, remains the same at all times as the lateral drive assembly 130 drives the first and second

movable arms

120c and 120d toward or away from each other. The first and second

movable arms

120c and 120d can move simultaneously to extreme positions as they move away from each other and can meet at the midpoint of the line connecting the two laterally movable wheels 133 as the first and second

movable arms

120c and 120d move toward each other. The first movable arm 120c and the second movable arm 120d are symmetrically arranged between the two transverse driving wheels 133, so that the maximum distance adjustment range between the first movable arm 120c and the second movable arm 120d is ensured, and when the first movable arm 120c and the second movable arm 120d are adapted to the size of a container to carry the container, the container can be located in the middle of the carrying device 100, and the stability of the carrying process of the container is ensured.

In an embodiment of the present disclosure, as shown in fig. 6 to 7, the supporting frame 110 includes a transverse rail 111, the transverse rail 111 extends along an extending direction of the supporting frame 110, and a side arm 120 movably disposed on the supporting frame 110 along the extending direction of the supporting frame 110 is movably disposed on the transverse rail 111. The lateral guide rail 111 increases the smoothness of the movement of the lateral movable arm 120b (the first movable arm 120c and the second movable arm 120d) in the extending direction of the supporting frame 110. Optionally, the transverse movable arm 120b (the first movable arm 120c and the second movable arm 120d) and the transverse guide rail 111 are in sliding fit, rolling fit or other fit manners capable of achieving a guiding function. Further, the supporting frame 110 includes two transverse rails 111, the two transverse rails 111 are disposed in parallel, and the two transverse rails 111 are disposed at intervals along the conveying direction. The two spaced and parallel guide rails jointly support and guide the side arms 120, and further increase the smoothness of the movement of the lateral movable arms 120b (the first movable arm 120c and the second movable arm 120d) along the extending direction of the supporting frame 110.

In an embodiment of the present disclosure, as shown in fig. 8 to 10, the carrying device 100 further includes a bracket 140, and the supporting frame 110 is rotatably disposed on the bracket 140 along an axis in a vertical direction. The supporting frame 110 can drive the two side arms 120 to rotate relative to the bracket 140 along the vertical axis, that is, when the supporting frame 110 drives the side arms 120 to rotate, the carrying direction of the carrying device 100 changes accordingly, so that the carrying device 100 can carry the goods to the carrying device 100 from different directions in a rotating manner, or the carrying device 100 can convey the goods to different directions, thereby enhancing the adaptability of the carrying device 100 to the actual working conditions. In an implementation manner, the carrying device 100 further includes a rotary driving assembly 150, the rotary driving assembly 150 includes a sprocket transmission structure 151 and a rotary motor 152, and the rotary motor 152 drives the supporting frame 110 to rotate along the vertical axis relative to the bracket 140 through the sprocket transmission structure 151. Specifically, the supporting frame 110 is fixedly connected with a chain wheel, the rotating motor 152 drives the chain wheel to rotate, and then drives the supporting frame 110 to rotate around the vertical axis, and the rotating motor 152 is installed on the bracket 140 or the supporting frame 110.

The various parts of the handling device 100 cooperate to effect the handling of goods or containers. Alternatively, the carrying action is performed directly by the side arm 120 or by an additional telescopic structure. The present disclosure does not limit the specific structure of the conveying device 100 to directly perform the conveying operation. In an embodiment of the present disclosure, as shown in fig. 3 to 5, the carrying operation is directly completed by two side arms 120 cooperating together, each side arm 120 includes an outer joint arm 121, an inner joint arm 122, a pushing rod assembly 123 and a temporary storage pallet 124, the two outer joint arms 121 are respectively disposed at two ends of the extending direction of the supporting frame 110, at least one outer joint arm 121 is movably disposed on the supporting frame 110 along the extending direction of the supporting frame 110, the temporary storage pallet is fixedly disposed at the bottom of the outer joint arm 121, the two temporary storage pallets are disposed between the two outer joint arms 121 along the extending direction of the supporting frame 110, and the pushing rod assembly 123 is disposed on the inner joint arm 122. The inner arm 122 is movably arranged on the outer arm 121 along the conveying direction, and then the push rod assembly 123 is driven to move along the conveying direction relative to the temporary storage supporting plate, and when the push rod assembly 123 moves along the conveying direction, the goods on the temporary storage supporting plate can be pushed out, or the goods are pulled to the temporary storage supporting plate. Using the side arm 120 as a direct target for the conveyance operation simplifies the overall structure of the conveyance device 100. In other embodiments of the present disclosure, the outer arm 121, the inner arm 122, the push rod assembly 123 and the temporary storage plate 124 may also be directly disposed on the supporting frame 110, so as to coordinate with each other to complete the transportation of the goods.

