RU2813398C1 - Device for gripping goods, method of measuring depth, warehouse robot and warehouse system - Google Patents

Abstract

FIELD: automated storage systems.

SUBSTANCE: invention relates to storage systems. Storage system comprises a shelf, a control module and a robot with a chassis and a device for gripping goods. Device comprises a mechanism for gripping goods, a sensor and a module for determining depth. Sensor is located on the mechanism and is configured to collect a measuring signal when the mechanism is extended. Measurement signal contains one of a default signal and a predetermined obstacle signal. Default signal is a signal if the sensor is not obstructed by the container, and the preset signal is if obstructed. Depth determination module is configured to determine the depth of the container in accordance with the measurement signal. Mechanism is configured to grip or place the container in accordance with the depth of this container. Depth is the length of the container in the direction of extension of the mechanism. Depth determining module is further configured to obtain a predetermined distance of the arm extension, to obtain a measurement signal transmitted to the output by the sensor, controlling the mechanism in order to grip the container and generate information on the error of the specified distance of the arm extension.

EFFECT: higher safety when putting product containers in place.

23 cl, 14 dwg

Description

Field of technology to which the invention relates

The present invention relates to the technical field of intelligent warehouse systems, and in particular to a product pick-up device, a depth measuring method, a warehouse robot and a warehouse system.

State of the art

The warehouse robot uses an intelligent operating system and automatically retrieves and places goods from storage in accordance with system commands; In addition to this, the system can operate 24 hours a day without interruption to change manual controls and operations, and thus improves the efficiency of warehouse operations and is therefore widely used and popular.

However, in existing intelligent warehouse systems, the warehouse robot always carries out the removal of the goods container from storage and placing it in the storage place in accordance with the quantities used for picking up and lifting the goods container, determined based on experience or by default, so that in the process of picking up and placing the goods container Once placed, this shipping container can be easily damaged or dropped.

The essence of the invention

Embodiments of the present invention provide a product grasping device, a depth measuring method, a warehouse robot, and a warehouse system, the system measuring the depth of a product container to be grabbed and placing the product container in question in place according to the depth of that product container, which increases the degree of safety when installation of the goods container in place.

According to a first aspect, embodiments of the present invention provide a device for picking up goods. This goods gripping device contains: a goods gripping mechanism, a sensor and a depth detection module. The sensor is mounted on the goods picking mechanism and is configured to collect a measurement signal when the goods picking mechanism is extended. The depth detection module is configured to determine the depth of the goods container in accordance with the measurement signal. The merchandise picking mechanism is configured to grip or place in place a merchandise container in accordance with the depth of the merchandise container. Depth represents the length of the goods container in the direction of the extension of the mechanism for picking up goods.

As an option, the mechanism for picking up goods includes a left shoulder and a right shoulder. These left shoulder and right shoulder are located symmetrically; and accordingly, the sensor is mounted on at least one of the left arm and the right arm of the mechanism for picking up goods.

Optionally, the measurement signal contains a default signal and a preset obstacle signal, the default signal is the corresponding signal in the case that the sensor is not obstructed by a shipping container, and the preset obstacle signal is the corresponding signal in the case that the sensor is obstructed by a shipping container. . The depth sensing module is further configured to obtain, when the measurement signal changes from the default signal to the predetermined obstacle signal, a first state of the goods picking mechanism; obtaining, when the measurement signal changes from a predetermined obstacle signal to a default signal, a second state of the goods picking mechanism; and determining the depth of the goods container in accordance with the first state and the second state.

Optionally, the first state includes a first extension length of the goods picking mechanism, and the second state includes a second extension length of the goods picking mechanism, the depth determining module is further configured to determine the depth of the goods container according to the difference value between the first extension length and the second extension length.

As an option, the sensor contains a pair of beam crossing sensors. This pair of beam crossing sensors are an emitting sensor and a receiving sensor. The emitting sensor and the receiving sensor are located symmetrically on the left shoulder and right shoulder. Accordingly, the predetermined obstacle signal is an output signal of the receiving sensor when the receiving sensor does not receive a signal from the emitting sensor; and the default signal is an output signal of the receiving sensor when the receiving sensor receives a signal from the emitting sensor.

