CN117508955A

CN117508955A - Box taking method, box taking and returning method and transfer robot

Info

Publication number: CN117508955A
Application number: CN202210910524.9A
Authority: CN
Inventors: 王华培
Original assignee: Beijing Jizhijia Technology Co Ltd
Current assignee: Beijing Jizhijia Technology Co Ltd
Priority date: 2022-07-29
Filing date: 2022-07-29
Publication date: 2024-02-06

Abstract

The invention discloses a box taking method, a box returning method and a transfer robot, and relates to the technical field of warehouse logistics, wherein the box taking method comprises the following steps: acquiring position information of a target container, wherein the position information of the target container at least comprises a deflection angle of the target container relative to a preset position; judging whether the deflection angle exceeds a preset angle range or not; if the deflection angle exceeds the preset angle range, controlling the box holding assembly to adjust the target container to the state that the deflection angle of the target container relative to the preset position is within the preset angle range; and controlling the box holding assembly to execute box taking action according to the fact that the deflection angle is within a preset angle range so as to take out the target container. When the deflection of the target container is large, the box holding assembly firstly adjusts the target container to a position, where the deflection angle of the target container relative to the preset position is within a preset angle range, and then the box holding assembly fetches the adjusted target container, so that the probability that the box holding assembly or the target container contacts other containers is reduced in the box fetching process.

Description

Box taking method, box taking and returning method and transfer robot

Technical Field

The invention relates to the technical field of warehouse logistics, in particular to a box taking method, a box returning method and a transfer robot.

Background

This section provides merely background information related to the present disclosure and is not necessarily prior art.

The transfer robot is common box taking and returning equipment in warehouse logistics, and can transfer a container to a layer plate of a goods shelf according to a box returning instruction, and can take out the container from the layer plate of the goods shelf according to the box taking instruction so as to be selected by operators. At present, in order to improve the space utilization of storage, containers are placed more and more densely, when the container on a goods shelf inclines, if the inclination angle is larger, a transfer robot is easily contacted with other containers in the process of taking the inclined container, so that goods are at different positions, or the transfer robot is caused to be failed, and the container cannot be taken continuously.

Disclosure of Invention

The invention aims to at least solve the problem that the transfer robot is easy to cause goods to be out of position or cause the transfer robot to malfunction in the process of taking an inclined container. The aim is achieved by the following technical scheme:

a first aspect of the present invention proposes a box picking method applied to a transfer robot having a box holding assembly, the box picking method comprising:

acquiring position information of a target container, wherein the position information of the target container at least comprises a deflection angle of the target container relative to a preset position;

Judging whether the deflection angle exceeds a preset angle range or not;

if the deflection angle exceeds a preset angle range, controlling the box holding assembly to adjust the target container to a state that the deflection angle of the target container relative to a preset position is within the preset angle range;

and controlling the box holding assembly to execute box taking action according to the fact that the deflection angle is in a preset angle range so as to take out the target container.

According to the box taking method, when the deflection angle of the target container relative to the preset position is within the preset angle range, the box holding assembly can be directly controlled to execute the box taking action; when the deflection angle of the target container relative to the preset position exceeds the preset angle range, the box holding assembly is controlled to adjust the target container to the state that the deflection angle of the target container relative to the preset position is within the preset angle range, and then the box holding assembly is controlled to execute box taking action. Therefore, when the target container deflects greatly, the box holding assembly firstly adjusts the position of the target container, then the box holding assembly carries out box taking aiming at the adjusted target container, the probability that the box holding assembly or the target container contacts other containers is reduced in the box taking process, and the possibility that the container shifts or a transfer robot suffers from faults due to contact with the other containers is avoided.

In addition, the box taking method according to the invention can also have the following additional technical characteristics:

in some embodiments of the invention, the box-taking method further comprises:

and the preset position is the position of the box holding assembly when the position information of the target container is acquired.

In some embodiments of the present invention, the acquiring the position information of the target container includes: and acquiring the position information of the target container detected by the three-dimensional imaging module on the carrying robot.

In some embodiments of the present invention, before the determining whether the deflection angle is within the preset angle range, the method further includes:

and controlling the box holding assembly to rotate to a position opposite to the target container along a first direction according to the fact that the deflection angle is larger than zero.

In some embodiments of the invention, controlling the hugging assembly to adjust the target cargo container to a deflection angle of the target cargo container relative to a predetermined position within a predetermined angular range comprises:

controlling the box holding assembly opposite to the target container to extend out of a preset length, and picking up the target container;

and controlling the box holding assembly which picks up the target container to rotate along the reverse direction of the first direction, so that the target container rotates to be within a preset angle range.

In some embodiments of the invention, controlling the clasping assembly that picked up the target container to carry the target container in a reverse direction of a first direction includes:

and controlling the box holding assembly which picks up the target container to rotate along the reverse direction of the first direction to a position where the box holding assembly is opposite to the laminate of the goods shelf where the target container is located.

In some embodiments of the present invention, the controlling the box holding assembly to perform a box removal action to remove the target container includes: controlling a box holding assembly which is opposite to the target container to extend to a preset box taking position, and picking up the target container;

and controlling the box holding assembly picking up the target container to retract the target container, and releasing the target container after the target container is retracted in place so as to finish box picking.

In some embodiments of the invention, the box holding assembly comprises two telescopic forks arranged at intervals, and the position information further comprises the width of the target container;

after the control box holding assembly rotates to a position opposite to the target container along a first direction, the control box holding assembly further comprises:

the two telescopic forks of the box holding assembly, which are opposite to the target container, are controlled to move away from each other until the width between the two telescopic forks is larger than the width of the target container, so that the two telescopic forks can pick up the target container along the two sides of the width direction of the target container.