Further, as shown in fig. 8-10, each side arm 120 further includes a middle link arm 125, respectively, the middle link arm 125 is mounted between the inner link arm 122 and the outer link arm 121, and the middle link arm 125 is movable in the conveying direction relative to the outer link arm 121, and the inner link arm 122 is movable in the conveying direction relative to the middle link arm 125. The side arm 120 further includes a speed increasing assembly including a movable pulley and a sliding cable. The movable pulley is mounted to the middle joint arm 125. The middle part of the sliding cable is bent and sleeved on the movable pulley, so that two ends of the sliding cable are oppositely arranged, one end of the sliding cable is fixedly connected with the outer knuckle arm 121, and the other end of the sliding cable is fixedly connected with the inner knuckle arm 122. When the middle joint arm 125 moves at the first speed in the conveying direction with respect to the outer joint arm 121, the inner joint arm 122 moves at the second speed, which is twice the first speed, in the conveying direction with respect to the outer joint arm 121. The arrangement of the middle arm 125 and the speed increasing assembly prolongs the travel of the side arm 120 for carrying the goods in the carrying direction, and the inner arm 122 can extend or retract at a higher speed, so that the efficiency of the carrying device 100 for carrying the goods is improved.

In an embodiment of the present disclosure, as shown in fig. 10-12, the handling device 100 further includes a knuckle arm drive assembly 160, the knuckle arm drive assembly 160 is disposed between the outer knuckle arm 121 and the middle knuckle arm 125, and the knuckle arm drive assembly 160 is configured to drive the middle knuckle arm 125 to move in the handling direction relative to the outer knuckle arm 121. The articulated arm drive assembly 160 provides for automated completion of the handling action. As an implementation manner, the arm joint driving assembly 160 includes an arm joint motor 161, an arm joint transmission shaft 162 and two sets of arm joint sprocket structures 163, the arm joint transmission shaft 162 includes two sections connected by a spline structure along its axial direction, the two sets of arm joint sprocket structures 163 are respectively disposed on the two outer arm joints 121, output ends of the two sets of arm joint sprocket structures 163 are respectively fixedly connected with the corresponding middle arm joints 125 along the conveying direction, two ends of the arm joint transmission shaft 162 are respectively connected with input ends of the two sets of arm joint sprocket structures 163 in a transmission manner, and an output shaft of the arm joint motor 161 is connected with the arm joint transmission shaft 162 in a transmission manner. When the knuckle arm motor 161 rotates, the knuckle arm transmission shaft 162 is driven to rotate, so that the chain wheel and the chain are driven to rotate, the chain drives the push rod assembly 123 to move along the conveying direction relative to the temporary storage supporting plate, and when the push rod assembly 123 moves along the conveying direction, goods on the temporary storage supporting plate can be pushed out or pulled to the temporary storage supporting plate. The pitch arm drive shaft 162 of the spline mechanism enables real-time efficient drive of the pitch arm motor 161 with the two sets of pitch arm sprocket arrangements 163 as the transverse moveable arm 120b approaches or moves away from the transverse stationary arm 120 a. When the transverse movable arm 120b approaches the transverse fixed arm 120a, the knuckle arm transmission shaft 162 of the spline structure correspondingly shortens the axial size of itself; the splined arm drive shaft 162 correspondingly extends its axial dimension as the laterally moveable arm 120b moves away from the laterally stationary arm 120 a.

The push rod assembly 123 functions to push out the goods on the temporary storage pallet in the conveying direction or pull the goods to the temporary storage pallet. In one embodiment of the present disclosure, as shown in fig. 11-12, the push rod assembly 123 includes a fixed push rod 1231 and a movable push rod 1232, the movable push rod 1232 is rotatably mounted at the extending end of the inner arm 122, and the fixed push rod 1231 is fixedly mounted at the end of the inner arm 122 away from the movable push rod 1232. When the push rod assembly 123 extends out along the carrying direction relative to the temporary storage pallet, the fixed push rod 1231 can push out the goods on the temporary storage pallet along the carrying direction. When the push rod assembly 123 retracts in the carrying direction relative to the temporary storage pallet, the movable push rod 1232 can pull the goods to the temporary storage pallet in the carrying direction. Further, the plane of rotation of the movable push rod 1232 is perpendicular to the conveying direction, and the movable push rod 1232 has an operating position and an avoidance position when rotated. When the push rod assembly 123 extends out in the carrying direction relative to the temporary storage pallet, the movable push rod 1232 rotates to the avoiding position, and the fixed push rod 1231 can push out the goods on the temporary storage pallet in the carrying direction. When push rod assembly 123 retracts along the transport direction for the pallet of keeping in, movable push rod 1232 rotates to the operating position, and movable push rod 1232 can pull the goods to the pallet of keeping in along the transport direction. In an implementation manner, the movable push rod 1232 is driven to rotate by the movable motor 1233. Further, the carrying device 100 further includes a camera module for acquiring image information to detect whether the two side arms 120 correspond to the designated goods to be carried and whether the push rod assembly 123 contacts the goods to be carried. The camera module may be, for example, a two-dimensional camera or a three-dimensional camera.