Optionally, the sensor includes at least two pairs of beam intersection sensors. Each pair of beam crossing sensors is located symmetrically on the left shoulder and right shoulder. There is a predetermined gap between two adjacent groups of beam sensors. Accordingly, the depth determining module is further configured to determine the depth of the goods container according to the value of this predetermined gap and the measurement signals collected by the at least two pairs of beam sensors.

As an option, the sensor contains N+1 pairs of cross-beam sensors; each pair of beam sensors is located symmetrically on the left and right shoulder, and there is a predetermined gap between two adjacent groups of beam sensors, where N is greater than or equal to 1. The depth detection module is further configured to: determine when the output signals of the receiving sensors of at least two pairs of beam crossing sensors are the default signals, and the Mth receiving sensor is the closest receiving sensor to the first receiving sensor among the receiving sensors whose output signals are the default signals, (M-1)*L as the depth of the shipping container, where M represents is a positive integer less than or equal to N, L is the amount of the predetermined gap, and the first receiving sensor is a receiving sensor located at the end of the goods picking mechanism in the extending direction of the goods picking mechanism.

As an option, the sensor is a visual sensor. This visual sensor is located on the top surface of the goods picking mechanism. The measurement signal is a measured image of the working area of the goods picking mechanism photographed by a visual sensor.

As an option, the sensor is a distance sensor. This distance sensor is located on the inside of the left shoulder or right shoulder. The measurement signal represents the measured distance from the output of the distance sensor.

As an option, the mechanism for picking up goods further comprises a push bar mechanism. This push rod mechanism is movably mounted at one end of the goods picking mechanism in the extending direction of the goods picking mechanism; and after the depth sensing module detects the depth of the goods container, the push rod mechanism rotates inward to a state of perpendicularity to the inner side surface of the mechanism for picking up goods.

As an option, the depth sensing module is further configured to: obtain a predetermined arm extension distance; receiving, when the actual arm extension distance of the goods picking mechanism reaches a predetermined arm extension distance, a measurement signal from the sensor output; controlling, if the measurement signal is a default signal, a mechanism for grabbing goods to grab the goods container; and generating, if the measurement signal is a predetermined obstacle signal, error information about the predetermined arm extension distance.

According to a second aspect, the present invention further provides a method for measuring depth. This method is performed by the goods picking device in the warehouse robot. This method comprises: collecting, by a sensor of the goods gripping device, a measurement signal when the goods gripping mechanism is extended in the goods gripping device; determining, by the depth determining module in the goods gripping device, the depth of the goods container in accordance with the measurement signal; gripping or placing in place by the goods gripping mechanism a goods container in accordance with the depth of that goods container, where the depth is the length of the goods container in the direction of extension of the goods gripping mechanism.

Optionally, the goods picking mechanism includes a left arm and a right shoulder, and a procedure for determining the depth of a goods container according to the measurement signal comprises: obtaining, if the measurement signal changes from a default signal to a predetermined obstacle signal, a first state of the goods picking mechanism ; obtaining, if the measurement signal changes from a predetermined obstacle signal to a default signal, a second state of the goods picking mechanism; and determining the depth of the goods container according to the first state and the second state.

As an option, the sensor contains a pair of beam crossing sensors. This pair of beam crossing sensors contains a transmitting sensor and a receiving sensor. These emitting sensor and receiving sensor are located symmetrically on the left shoulder and on the right shoulder. The predetermined obstacle signal is an output signal of the receiving sensor when the receiving sensor does not receive a signal from the emitting sensor; and the default signal is an output signal of the receiving sensor when the receiving sensor receives a signal from the emitting sensor.

Optionally, the sensor includes at least two pairs of beam intersection sensors. Each pair of beam sensors is located symmetrically on the left shoulder and on the right shoulder, and there is a predetermined gap between these two adjacent groups of beam sensors. The procedure for determining the depth of a commodity container in accordance with a measurement signal comprises: determining the depth of a commodity container in accordance with the value of a predetermined gap and the measurement signals collected by at least two pairs of beam intersection sensors.