In some embodiments of the present invention, if the deflection angle exceeds a preset angle range, the controlling the motion performed by the box holding assembly includes:

controlling two telescopic forks which are larger than the width of the target container to extend out of preset lengths along two sides of the width direction of the target container respectively, and then controlling the two telescopic forks to approach each other to clamp the target container;

the box holding assembly picking up the target container is controlled to rotate to a position where the box holding assembly is opposite to a layer plate of a goods shelf where the target container is located along the reverse direction of the first direction;

controlling two telescopic forks of the box holding assembly, which are opposite to a goods shelf where the target container is located, to retract with the target container based on the preset length being equal to the extension length of the box holding assembly extending to the preset box taking position so as to take out the target container;

based on the fact that the preset length is smaller than or larger than the extending length of the box holding assembly extending to the preset box taking position, after two telescopic forks of the box holding assembly, which are right opposite to a goods shelf where the target container is located, are controlled to be adjusted to the preset box taking position, the two telescopic forks are controlled to carry the target container to retract, and the target container is taken out.

In some embodiments of the present invention, the controlling the extension of the holding assembly, which is opposite to the target container, to the predetermined picking position includes:

acquiring position information of a target container detected by a three-dimensional imaging module on the transfer robot, wherein the position information comprises the distance between the target container and the three-dimensional imaging module;

calculating the extension length of the box holding assembly according to the distance between the target container and the three-dimensional imaging module, the preset distance between the three-dimensional forming module and the target container and the preset extension length of the box holding assembly, which corresponds to the preset distance, to be extended;

and controlling the box holding assembly to extend to the extending length of the box holding assembly to reach the calculated extending length of the box holding assembly, and at the moment, extending the box holding assembly to the preset box taking position.

In some embodiments of the invention, the box-taking method further comprises:

and acquiring barrier information of the moving path of the box holding assembly before the box holding assembly stretches out and in the stretching process of the box holding assembly, and controlling the box holding assembly to stop stretching out when the moving path is shielded.

In some embodiments of the invention, the box-taking method further comprises:

Controlling the carrying robot to walk to a target position opposite to the target container;

and controlling the box holding assembly at the target position to be adjusted to a target height corresponding to the target container, so that the three-dimensional imaging module of the transfer robot can detect the position information of the target container.

In some embodiments of the present invention, after the controlling the holding box assembly at the target position is adjusted to a target height corresponding to the target cargo box, the controlling further includes:

determining the position deviation of the box holding assembly and the mark based on the position information of the mark acquired by the two-dimensional imaging module on the transfer robot, and controlling the transfer robot to move a corresponding distance within a preset movement threshold range based on the position deviation; and/or controlling the box holding assembly to lift by a corresponding height.

The second aspect of the invention provides a box taking and returning method which is applied to a carrying robot with a box holding assembly and comprises a box returning step and a box taking step;

the box taking step is performed according to the box taking method provided by the first aspect of the invention.

According to the box taking and returning method, the box taking step is carried out according to the box taking method provided by the first aspect of the invention, and when the deflection angle of the target container relative to the preset position is within the preset angle range, the box holding assembly can be directly controlled to carry out box taking action; when the deflection angle of the target container relative to the preset position exceeds the preset angle range, the box holding assembly is controlled to adjust the target container to the state that the deflection angle of the target container relative to the preset position is within the preset angle range, and then the box holding assembly is controlled to execute box taking action. Therefore, when the target container deflects greatly, the box holding assembly firstly adjusts the position of the target container, then the box holding assembly carries out box taking aiming at the adjusted target container, the probability that the box holding assembly or the target container contacts other containers is reduced in the box taking process, and the possibility that the container shifts or a transfer robot suffers from faults due to contact with the other containers is avoided.

in some embodiments of the invention, the step of retooling includes:

controlling the carrying robot to walk to a target position opposite to a target container position for placing a target container;

controlling a box holding assembly at a target position to adjust to a target height corresponding to the target box position;

and controlling the box holding assembly at the target height to execute box returning action, and placing the target container on the box holding assembly to the target box position.

In some embodiments of the present invention, after the controlling the carrying case assembly at the target position is adjusted to the target height corresponding to the target case position, the method further includes:

obtaining horizontal position deviation and height position deviation between the box holding assembly and the mark based on the position information of the mark of the target box position obtained by the two-dimensional imaging module;

controlling the transfer robot to move horizontally based on the obtained horizontal position deviation so as to adjust the horizontal displacement of the box holding assembly;

and controlling the box holding assembly to lift based on the obtained height position deviation so as to adjust the height displacement of the box holding assembly.

In some embodiments of the present invention, the carrying robot box holding assembly includes two telescopic forks arranged at intervals;

the control is in the embracing case subassembly execution still case action of target height, includes:

acquiring barrier information of whether the moving paths of the two telescopic forks are blocked or not;

if the moving paths of the two telescopic forks are not shielded, controlling the two telescopic forks to extend out to execute the box returning action;

if one of the moving paths of the two telescopic forks is shielded, the other telescopic fork is not shielded, the transfer robot is controlled to move to the side where the non-shielded telescopic fork is located, whether the moving paths of the two telescopic forks are shielded or not is obtained in real time in the moving process of the transfer robot until the moving paths of the two telescopic forks are not shielded, and the two telescopic forks are controlled to extend out to execute the box returning action.

In some embodiments of the present invention, the controlling the transfer robot to move to a side where the telescopic fork is not blocked includes:

and controlling the transfer robot to move to the side where the non-shielded telescopic fork is positioned within a preset horizontal movement threshold range.

A third aspect of the invention proposes a transfer robot comprising a controller for performing the box-taking method according to the first aspect of the invention or for performing the box-taking method according to the second aspect of the invention.