According to the carrying device and the carrying robot, the distance between the two side arms can be adjusted according to the overall dimension of goods by the movable side arms in the extending direction of the supporting frame, then all parts of the carrying device cooperatively execute carrying actions, the adaptability of the carrying device and the carrying robot to containers of different sizes is greatly enhanced, and the carrying efficiency of the goods is effectively improved.

In an embodiment of the present disclosure, a handling device for conveying goods in a handling direction includes:

In some embodiments, the two side arms are respectively a transverse fixed arm and a transverse movable arm, the transverse fixed arm is fixedly arranged at one end of the supporting frame along the extending direction of the supporting frame, and the transverse movable arm is movably arranged on the supporting frame along the extending direction of the supporting frame.

In some embodiments, the transverse driving assembly comprises a transverse power source and a transverse transmission structure, an output end of the transverse power source is in transmission connection with an input end of the transverse transmission structure, and an output end of the transverse transmission structure is fixedly connected with the transverse movable arm along the extending direction of the supporting frame.

In some embodiments, the transverse power source includes a transverse motor, the transverse transmission structure includes a transverse traction cable and at least two transverse transmission wheels, the at least two transverse transmission wheels are disposed on the support frame at intervals along an extending direction of the support frame, at least one transverse transmission wheel is in transmission connection with an output shaft of the transverse motor, the transverse traction cable is sleeved on the at least two transverse transmission wheels, the transverse traction cable is fixedly connected with the transverse movable arm along the extending direction of the support frame, and when the at least one transverse transmission wheel rotates, the transverse traction cable is driven to move, so as to drive the transverse movable arm to move along the extending direction of the support frame.

In some embodiments, the transverse driving assembly includes two sets of the transverse transmission structures, the two sets of the transverse transmission structures are arranged on the supporting frame at intervals along the conveying direction, the transverse driving assembly further includes a transverse transmission shaft, an output shaft of the transverse motor is in transmission connection with the transverse transmission shaft, the transverse transmission shaft is in transmission connection with one transverse transmission wheel in the two sets of the transverse transmission structures, and the transverse traction cables in the two sets of the transverse transmission structures are in transmission connection with the transverse movable arm.

In some embodiments, the two side arms are respectively a first movable arm and a second movable arm, and the first movable arm and the second movable arm are respectively movably arranged on the supporting frame along the extending direction of the supporting frame; the first movable arm and the second movable arm are respectively in transmission connection with the transverse driving assembly, and the transverse driving assembly drives the first movable arm and the second movable arm to move along the extending direction of the supporting frame.

In some embodiments, the transverse driving assembly includes a transverse power source and a transverse transmission structure, an output end of the transverse power source is in transmission connection with an input end of the transverse transmission structure, and an output end of the transverse transmission structure is fixedly connected with the first movable arm and the second movable arm respectively along the extending direction of the supporting frame.

In some embodiments, the transverse power source includes a transverse motor, the transverse transmission structure includes a transverse traction cable and at least two transverse transmission wheels, at least two transverse transmission wheels are disposed at intervals on the support frame along an extending direction of the support frame, at least one transverse transmission wheel is in transmission connection with an output shaft of the transverse motor, and the transverse traction cable is sleeved on at least two transverse transmission wheels; the transverse traction cable bypasses two sections of the transverse transmission wheels and is respectively fixedly connected with the first movable arm and the second movable arm, and at least one transverse transmission wheel drives the transverse traction cable to move when rotating, so that the first movable arm and the second movable arm are driven to mutually approach or depart from each other along the extending direction of the supporting frame.

In some embodiments, the transverse driving assembly includes two sets of the transverse transmission structures, the two sets of the transverse transmission structures are arranged on the supporting frame at intervals along the conveying direction, the transverse driving assembly further includes a transverse transmission shaft, an output shaft of the transverse motor is in transmission connection with the transverse transmission shaft, the transverse transmission shaft is in transmission connection with one of the transverse transmission wheels in the two sets of the transverse transmission structures, and the transverse traction cables in the two sets of the transverse transmission structures bypass two sections of the transverse transmission wheels and are fixedly connected with the first movable arm and the second movable arm respectively.