As an option, the sensor is a visual sensor. This visual sensor is located on the top surface of the goods picking mechanism. The procedure for collecting, by a sensor in a device for gripping goods, a measuring signal when the mechanism for gripping goods in the device for gripping goods is extended, comprises: photographing, by a visual sensor, a measured image of the working area of the mechanism for gripping goods, when the mechanism for picking up goods is extended, in a device for gripping goods; and accordingly, the procedure for determining the depth of the goods container according to the measurement signals comprises: determining the depth of the goods container in accordance with the measured image.

As an option, the sensor is a distance sensor. This distance sensor is located on the inside of the left shoulder or right shoulder. The procedure for collecting a sensor in a device for gripping goods, a measuring signal when the mechanism for grabbing goods is extended, in a device for gripping goods contains: collecting, by a sensor for measuring a distance, a measured distance when the mechanism for grabbing goods is extended in a device for gripping goods ; and accordingly, the procedure for determining the depth of the goods container according to the measurement signal comprises: determining the depth of the goods container in accordance with the measured distance.

As an option, the mechanism for picking up goods further comprises a push bar mechanism. This push rod mechanism is movably mounted at one end of the goods picking mechanism in the extending direction of the goods picking mechanism; and after determining the depth of the goods container in accordance with the measuring signal, the depth measuring method further comprises: controlling the push rod mechanism to rotate it inward to a state of perpendicularity with respect to the inner side surface of the mechanism for picking up goods; and gripping the goods container in accordance with the depth of the goods container.

Optionally, after gripping the goods container according to the depth of the goods container, the method further comprises: mounting, in accordance with the depth of the goods container, the goods container onto the buffer mechanism of the warehouse robot.

Optionally, the depth measuring method further comprises: determining, in accordance with the measurement signal, if the goods picking device is initialized, whether a goods container is present on the goods picking mechanism in the goods picking device; and wherein controlling the push bar mechanism to rotate it inwardly to a state of perpendicularity with respect to an inner side surface of the goods picking mechanism comprises: if it is determined that a merchandise container is present on the goods picking mechanism, controlling the push bar mechanism to rotate it inwardly to the state perpendicularity relative to the inner side surface of the mechanism for picking up goods.

Optionally, after determining the depth of the goods container in accordance with the measurement signal, the method further comprises: obtaining, by the depth determining module, a predetermined arm extension distance; receiving, if the actual extension distance of the arm of the mechanism for grabbing goods has reached a predetermined distance of extension of the arm, a measurement signal from the output of the sensor; controlling, if the measurement signal is a default signal, the mechanism for gripping goods to grip the goods container in accordance with the depth of the goods container; and generating, if the measurement signal is a predetermined obstacle signal, error information about the predetermined arm extension distance.

According to a third aspect, the present invention further provides a warehouse robot comprising a movable chassis and a product picking device as provided in any of the embodiments of the present invention, wherein the product picking device is coupled to the movable chassis and configured to pick up or place a merchandise container in accordance with depth of this shipping container.

As an option, the warehouse robot further comprises: a buffer mechanism mounted on a movable chassis and configured to place a goods container on it; and accordingly, the goods gripping device is further configured to: place the goods container on the buffer mechanism in accordance with the depth of the goods container.

According to a fourth aspect, the present invention further provides a warehouse system comprising a warehouse robot according to the embodiment of the third aspect of the present invention, a merchandise shelf, and a warehouse management module. The warehouse robot is coupled to the warehouse management module and is configured to move, in accordance with commands from the warehouse management module, to a position where a product container is located, and to pick up a product container, where the product container is placed on a product shelf, or to move to a position where it should be the goods container is located, in accordance with commands from the warehouse management module, and the goods container is installed in place.

According to a fifth aspect, the present invention further provides a computer-readable medium for storing information. This computer-readable storage medium stores computer-executed instructions. These computer-executable instructions are configured to, when executed by a processor, implement the depth sensing method of any embodiment of the present invention.