According to the transfer robot of the present invention, the controller of the transfer robot is used for executing the box taking method proposed in the first aspect of the present invention, or the controller is used for executing the box taking method proposed in the second aspect of the present invention; when the deflection angle of the target container relative to the preset position is within the preset angle range, the box holding assembly can be directly controlled to execute box taking action; when the deflection angle of the target container relative to the preset position exceeds the preset angle range, the box holding assembly is controlled to adjust the target container to the state that the deflection angle of the target container relative to the preset position is within the preset angle range, and then the box holding assembly is controlled to execute box taking action. Therefore, when the target container deflects greatly, the box holding assembly firstly adjusts the position of the target container, then the box holding assembly carries out box taking aiming at the adjusted target container, the probability that the box holding assembly or the target container contacts other containers is reduced in the box taking process, and the possibility that the container shifts or a transfer robot suffers from faults due to contact with the other containers is avoided.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:

FIG. 1 schematically illustrates a flow chart of a box-fetching method according to an embodiment of the invention;

FIG. 2 schematically illustrates a flowchart of the steps of controlling the hugging assembly to adjust a target cargo container to a target cargo container within a predetermined angular range relative to a predetermined position, in accordance with an embodiment of the present invention;

FIG. 3 schematically illustrates a flowchart of a step of controlling extension of a hugging assembly facing a target cargo box to a preset pick-up position in accordance with an embodiment of the present invention;

fig. 4 schematically shows a flow chart of the steps of controlling the transfer robot to move to a corresponding position of the target container according to an embodiment of the invention;

FIG. 5 schematically illustrates a flow chart of a box removal method according to one particular embodiment of the invention;

FIG. 6 schematically shows a schematic diagram of a box returning step according to an embodiment of the invention;

fig. 7 schematically shows a schematic view of a box holding mechanism according to an embodiment of the invention.

The reference numerals are as follows:

1-an obstacle detection sensor; 2-a three-dimensional imaging module; 3-telescopic forks; 4-a two-dimensional imaging module; 5-a box body.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary 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.

It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only, and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "includes," "including," and "having" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order described or illustrated, unless an order of performance is explicitly stated. It should also be appreciated that additional or alternative steps may be used.

Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.

For ease of description, spatially relative terms, such as "inner," "outer," "lower," "below," "upper," "above," and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" or "over" the other elements or features. Thus, the example term "below … …" may include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions) and the spatial relative relationship descriptors used herein interpreted accordingly.

At present, in order to improve the space utilization rate of storage, namely improve the capacity of storage, in the existing storage, the arrangement of containers on a goods shelf is more and more towards intensive closing, and the width between adjacent containers is smaller and smaller on the laminate of the same height of the goods shelf. The containers on the goods shelves are more, and the unavoidable slope that can appear of at least some containers, because the width between the adjacent containers is less, and transfer robot is getting the in-process of the container of this slope, transfer robot or other containers of target container contact easily, lead to goods abnormal position, perhaps cause transfer robot trouble, and can't continue to get the case.

In order to solve the problem, as shown in fig. 1 to 7, according to an embodiment of the present invention, a box taking method is provided, which is applied to a transfer robot having a box holding assembly.

The carrying robot comprises a movable chassis, a lifting device, a box holding mechanism and a detection device. The movable chassis can walk on the ground, the lifting device is arranged on the movable chassis, the box holding mechanism is arranged on the lifting device, and the lifting device can drive the box holding assembly to lift in the height direction. The box holding mechanism comprises a box body 5 and a box holding assembly, the box holding assembly comprises a telescopic fork 3, the box body 5 is used for supporting a container, the telescopic fork 3 is arranged on the box body 5, and the telescopic fork 3 is used for taking boxes through extension and retraction. The detection device comprises a three-dimensional imaging module 2, a two-dimensional imaging module 4, an infrared sensor and the like, and is used for detecting relevant information required by operation of the carrying robot.

The box taking method is realized based on a controller of a transfer robot, as shown in fig. 1, and comprises the following steps:

step S110: and acquiring the position information of the target container, wherein the position information of the target container at least comprises a deflection angle of the target container relative to a preset position.

It will be appreciated that in the case of the method of picking, the target container, i.e. the container to be picked, is typically placed on a pallet deck. Positional information of the target container, i.e. three-dimensional positional information of the target container when it is on the pallet.

The preset position is a position defined for acquiring the deflection state of the target cargo box. When a container is placed on a deck of a pallet, it is generally desirable that the container be in a standard state in which the width direction of the container is parallel to the width of the deck of the pallet, the length direction is parallel to the depth direction of the deck, and the height direction is parallel to the height direction of the deck; taking a case having a substantially rectangular parallelepiped shape as an example, in a standard state, the longitudinal direction of the case corresponds to the depth direction of the deck, the width direction of the case corresponds to the width direction of the deck, and the height direction of the case corresponds to the height direction of the deck. The deflection angle of the target container is understood to be the deflection angle of the target container relative to the standard state container.

It should be noted that the width direction, the height direction and the length direction of the container are three directions perpendicular to each other, and the depth direction, the width direction and the height direction of the laminate are three directions perpendicular to each other. The plane formed by the width direction and the length direction is parallel to the plate surface of the laminate, the extending direction of the holding box assembly can be roughly classified into the length direction of the container and the depth direction of the laminate, and when an operator is positioned at the position of taking and placing the container and faces the laminate of the goods shelf, the left and right directions of the operator are the width directions of the laminate and the container.