In some embodiments, the lateral transmission structure comprises two lateral transmission wheels, and the first movable arm and the second movable arm are symmetrically arranged between the two lateral transmission wheels.

In some embodiments, the carrying device further comprises a bracket, and the supporting frame is rotatably arranged on the bracket along an axis in the vertical direction.

In some embodiments, the carrying device further comprises a rotary driving assembly, the rotary driving assembly comprises a chain wheel transmission structure and a rotary motor, and the rotary motor drives the supporting frame to rotate along a vertical direction axis relative to the bracket through the chain wheel transmission structure.

In some embodiments, each side arm comprises an outer joint arm, an inner joint arm, a push rod assembly and a temporary storage pallet, the two outer joint arms are respectively arranged at two ends of the extending direction of the support frame, at least one outer joint arm is movably arranged on the support frame along the extending direction of the support frame, the temporary storage pallet is fixedly arranged at the bottom of the outer joint arm, the two temporary storage pallets are arranged between the two outer joint arms along the extending direction of the support frame, and the push rod assembly is arranged on the inner joint arm; the interior festival arm along the direction of transport activity set up in outer festival arm, and then drive push rod assembly for the layer board of keeping in removes along the direction of transport, push rod assembly can with when removing along the direction of transport the goods on the layer board of keeping in are released, perhaps draw the goods to the layer board of keeping in.

In some embodiments, each of the side arms further comprises a middle arm and a speed increasing assembly, respectively, the middle arm being mounted between the inner and outer arms and being movable relative to the outer arm in the conveying direction, the inner arm being movable relative to the middle arm in the conveying direction; the speed increasing assembly comprises a movable pulley and a sliding cable; the movable pulley is arranged on the middle-section arm; the middle part of the sliding cable is bent and sleeved on the movable pulley, so that two ends of the sliding cable are oppositely arranged, one end of the sliding cable is fixedly connected with the outer knuckle arm, and the other end of the sliding cable is fixedly connected with the inner knuckle arm; when the middle joint arm moves at a first speed in the conveying direction relative to the outer joint arm, the inner joint arm moves at a second speed in the conveying direction relative to the outer joint arm, the second speed being twice the first speed.

In some embodiments, the handling device further comprises a knuckle arm drive assembly disposed between the outer knuckle arm and the middle knuckle arm, the knuckle arm drive assembly for driving the middle knuckle arm to move relative to the outer knuckle arm in a handling direction; the knuckle arm driving assembly comprises a knuckle arm motor, a knuckle arm transmission shaft and two sets of knuckle arm chain wheel structures, the knuckle arm transmission shaft comprises two sections connected by a spline structure along the self axial direction, the two sets of knuckle arm chain wheel structures are respectively arranged in two outer knuckle arms, the output ends of the knuckle arm chain wheel structures are respectively and correspondingly fixedly connected with the middle knuckle arms along the carrying direction, the two ends of the knuckle arm transmission shaft are respectively in transmission connection with the input ends of the knuckle arm chain wheel structures, and the output shaft of the knuckle arm motor is in transmission connection with the knuckle arm transmission shaft.

In some embodiments, the support frame includes a transverse rail extending along an extending direction of the support frame, and the side arm movably disposed on the support frame along the extending direction of the support frame is movably disposed on the transverse rail.

In some embodiments, the support frame comprises two of the transverse guide rails, the two transverse guide rails are arranged in parallel, and the two transverse guide rails are arranged at intervals along the conveying direction.

In some embodiments, the carrying device further includes a camera module, and the camera module is configured to acquire image information to detect whether the two side arms correspond to a specific cargo to be carried.

According to an embodiment of the present disclosure, the transfer robot includes a mobile chassis, a storage rack, a lifting assembly and the above transfer device, the storage rack is mounted on the mobile chassis, the storage rack is provided with a plurality of storage pallets distributed in a vertical direction, each storage pallet is used for placing goods, the transfer device is used for transferring goods between a fixed rack and any one of the storage pallets, and the lifting assembly is used for driving the transfer device to move in the vertical direction, so that the transfer device is lifted to a height corresponding to the storage pallets or the height of the fixed rack; when the carrying device is lifted to the height corresponding to the storage pallet, the carrying device pushes the goods onto the corresponding storage pallet along the carrying direction, or the carrying device pulls the goods on the corresponding storage pallet away along the carrying direction; when the carrying device is lifted to the height corresponding to the fixed goods shelf, the carrying device pushes the goods onto the corresponding fixed goods shelf along the carrying direction, or the carrying device pulls the goods on the corresponding fixed goods shelf away along the carrying direction.