In one possible implementation manner, since the deflection angle of the target container has a great influence on the box taking action performed by the box holding assembly, the position where the box holding assembly is located can be used as the preset position when the position information of the target container is acquired. At this time, the deflection angle of the target container with respect to the preset position, that is, the deflection angle of the target container with respect to the position of the holding assembly, is also the deflection angle of the target container with respect to the holding assembly. Specifically, when the position information of the target container is acquired, the box holding assembly generally walks to a target position opposite to the laminate of the shelf according to a set program, that is, the extending direction of the box holding assembly is opposite to the depth direction of the laminate. Therefore, the deflection angle of the target container relative to the preset position can be understood as an included angle between the central line of the target container extending along the length direction and the extending direction of the holding box, and when the target container is cuboid, namely, the included angle between the length direction of the target container and the extending direction of the holding box.

The preset position may be the depth direction of the laminate, the length direction of the container in the standard state, or the like, as long as the deflection angle of the target container on the horizontal plane with respect to the container in the standard state can be obtained by referring to the obtained deflection angle.

In one embodiment, step S110 includes obtaining location information of a target container detected by a three-dimensional imaging module on the transfer robot.

The three-dimensional imaging module 2 may be disposed on the case 5 of the case holding mechanism, and referring specifically to fig. 7, the three-dimensional imaging module 2 is disposed above the rear side of the case 5. The three-dimensional imaging module 2 can be a depth camera specifically, the three-dimensional forming module can detect the position information of the target container, can detect the distance L from the surface of the target container to the depth camera specifically, the lateral offset delta of the target container relative to the center of the holding box assembly, the deflection angle theta of the target container relative to the holding box assembly and the width W of the target container.

The box taking method of the present embodiment further includes step S111: and according to the deflection angle being larger than zero, controlling the box holding assembly to rotate to a position opposite to the target container along the first direction.

The controller records positive values no matter in which direction the deflection angle is deflected when recording, namely the deflection angle is larger than zero as long as the deflection angle is not zero, namely the deflection angle is larger than zero when the target container is deflected relative to the preset position.

Step S111 generally controls the box holding assembly to rotate in the first direction to a position opposite the target cargo box before step S120, i.e., after detecting that the target cargo box has a deflection angle greater than zero relative to the predetermined position. Specifically, the first direction is close to the direction opposite to the target container, the box holding assembly can rotate in the direction opposite to the target container by the same angle as the deflection angle, so that the relative angle between the target container and the box holding assembly is eliminated, the box holding assembly and the target container are opposite to each other, and the box holding assembly can extend towards the target container in a positive way, so that the target container can be picked up.

It can be appreciated that, before step S120, the box holding assembly is adjusted to rotate to a position opposite to the target container along the first direction, so that the box holding assembly is ensured to extend to the target container to perform the box taking action, the extending action of the box holding assembly can be prevented from being influenced by the deflection of the target container, and the stability of the box taking process is improved.

Step S120: and judging whether the deflection angle exceeds a preset angle range. If the deflection angle exceeds the preset angle range, step S130 is executed first, and step S140 is executed later; if the deflection angle is within the preset angle range, it indicates that the target container is normal, and the handling robot will not touch other containers basically during the process of taking the container, so step S140 can be directly performed.

The preset angle range is a numerical range preset in the controller, specifically, the preset angle range can be input into the controller through an input device (such as a touch screen) connected with the controller, and the preset angle range can also be modified through an input device (such as a touch screen) connected with the controller. When the recording deflection angles are all zero or positive values, the preset angle range is correspondingly between 0 DEG and a certain positive value.

Taking the preset angle range of 0 deg. to 5 deg. as an example. When the deflection angle of the target container relative to the preset position exceeds 5 °, the deflection angle is considered to be out of the preset angle range, for example, when the deflection angle of the target container relative to the preset position is 6 °, the deflection angle is out of the preset angle range. The deflection angle is considered to be within the preset angle range when the deflection angle of the target container relative to the preset position is between 0 ° and 5 °, for example, when the deflection angle of the target container relative to the preset position is 3 °.

If the deflection angle exceeds the preset angle range, step S130 is executed first, and step S130 includes: and controlling the box holding assembly to adjust the target container to a deflection angle of the target container relative to a preset position within a preset angle range.

Specifically, as shown in fig. 2, this step S130 is implemented by the following steps S1 to S2.

Step S1: and controlling the box holding assembly which is opposite to the target container to extend out of the preset length, and picking up the target container.

The preset length is a length value preset in the controller, and can be input or changed through an input device connected with the controller.

In one case, the predetermined length is less than the extension length of the hold box assembly extending to the predetermined pick-up position, and at this time, when the hold box assembly extends the predetermined length, the pick-up is the front end of the target container. By the arrangement mode, the problem that the target container cannot be picked up due to the fact that the container holding assembly is easily affected by adjacent containers of the target container when the container holding assembly stretches out too much can be avoided.

The front end of the target container is the end of the target container that is adjacent to the holding assembly, i.e., the portion of the target container that is closest to the holding assembly when extended.

The preset box taking position is a position where the box holding assembly extends out to pick up the target container and take out the target container. This position generally corresponds to the position of the target container that mates with the holding assembly, e.g., the holding assembly forms a stop at the rear side of the target container after extending from the side of the target container, i.e., the predetermined access position is the position corresponding to the rear side of the rear side wall of the target container when the holding assembly is used to access the target container by acting on the rear side wall of the target container; for another example, the holding box assembly extends from the side of the target container and cooperates with the catch on the side of the target container to take out the target container, and the predetermined picking box position is a position corresponding to the catch on the side of the target container.

In another case, the preset length is equal to the extension length of the box holding assembly extending to the preset box taking position, and at this time, when the box holding assembly extends to the preset length, the preset box taking position of the target container is picked up. Corresponding to this case, after the target container is subjected to deflection adjustment in step S2, the holding assembly can be directly retracted to take out the target container, and the operation is convenient.

In yet another case, the predetermined length may be greater than an extension length of the carrying case assembly to a predetermined case removal position to facilitate yaw adjustment of the carrying case assembly.

Step S2: and controlling the box holding assembly picking up the target container to rotate along the reverse direction of the first direction, so that the target container rotates to be within a preset angle range.

It will be appreciated that rotation of the target container in a direction opposite to the first direction is a process of aligning the target container.

In a specific implementation, the step S2 may be: and controlling the box holding assembly picking up the target container to rotate along the reverse direction of the first direction to a position where the box holding assembly is opposite to the laminate of the goods shelf where the target container is located.

Because in step S111 the holding assembly is rotated to a position facing the target container, the holding assembly is no longer facing the ply as the target container deflects relative to the ply. After picking up the target container, the movements of the holding box assembly are synchronized when they rotate, so in step S2, the target container can be considered to be adjusted by monitoring the state adjustment of the holding box assembly. Moreover, the purpose of aligning the target container is to a great extent to avoid that the box holding assembly touches a container adjacent to the target container when taking the box, so that the state between the box holding assembly and the laminate is most direct through monitoring. Further, the state of the box holding assembly is closely related to the three-dimensional imaging module for acquiring the position information of the target container, so that the state of the box holding assembly is convenient to monitor and judge, the position information between the box holding assembly and the laminate is convenient to acquire, and the accuracy is high.

When the yaw angle is within the preset angle range or the target container is adjusted to be within the preset angle range in step S130, step S140 is performed.

Step S140: and controlling the box holding assembly to execute a box taking action so as to take out the target container.

Specifically, step S140 includes: controlling a box holding assembly which is opposite to a target container to extend to a preset box taking position, and picking up the target container; and controlling the box holding assembly picking up the target container to retract the target container, and releasing the target container after the target container is retracted in place so as to finish box picking.

When the deflection angle of the target container relative to the preset position is directly within the preset angle range, that is, when the deflection angle is not required to be adjusted in step S130, the box holding assembly opposite to the target container is directly controlled to extend to the preset box taking position after step S120, and the target container is picked up. Under the condition that the target container is adjusted in the step S130, the box holding assembly extends out by a preset length, so that the box holding assembly continues to extend forward to a preset box taking position on the basis of the preset length.

In one implementation, referring to fig. 3, controlling the box holding assembly facing the target container to extend to the preset box taking position is implemented through the following steps S210 to S230.

Step S210: and acquiring the position information of the target container detected by the three-dimensional imaging module on the carrying robot, wherein the position information comprises the distance between the target container and the three-dimensional imaging module.

The step S210 may be implemented by the step S110, that is, when the step S110 detects the position information of the target container through the three-dimensional imaging module on the transfer robot, the position information also includes the distance between the target container and the three-dimensional imaging module. In this embodiment, step S110 and step S210 are the same steps.

Step S220: and calculating the extension length of the box holding assembly according to the distance between the target container and the three-dimensional imaging module, the preset distance between the three-dimensional forming module and the target container and the preset extension length of the box holding assembly corresponding to the preset distance.

Wherein the extension length of the carrying case assembly is calculated with reference to the formula l3=l1+ (L-L2). Wherein L1 is a preset extension length of the box holding assembly to be extended, L2 is a preset distance between the three-dimensional forming module and the target container, and L is a distance between the target container detected by the three-dimensional imaging module and the three-dimensional imaging module; l3 is the extension length of the holding box assembly.

The preset extension length L1 of the box holding assembly to be extended is the length of the box holding assembly under the standard model to be extended to a preset goods taking position, and the preset distance L2 between the three-dimensional forming module and the target container is the distance between the three-dimensional imaging module under the standard model and the target container. When L < L2, the target container is arranged outside relative to the standard model, and the extension distance needs to be reduced relative to the standard extension length; l > L2 illustrates that the target container is placed inwardly relative to the standard form and requires more extension relative to the standard extension length to access the container.

Step S230: the box holding assembly is controlled to extend to the extending length of the box holding assembly to reach the calculated extending length of the box holding assembly, and at the moment, the box holding assembly extends to a preset box taking position.

It can be appreciated that the length of the box holding assembly extending to the preset box taking position is corrected through the step S220, so that the box holding assembly can accurately pick up the target container, and the situation that the box holding assembly cannot pick up the container and the stability of the target container is poor in the box taking process is avoided because the box holding assembly cannot extend corresponding to the preset box taking position.

The box taking method of the embodiment, before controlling the box holding assembly to extend, further comprises: and acquiring obstacle information of the moving path of the box holding assembly, and controlling the box holding assembly to extend out when the moving path is not shielded.

In the specific example of the present embodiment, the projecting ends of the holding case assembly are provided with the obstacle detection sensors 1, respectively. In this embodiment, the obstacle information of the moving path of the box holding assembly is acquired by acquiring the detection information of the two obstacle detection sensors 1.

Specifically, before step S1, obstacle information of a moving path of the box holding assembly is acquired, and when the moving path is not blocked, the box holding assembly opposite to the target container is controlled to extend for a preset length. In step S140, for the case adjusted in step S130, after the front end of the target container is loosened by the box holding assembly is controlled, firstly, the obstacle information of the moving path of the box holding assembly is obtained, and when the moving path is not shielded, the box holding assembly is controlled to extend to the preset box taking position to pick up the target container; and (3) under the condition that adjustment in the step S130 is not needed, firstly, acquiring obstacle information of a moving path of the box holding assembly, and when the moving path is not shielded, controlling the box holding assembly which is opposite to the target container to extend to a preset box taking position, and then picking up the target container.

Further, the box taking method further comprises the steps of obtaining obstacle information of the moving path of the box holding assembly in the extending process in real time, and controlling the box holding assembly to stop extending when the moving path is blocked.