Referring to fig. 13, an embodiment of the present disclosure further provides a control apparatus 500, including: at least one processor 520; and a memory 510 communicatively coupled to the at least one processor 520, the memory 510 storing executable code that, when executed by the at least one processor 520, causes the at least one processor 520 to perform some or all of the methods described above.

The Processor 520 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 510 may include various types of storage units, such as system memory, Read Only Memory (ROM), and permanent storage. Wherein the ROM may store static data or instructions for the processor 520 or other modules of the computer. The persistent storage device may be a read-write storage device. The persistent storage may be a non-volatile storage device that does not lose stored instructions and data even after the computer is powered off. In some embodiments, the persistent storage device employs a mass storage device (e.g., magnetic or optical disk, flash memory) as the persistent storage device. In other embodiments, the permanent storage may be a removable storage device (e.g., floppy disk, optical drive). The system memory may be a read-write memory device or a volatile read-write memory device, such as a dynamic random access memory. The system memory may store instructions and data that some or all of the processors require at runtime. Further, the memory 510 may include any combination of computer-readable storage media, including various types of semiconductor memory chips (DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), magnetic and/or optical disks, may also be employed. In some embodiments, memory 510 may include a removable storage device that is readable and/or writable, such as a Compact Disc (CD), a digital versatile disc read only (e.g., DVD-ROM, dual layer DVD-ROM), a Blu-ray disc read only, an ultra-dense disc, a flash memory card (e.g., SD card, min SD card, Micro-SD card, etc.), a magnetic floppy disk, or the like. Computer-readable storage media do not contain carrier waves or transitory electronic signals transmitted by wireless or wired means.

Aspects of the present disclosure are described in detail above with reference to the accompanying drawings. In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments. Those skilled in the art should also appreciate that the acts and modules referred to in the specification are not necessarily required by the disclosure. In addition, it can be understood that steps in the method of the embodiment of the present disclosure may be sequentially adjusted, combined, and deleted according to actual needs, and modules in the device of the embodiment of the present disclosure may be combined, divided, and deleted according to actual needs.

Having described embodiments of the present disclosure, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A pickup control method applied to a transfer robot, characterized in that the transfer robot has a chassis and a transfer device supported on the chassis for picking up a cargo, the transfer device has a first arm and a second arm, the transfer device is configured to place the cargo between the first arm and the second arm when picking up the cargo; the method comprises the following steps:

obtaining size information of the target goods and position relation information between the carrying device and the target goods;

2. The method according to claim 1, wherein the moving the transfer robot to a target position and adjusting the posture of the transfer device based on the positioning information, the positional relationship information, and the size information of the target cargo comprises:

moving the carrying robot to a target position according to the positioning information; and

and adjusting the pose of the carrying device according to the position relation information and the size information of the target cargo.

3. The method of claim 2, wherein the obtaining the size information of the target good comprises at least one of:

obtaining size information of the target cargo from an external management system of the transfer robot; and

and obtaining the size information of the target cargo based on the perception of the carrying robot on the target cargo.

4. The method of claim 2, wherein the obtaining the size information of the target good comprises at least one of:

obtaining size information of the target cargo from the pick-up instruction;

obtaining size information of the target cargo based on a preset identifier on the target cargo; and

and obtaining size information of the target cargo by causing the transfer robot to acquire image information of the target cargo.

5. The method of claim 2, wherein:

the first arm part is a movable arm part, the second arm part is a fixed arm part, and the adjustment of the distance between the first arm part and the second arm part is realized by moving the first arm part; alternatively, the first and second electrodes may be,

the first arm and the second arm are both movable arms, and the adjustment of the distance between the first arm and the second arm is realized by simultaneously or sequentially moving the first arm and the second arm.

6. The method according to claim 2, characterized in that the handling device or handling robot further has at least one sensing device;

the obtaining of the positional relationship information between the transfer robot and the target cargo includes: obtaining position relation information between the transfer robot and the target goods based on first sensing information obtained by the at least one sensing device acting on a preset identifier;

the obtaining of the size information of the target cargo comprises: and obtaining the size information of the target cargo based on second perception information obtained by the at least one perception device acting on the target cargo.

7. The method as set forth in claim 6, wherein the carrying device or the carrying robot has two sensing devices, one of which is a two-dimensional camera and the other of which is a three-dimensional camera, the first sensing information being obtained by the two-dimensional camera and the second sensing information being obtained by the three-dimensional camera.

8. The method of claim 6, wherein the preset identifier is a goods identifier on the target goods or a shelf identifier on a shelf on which the target goods are stored.