Specifically, in step S1, in the process of controlling the box holding assembly facing the target container to extend for a preset length, obstacle information of a moving path of the box holding assembly is acquired in real time, and when the obstacle information acquired in real time shows that the moving path is blocked, the box holding assembly is controlled to stop extending. In step S140, in the process of controlling the box holding assembly to extend to the preset box taking position, obstacle information of a moving path of the box holding assembly is acquired in real time, and when the obstacle information acquired in real time shows that the moving path is blocked, the box holding assembly is controlled to stop extending.

The box taking method of the present embodiment further includes a step of controlling the transfer robot to move to a position corresponding to the target container. As shown in fig. 4, this step includes steps S310 to S330.

Step S310: and controlling the carrying robot to walk to a target position opposite to the target container.

Specifically, after receiving the box taking instruction, the transfer robot moves according to a preset route in the controller to walk to a target position, and at the target position, the transfer robot is opposite to the target container.

Step S320: and controlling the box holding assembly at the target position to be adjusted to the target height corresponding to the target container. At the target height, the three-dimensional imaging module of the transfer robot can detect the position information of the target cargo box.

The control box holding assembly is adjusted to the target height, specifically, after the transfer robot moves to the target position, the transfer robot is adjusted to the target height according to the preset corresponding height in the controller.

Step S330: determining the position deviation of the box holding assembly and the mark based on the position information of the mark acquired by the two-dimensional imaging module on the carrying robot, and controlling the carrying robot to move a corresponding distance within a preset movement threshold range based on the position deviation; and/or controlling the box holding assembly to lift by a corresponding height. The mark is a mark on the cross beam of the laminate corresponding to the target container.

Specifically, the front end of the box 5 of the transfer robot is provided with a two-dimensional imaging module 4, which may be a two-dimensional camera. The shelf board beam is provided with a mark, which can be a two-dimensional code. After the box holding assembly is adjusted to the target height, the two-dimensional imaging module 4 detects the position information of the mark, and the position deviation between the box holding assembly and the mark is obtained according to the mark position corresponding to the position information of the mark. If the position deviation has the height deviation, controlling the box holding assembly to lift by the corresponding height; if the position deviation has horizontal deviation, the mobile chassis is controlled to move by a corresponding horizontal distance.

Step S310 and step S320 are movements of the transfer robot according to standard control programs in the controller, but the ground is uneven or the absolute accuracy of the target height and the target position cannot be guaranteed by shelf installation, and through step S330, the two-dimensional camera on the transfer robot detects the two-dimensional code on the shelf beam, and the accurate positioning of the height and the horizontal position of the fork assembly can be improved.

The preset moving threshold range is a threshold range preset in control and is used for limiting the movement of the transfer robot in a certain range, so that the phenomenon that the moving range of the transfer robot is too large to interfere with a goods shelf, a container and the like is avoided, and the running safety performance of the transfer robot is improved.

It should be noted that, in the box taking process, the tray plane of the box holding assembly calibrated in the step S330 is lower than the laminate, the telescopic fork 3 is higher than the laminate, and the three-dimensional imaging module is higher than the laminate.

According to the box taking method of the embodiment, when the deflection angle of the target container relative to the preset position is within the preset angle range, the box holding assembly can be directly controlled to execute the box taking action; when the deflection angle of the target container relative to the preset position exceeds the preset angle range, the box holding assembly is controlled to adjust the target container to the state that the deflection angle of the target container relative to the preset position is within the preset angle range, and then the box holding assembly is controlled to execute box taking action. Therefore, when the target container deflects greatly, the box holding assembly firstly adjusts the position of the target container, then the box holding assembly carries out box taking aiming at the adjusted target container, the probability that the box holding assembly or the target container contacts other containers is reduced in the box taking process, and the possibility that the container shifts or a transfer robot suffers from faults due to contact with the other containers is avoided.

The box taking method of the present embodiment will be specifically described with reference to a specific example.

In this particular embodiment, the holding box assembly includes two telescopic forks 3 that the interval set up, and two telescopic forks 3 pick up the target packing box from the width direction's of target packing box side respectively, and the extension end of two telescopic forks 3 of holding box assembly is provided with obstacle detection sensor 1 respectively, is provided with depth camera and two-dimensional camera on the holding box assembly.

Referring to fig. 5, the box taking method of this embodiment includes:

step S001: and controlling the carrying robot to walk to a target position opposite to the target container according to the planned route.

Step S002: and controlling the box holding assembly to be adjusted to a target height corresponding to the target container. At the target height, a two-dimensional camera may detect positional information of the markers on the cross beam of the ply where the target cargo box is located.

Step S003: controlling the transfer robot to move a corresponding distance within a preset movement threshold range according to the position information of the mark on the cross beam of the laminate acquired by the two-dimensional camera; and/or controlling the box holding assembly to lift by a corresponding height.

The controller can calculate the position deviation between the box holding assembly and the mark based on the position information of the mark acquired by the two-dimensional camera, and after the position deviation is obtained, the controller controls the carrying robot or the box holding assembly to execute corresponding actions according to the position deviation.

After the step S003 is completed, the height of the tray of the holding assembly is lower than the laminate, and the depth camera starts to detect the position information of the target cargo box. The specific depth camera may detect a distance L from the surface of the target cargo box to the depth camera, a lateral offset delta of the target cargo box relative to the center of the holding assembly, a yaw angle theta of the target cargo box relative to the holding assembly, and a width W of the target cargo box.

Step S004: and acquiring the position information of the target container detected by the depth camera.

If the deflection angle theta is zero, the box holding assembly can be directly controlled to execute box taking action. Normally, the deflection angle θ is not zero, and when the deflection angle θ is not zero, the process continues to step S005.

Step S005: and controlling the box holding assembly to rotate to a position opposite to the target container along the first direction according to the deflection angle theta being larger than zero.

Step S006: and controlling the two telescopic forks of the box holding assembly which are opposite to the target container to deviate from each other and move to a width between the two telescopic forks which is larger than the width of the target container. The purpose of this step S006 is to enable the two telescopic forks to pick up the target container along both sides in the width direction of the target container.

Step S007: and judging whether the deflection angle theta exceeds a preset angle range.

If the deflection angle exceeds the preset angle range, step S009 is performed. The step S009 specifically comprises: acquiring obstacle information of a moving path of the box holding assembly, and controlling two telescopic forks of the box holding assembly, which are opposite to a target container, to extend to a preset box taking position from two sides of the target container in the width direction respectively when the moving path is not blocked, and controlling the two telescopic forks to be close to each other to clamp the target container; and then the telescopic fork carries the target container to retract, so that the target container moves onto the tray, and the box taking is completed.

If the deflection angle exceeds the preset angle range, step S008 is performed.

Step S008 includes: two telescopic forks which are larger than the width of the target container are controlled to extend out of preset lengths along two sides of the target container in the width direction respectively, and then the two telescopic forks are controlled to approach each other to clamp the target container; controlling the box holding assembly picking up the target container to rotate along the reverse direction of the first direction to a position where the box holding assembly is opposite to the laminate of the goods shelf where the target container is located; controlling two telescopic forks of the box holding assembly, which are opposite to a goods shelf where the target container is positioned, to retract with the target container based on the preset length which is equal to the extension length of the box holding assembly extending to the preset box taking position so as to take out the target container; based on the fact that the preset length is smaller than or larger than the extending length of the box holding assembly extending to the preset box taking position, after the two telescopic forks of the box holding assembly, which are right opposite to the goods shelf where the target container is located, are controlled to be adjusted to the preset box taking position, the two telescopic forks are controlled to retract with the target container, and the target container is taken out.

Taking the case that the preset length is smaller than the extension length of the case holding assembly extending to the preset case taking position as an example, the step S008 is realized through the steps S0081 to S0085.

Step S0081: two telescopic forks which are controlled to be larger than the width of the target container extend out of the preset length along the two sides of the width direction of the target container respectively, and then the two telescopic forks are controlled to be close to each other to clamp the front end part of the target container.

Before the telescopic fork is controlled to extend in step S0081, the obstacle information of the moving path of the box holding assembly is obtained by obtaining the detection information of the two obstacle detection sensors 1. During the box taking process, the box holding assembly can extend out only when no obstacle is detected by the two obstacle detection sensors 1.

Step S0082: and controlling the box holding assembly picking up the front end part of the target container to rotate along the reverse direction of the first direction to a position where the box holding assembly is opposite to the laminate of the goods shelf where the target container is located.

Step S0083: and controlling the two telescopic forks of the box holding assembly which are opposite to the goods shelf where the target container is positioned to move away from each other so as to release the front end part of the target container.

Step S0084: and the two telescopic forks which control and release the front end part of the target container respectively extend to the preset box taking position along the two sides of the width direction of the target container, and then pick up the target container.

The specific picking up of the target container is realized by clamping the target container by means of two telescopic forks approaching each other.

Step S0085: and controlling the two telescopic forks picking up the target container to retract with the target container so as to take out the target container.

Specifically, when the retractable fork is retracted, the target container is moved onto the pallet, thereby completing the picking motion.

According to the box taking method, the telescopic forks 3 of the box holding assembly are controlled to pull the target container from two sides of the target container, the extending distance of the telescopic forks 3 is shorter than that of the rear box taking mode, the box taking time is shortened, and the goods taking efficiency is improved; the state of the target container is adjusted based on the deflection angle control box holding assembly, the container distance occupied by the skew of the container can be eliminated, and the gap between the containers can be greatly reduced, so that the storage density of the containers is improved.

The embodiment also provides a box taking and returning method which is applied to the transfer robot with the box holding assembly. The box taking and returning method comprises a box returning step and a box taking step. The box taking step is performed according to the box taking method provided in the present embodiment.

As shown in fig. 6, the box returning step includes:

step S410: and controlling the carrying robot to walk to a target position opposite to a target container position for placing the target container.

Step S420: and controlling the box holding assembly at the target position to adjust to the target height corresponding to the target box position.

Specifically, after receiving the box returning instruction, the transfer robot moves according to a preset route in the controller to walk to a target position, and the target container is opposite to the transfer robot at the target position. The control box holding assembly is adjusted to the target height, specifically, after the transfer robot moves to the target position, the transfer robot is adjusted to the target height according to the preset corresponding height in the controller.

Step S430: based on the position information of the mark of the target box position acquired by the two-dimensional imaging module 4, horizontal position deviation and height position deviation between the box holding assembly and the mark are obtained; controlling the transfer robot to move so as to adjust the horizontal displacement of the box holding assembly based on the obtained horizontal position deviation; based on the obtained height position deviation, the box holding assembly is controlled to lift so as to adjust the height displacement of the box holding assembly.

Step S430 is similar to step S330 of the box-taking step. The front end of the box 5 of the transfer robot is provided with a two-dimensional imaging module 4, which may be a two-dimensional camera. The laminate crossbeam of the target box position of the goods shelf is provided with a mark, which can be a two-dimensional code. After the box holding assembly is adjusted to the target height, the two-dimensional imaging module 4 detects the position information of the mark corresponding to the target box position, and the controller obtains the position deviation according to the position information of the mark. If the position deviation has the height deviation, controlling the box holding assembly to lift by the corresponding height; if the position deviation has horizontal deviation, the mobile chassis is controlled to move by a corresponding horizontal distance.