9. The method of claim 1 or 2,

the obtaining of the size information of the target cargo comprises: obtaining size information of the target cargo by causing the transfer robot to acquire image information of the target cargo;

the taking out the target cargo with the first and second arm parts at the adjusted interval includes: and the first arm part and the second arm part are extended to the position where the largest goods taking direction size of all the goods to be taken can be taken out or the first arm part and the second arm part are extended to the preset maximum extension size, so that the target goods can be taken out at the adjusted distance.

10. The method of claim 1 or 2,

the obtaining of the size information of the target cargo comprises: obtaining size information of the target cargo from an external management system of the transfer robot;

the obtaining of the positional relationship information between the carrying device and the target cargo includes: obtaining the position relation information between the carrying device and the target goods based on the preset identification on the target goods;

the moving the transfer robot to a target position and adjusting the pose of the transfer device according to the positioning information, the position relation information, and the size information of the target cargo includes: and moving a chassis of the transfer robot to a target position according to the positioning information and the size information of the target goods, adjusting the distance between the first arm and the second arm according to the size information of the target goods in the moving process of the chassis or after the chassis moves to the target position, and adjusting the pose of the transfer device according to the position relation information between the transfer device and the target goods, which is obtained based on the preset mark on the target goods.

11. The method according to claim 2, characterized in that the handling device or handling robot further has at least one sensing device;

the moving the transfer robot to the target position includes: moving a chassis of the transfer robot to a target position, and adjusting a distance between the first arm and the second arm according to pre-stored size information of a target cargo obtained from an external management system of the transfer robot;

the obtaining of the size information of the target cargo comprises: acquiring actual size information of the target cargo by causing the transfer robot to acquire three-dimensional imaging information of the target cargo;

the adjusting the posture of the carrying device includes: and judging whether the actual size information of the target cargo is consistent with the pre-stored size information of the target cargo, if not, readjusting the distance between the first arm part and the second arm part according to the actual size information.

12. The method as set forth in claim 11, wherein the carrying device or the carrying robot has two sensing devices, one of which is a two-dimensional camera and the other of which is a three-dimensional camera, the first sensing information being obtained by the two-dimensional camera and the second sensing information being obtained by the three-dimensional camera.

13. The method according to any one of claims 1 to 12, further comprising, before obtaining the positional relationship information between the handling apparatus and the target cargo:

judging whether the target goods exist or not; and

and if the target cargo exists, judging whether the size of the target cargo is within the range of the size of the carrying device.

14. The method of any one of claims 1 to 12, wherein the adjusting the pose of the handling apparatus further comprises:

and aligning the specific position of the transfer robot with the specific position of the preset mark on the target cargo or aligning the specific position of the transfer robot with the specific position of the target cargo by at least one of driving a chassis of the transfer robot, lifting or rotating the transfer device.

15. The method according to any one of claims 1 to 12, wherein the adjusting the posture of the handling apparatus includes:

adjusting the first arm and the second arm simultaneously or sequentially by at least one of driving a chassis of the transfer robot, lifting the transfer device, or rotating the transfer device such that a specific position between the first arm and the second arm is aligned with a specific position of the target cargo, and adapting a spacing between the first arm and the second arm to a size of the target cargo; alternatively, the first and second electrodes may be,

and adjusting the second arm part to make the second arm part accord with the corresponding preset position relation with the other side edge of the target cargo.

16. The method according to any one of claims 1 to 11, wherein the moving the transfer robot to the target position includes:

firstly, moving a chassis of the carrying robot to a target position, then lifting the carrying device to a target shelf height and/or rotating the carrying device to a target direction; alternatively, the first and second electrodes may be,

moving the chassis of the transfer robot to a target position, and lifting and/or rotating the transfer device to a target height and/or direction during the movement of the chassis of the transfer robot.

17. The method of any one of claims 1 to 12, wherein causing the first and second arms to pick up the target cargo at the adjusted spacing comprises: and judging whether the target cargo is collided or not through a sensor arranged on the first arm part and/or the second arm part in the cargo taking process of the first arm part and the second arm part, if so, stopping or terminating the cargo taking task, and if not, taking the cargo.

18. A control device, comprising:

at least one processor; and

a memory communicatively connected to the at least one processor, the memory storing executable code that, when executed by the at least one processor, causes the at least one processor to perform the method of any of claims 1-17.