Step S410 and step S420 are movements performed by the transfer robot according to a standard control program in the controller, but the ground is uneven or the mounting of the pallet cannot guarantee the absolute accuracy of the target height and the target position, and the two-dimensional camera on the transfer robot detects the two-dimensional code on the pallet beam through step S430, so that the accurate positioning of the height and the horizontal position of the pallet fork assembly can be improved. After the adjustment in step S430 is completed, the tray of the box 5 is higher than the deck of the target bin.

Step S440: and controlling the box holding assembly at the target height to execute box returning action, and placing the target container on the box holding assembly to the target container position.

For the specific example of this embodiment, the carrying case assembly includes two telescopic forks 3 arranged at intervals. The controlling box holding assembly of the box holding step of the embodiment performs box holding action comprising: acquiring obstacle information of whether the moving paths of the two telescopic forks 3 are blocked; if the moving paths of the two telescopic forks 3 are not shielded, controlling the two telescopic forks 3 to extend to execute the box returning action; if one of the moving paths of the two telescopic forks 3 is blocked, when the other one is not blocked, the transfer robot is controlled to move to the side where the non-blocked telescopic fork 3 is located, and whether the moving paths of the two telescopic forks 3 are blocked or not is obtained in real time in the moving process of the transfer robot until the moving paths of the two telescopic forks 3 are not blocked, and the two telescopic forks 3 are controlled to stretch out to execute the box returning action.

The box returning action specifically comprises: the two telescopic forks 3 extend to the standard length of the box returning, the two telescopic forks 3 deviate from each other to move and release the target container, and the two telescopic forks 3 retract along the two sides of the width direction of the target container to complete the box returning.

The control of the transfer robot to move to the side where the non-shielded telescopic fork 3 is located specifically includes: the transfer robot is controlled to move to the side where the non-shielded telescopic fork 3 is located within a preset horizontal movement threshold range. That is, the transfer robot is moved to the side of the non-shielded telescopic fork 3 by controlling the movement of the moving chassis.

The movement threshold range is a numerical value range preset in the controller, the horizontal movement threshold range is the maximum safe movement threshold of the transfer robot, and the transfer robot is controlled to move in the horizontal movement threshold range, so that the transfer robot can be prevented from moving too much to collide with a next container or a goods shelf upright post and the like.

The box taking and returning method can realize full compatibility of normal and abnormal scenes, reduce manual intervention and is more suitable for intelligent storage application.

The present embodiment also provides a transfer robot, which includes a controller for executing the box taking method provided in the present embodiment. Or the controller is used for the box taking method provided by the embodiment.

The transfer robot of the present embodiment has the same advantageous effects as the box taking method or the box returning method provided by the present embodiment.

The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.

Claims

1. A box taking method applied to a transfer robot with a box holding assembly, the box taking method comprising:

judging whether the deflection angle exceeds a preset angle range or not;

2. The method of claim 1, wherein the predetermined location is a location of the holding assembly when the location information of the target container is obtained.

3. The method of claim 2, wherein the obtaining location information of the target container comprises: and acquiring the position information of the target container detected by the three-dimensional imaging module on the carrying robot.

4. The box taking method according to claim 1, further comprising, before said determining whether the deflection angle is within a preset angle range:

5. The method of claim 4, wherein controlling the box holding assembly to adjust the target container to a deflection angle of the target container relative to a predetermined position within a predetermined angular range comprises:

6. The method of claim 5, wherein controlling the clasping assembly that picked up the target container to carry the target container in a reverse direction rotation of a first direction comprises:

7. The method of claim 4, wherein the controlling the box holding assembly to perform a box removal action to remove the target container comprises: controlling a box holding assembly which is opposite to the target container to extend to a preset box taking position, and picking up the target container;

8. The method of claim 4, wherein the box holding assembly includes two spaced apart telescoping forks, and the positional information further includes a width of the target container;

9. The method of claim 8, wherein if the deflection angle exceeds a predetermined angle range, the act of controlling the carrying assembly to perform comprises:

10. The method of claim 7, wherein the controlling the arm module opposite the target container to extend to a predetermined access position comprises:

calculating the extension length of the box holding assembly according to the distance between the target container and the three-dimensional imaging module, the preset distance between the three-dimensional imaging module and the target container and the preset extension length of the box holding assembly, which corresponds to the preset distance, to be extended;

11. The method of fetching boxes according to any one of claims 5 to 10, characterized in that it further comprises:

12. The method of fetching boxes according to any one of claims 3 to 10, characterized in that it further comprises:

13. The method of claim 12, wherein after the controlling the clasping assembly in the target position is adjusted to a target height corresponding to the target cargo box, further comprising:

determining the position deviation between the box holding assembly and the mark based on the position information of the mark acquired by the two-dimensional imaging module on the transfer robot, wherein the mark is positioned on a cross beam of a laminate corresponding to the target container;

Controlling the transfer robot to move a corresponding distance within a preset movement threshold range based on the identified position deviation; and/or controlling the box holding assembly to lift by a corresponding height.

14. The box taking and returning method is applied to a transfer robot with a box holding assembly and is characterized by comprising a box returning step and a box taking step;

the box-taking step is performed according to the box-taking method of any one of claims 1 to 13.

15. The method of retooling of claim 14, wherein the retooling step includes:

16. The method of claim 15, wherein after the controlling the holding box assembly at the target position is adjusted to the target height corresponding to the target box position, further comprising:

obtaining horizontal position deviation and height position deviation between the box holding assembly and the mark based on the position information of the mark of the cross beam obtained by the two-dimensional imaging module;

17. The method of claim 16, wherein the carrying robot arm module includes two spaced apart telescoping forks;

18. The method of claim 17, wherein controlling the transfer robot to move to a side where the telescopic fork is not shielded comprises:

19. A transfer robot, characterized in that the transfer robot comprises a controller for performing the box-taking method according to any one of claims 1-13 or for performing the box-taking method according to any one of claims 14-18.