19. A transfer robot comprising a moving chassis, a transfer device, a storage rack, a lifting assembly and the control device of claim 18, wherein the storage rack is mounted on the moving chassis, the storage rack is provided with a plurality of storage pallets distributed along a vertical direction, each storage pallet is used for placing goods, the transfer device is used for transferring goods between a fixed rack and any one of the storage pallets, and the lifting assembly is used for driving the transfer device to move along the vertical direction, so that the transfer device is lifted to a height corresponding to the height of the storage pallet or the height of the fixed rack; when the carrying device is lifted to the height corresponding to the storage pallet, the carrying device moves the goods to the corresponding storage pallet along the carrying direction, or the carrying device moves the goods on the corresponding storage pallet out along the carrying direction; when the carrying device is lifted to the height corresponding to the fixed goods shelf, the carrying device moves the goods to the corresponding fixed goods shelf along the carrying direction, or the carrying device moves the goods on the corresponding fixed goods shelf out along the carrying direction.

20. A handling device for conveying goods in a handling direction, characterized in that the handling device comprises:

21. The carrying device as claimed in claim 20, wherein the two side arms are a transverse fixed arm and a transverse movable arm respectively, the transverse fixed arm is fixedly arranged at one end of the supporting frame along the extending direction of the supporting frame, and the transverse movable arm is movably arranged at the supporting frame along the extending direction of the supporting frame.

22. The handling device of claim 21, wherein the transverse driving assembly comprises a transverse power source and a transverse transmission structure, an output end of the transverse power source is in transmission connection with an input end of the transverse transmission structure, and an output end of the transverse transmission structure is fixedly connected with the transverse movable arm along the extending direction of the support frame.

23. The carrying device as claimed in claim 22, wherein the transverse power source includes a transverse motor, the transverse transmission structure includes a transverse traction cable and at least two transverse transmission wheels, at least two of the transverse transmission wheels are disposed on the supporting frame at intervals along an extending direction of the supporting frame, at least one of the transverse transmission wheels is in transmission connection with an output shaft of the transverse motor, the transverse traction cable is sleeved on at least two of the transverse transmission wheels, the transverse traction cable is fixedly connected with the transverse movable arm along the extending direction of the supporting frame, and when at least one of the transverse transmission wheels rotates, the transverse traction cable is driven to move, so as to drive the transverse movable arm to move along the extending direction of the supporting frame.

24. The transfer apparatus of claim 23, wherein the transverse drive assembly comprises two sets of said transverse transmission structures, said two sets of said transverse transmission structures being spaced apart from each other along the transfer direction on said support frame, said transverse drive assembly further comprising a transverse transmission shaft, an output shaft of said transverse motor being in driving connection with said transverse transmission shaft, said transverse transmission shaft being in driving connection with one of said transverse transmission wheels of each of said two sets of said transverse transmission structures, said transverse traction cables of each of said two sets of said transverse transmission structures being in driving connection with said transversely movable arm.

25. The carrying device as claimed in claim 20, wherein the two side arms are a first movable arm and a second movable arm, respectively, and the first movable arm and the second movable arm are movably disposed on the supporting frame along the extending direction of the supporting frame, respectively; the first movable arm and the second movable arm are respectively in transmission connection with the transverse driving assembly, and the transverse driving assembly drives the first movable arm and the second movable arm to move along the extending direction of the supporting frame.

26. The handling device of claim 25, wherein the transverse driving assembly comprises a transverse power source and a transverse transmission structure, an output end of the transverse power source is in transmission connection with an input end of the transverse transmission structure, and an output end of the transverse transmission structure is fixedly connected with the first movable arm and the second movable arm respectively along the extending direction of the support frame.

27. The carrying device as claimed in claim 26, wherein the transverse power source includes a transverse motor, the transverse transmission structure includes a transverse traction cable and at least two transverse transmission wheels, at least two of the transverse transmission wheels are disposed on the supporting frame at intervals along an extending direction of the supporting frame, at least one of the transverse transmission wheels is in transmission connection with an output shaft of the transverse motor, and the transverse traction cable is sleeved on at least two of the transverse transmission wheels; the transverse traction cable bypasses two sections of the transverse transmission wheels and is respectively fixedly connected with the first movable arm and the second movable arm, and at least one transverse transmission wheel drives the transverse traction cable to move when rotating, so that the first movable arm and the second movable arm are driven to mutually approach or depart from each other along the extending direction of the supporting frame.

28. The transfer apparatus of claim 27, wherein the transverse drive assembly comprises two sets of the transverse transmission structures, the two sets of the transverse transmission structures are arranged on the support frame at intervals along the transfer direction, the transverse drive assembly further comprises a transverse transmission shaft, an output shaft of the transverse motor is in transmission connection with the transverse transmission shaft, the transverse transmission shaft is in transmission connection with one transverse transmission wheel of the two sets of the transverse transmission structures, and the transverse traction cables of the two sets of the transverse transmission structures bypass two sections of the transverse transmission wheel and are fixedly connected with the first movable arm and the second movable arm respectively.

29. The handling apparatus of claim 27, wherein the lateral transmission structure comprises two lateral transmission wheels, and the first movable arm and the second movable arm are symmetrically disposed between the two lateral transmission wheels.

30. The handling device according to any of the claims 20 to 29, further comprising a bracket, wherein the support frame is rotatably arranged to the bracket along an axis in a vertical direction.

31. The handling device of claim 30, further comprising a rotary drive assembly including a sprocket drive structure and a rotary motor, the rotary motor driving the support frame to rotate relative to the carriage along a vertical axis via the sprocket drive structure.

32. The carrying device as claimed in claim 30, wherein each side arm includes an outer joint arm, an inner joint arm, a pushing rod assembly and a temporary storage pallet, two outer joint arms are respectively disposed at two ends of the extending direction of the supporting frame, at least one outer joint arm is movably disposed on the supporting frame along the extending direction of the supporting frame, the temporary storage pallet is fixedly disposed at the bottom of the outer joint arm, two temporary storage pallets are disposed between two outer joint arms along the extending direction of the supporting frame, and the pushing rod assembly is disposed on the inner joint arm; the interior festival arm along the direction of transport activity set up in outer festival arm, and then drive push rod assembly for the layer board of keeping in removes along the direction of transport, push rod assembly can with when removing along the direction of transport the goods on the layer board of keeping in are released, perhaps draw the goods to the layer board of keeping in.

33. The handling apparatus of claim 32, wherein each of the side arms further comprises a center link arm and a speed increasing assembly, respectively, the center link arm being mounted between the inner link arm and the outer link arm and being movable in a handling direction relative to the outer link arm, the inner link arm being movable in the handling direction relative to the center link arm; the speed increasing assembly comprises a movable pulley and a sliding cable; the movable pulley is arranged on the middle-section arm; the middle part of the sliding cable is bent and sleeved on the movable pulley, so that two ends of the sliding cable are oppositely arranged, one end of the sliding cable is fixedly connected with the outer knuckle arm, and the other end of the sliding cable is fixedly connected with the inner knuckle arm; when the middle joint arm moves at a first speed in the conveying direction relative to the outer joint arm, the inner joint arm moves at a second speed in the conveying direction relative to the outer joint arm, the second speed being twice the first speed.

34. The transfer device of claim 33, further comprising a knuckle arm drive assembly disposed between the outer knuckle arm and the middle knuckle arm, the knuckle arm drive assembly for driving the middle knuckle arm to move relative to the outer knuckle arm in a transfer direction; the knuckle arm driving assembly comprises a knuckle arm motor, a knuckle arm transmission shaft and two sets of knuckle arm chain wheel structures, the knuckle arm transmission shaft comprises two sections connected by a spline structure along the self axial direction, the two sets of knuckle arm chain wheel structures are respectively arranged in two outer knuckle arms, the output ends of the knuckle arm chain wheel structures are respectively and correspondingly fixedly connected with the middle knuckle arms along the carrying direction, the two ends of the knuckle arm transmission shaft are respectively in transmission connection with the input ends of the knuckle arm chain wheel structures, and the output shaft of the knuckle arm motor is in transmission connection with the knuckle arm transmission shaft.

35. The handling device of claims 20 to 34, wherein the support frame comprises a cross rail extending along an extension direction of the support frame, and wherein the side arm movably disposed on the support frame along the extension direction of the support frame is movably disposed on the cross rail.

36. The transfer device of claim 35, wherein the support frame comprises two of the cross rails, the two cross rails being arranged in parallel, the two cross rails being spaced apart in the transfer direction.

37. A handling device according to claims 20-34, characterised in that it further comprises a camera module for acquiring image information for detecting whether both side arms correspond to a specific load to be handled.

38. A transfer robot comprising a moving chassis, a storage rack mounted on the moving chassis, the storage rack being provided with a plurality of storage pallets distributed in a vertical direction, each of the storage pallets being used for placing goods, a transfer device for transferring goods between a fixed rack and any one of the storage pallets, and a lifting assembly for driving the transfer device to move in the vertical direction so that the transfer device is lifted to a height corresponding to the storage pallet or the fixed rack, and the transfer device of any one of claims 20 to 37; when the carrying device is lifted to the height corresponding to the storage pallet, the carrying device pushes the goods onto the corresponding storage pallet along the carrying direction, or the carrying device pulls the goods on the corresponding storage pallet away along the carrying direction; when the carrying device is lifted to the height corresponding to the fixed goods shelf, the carrying device pushes the goods onto the corresponding fixed goods shelf along the carrying direction, or the carrying device pulls the goods on the corresponding fixed goods shelf away along the carrying direction.