According to the goods picking device, the depth measuring method, the warehouse robot and the warehouse system proposed by embodiments of the present invention, a sensor is installed on the goods picking mechanism in the goods picking device, and through the depth detection module, the depth of the goods container is determined in accordance with measurement signal collected by the sensor, so that the picking as well as placing of the goods container is carried out in accordance with the depth of the goods container, and thus, the efficiency and safety of picking and also placing of the goods container is improved, and the likelihood of that this goods container will be damaged or fall while being placed into place, as a result of which the degree of intelligence and efficiency of the warehouse robot increase.

Brief description of drawings

The accompanying drawings, which are incorporated into and constitute a part of this specification, illustrate embodiments in accordance with the present invention and are used in conjunction with the present specification to explain the principles of the invention.

Fig. 1 is a diagram of an application scenario provided by one embodiment of the present invention.

Fig. 2 is a simplified block diagram of a product picking device according to one embodiment of the present invention.

Fig. 3 is a simplified block diagram of a mechanism for picking up goods according to the embodiment shown in FIG. 2.

Fig. 4 is a simplified block diagram of a mechanism for picking up goods in accordance with the embodiment shown in FIG. 2.

Fig. 5 is a simplified block diagram of a product picking device according to another embodiment of the present invention.

Fig. 6 is a simplified block diagram of a product pick-up device according to another embodiment.

Fig. 7 is a simplified block diagram of a product picking device according to another embodiment of the present invention.

Fig. 8 is a simplified block diagram of a product picking device according to another embodiment of the present invention.

Fig. 9 is a simplified block diagram of a product picking device according to another embodiment of the present invention.

Fig. 10 is a simplified block diagram of a product pick-up device with a push bar mechanism in operation, in the embodiment shown in FIG. 9.

Fig. 11 is a logic diagram of a depth measurement method according to one embodiment of the present invention.

Fig. 12 is a simplified block diagram of a warehouse robot according to one embodiment of the present invention.

Fig. 13 is a simplified block diagram of a warehouse robot according to one embodiment of the present invention.

Fig. 14 is a simplified block diagram of a warehouse system according to one embodiment of the present invention.

The drawings listed above show specific embodiments of the present invention, and more detailed description will be given below. These drawings and text description are not intended to limit the concept of the present invention in any way, but are intended to illustrate the concept of the present invention to those skilled in the art in connection with specific embodiments.

Description of options

Examples of embodiments will be described in detail herein, and corresponding examples are shown in the accompanying drawings. Where the following description refers to the accompanying drawings, unless otherwise indicated, like reference numerals throughout the accompanying drawings represent the same or similar elements. The embodiments described in the following example embodiments do not represent all possible implementations consistent with the present invention. Rather, they are merely examples of devices and methods consistent with certain aspects of the present invention, as detailed in the accompanying claims.

Additionally, specific embodiments discuss in detail the technical solutions according to the present invention and how these technical solutions cope with the above technical problems. The following specific embodiments may be combined with others, and the same or similar concepts or processes may not be described in some embodiments. Embodiments of the present invention are described below with reference to the accompanying drawings.

Application scenarios for embodiments of the present invention are described below.

In fig. 1 shows a diagram of an application scenario proposed by one embodiment of the present invention. As shown in FIG. 1, an intelligent warehouse system 100 uses a warehouse robot 110 to pick up and store a target merchandise container on a merchandise shelf 120 and uses a warehouse management module 130 to control the warehouse robot 110 to move it to a predetermined position to pick up and store the target merchandise container. The warehouse management module 130 stores storage information for each storage item on the merchandise shelf 120 and basic information about the target merchandise container, thereby facilitating warehouse management.

In a scenario in which the picking of a target shipping container is carried out by a warehouse robot, if the warehouse robot in an intelligent warehouse system proposed in the prior art picks up or places shipping containers, then for shipping containers having a variety of sizes, picking and placing into place is only performed in accordance with some predefined fixed mode. When reinstalling a large shipping container, damage to the shipping container may easily occur due to the default push-out distance being used. Moreover, when installing a shipping container that is small in size, the shipping container will not be able to be placed in the deepest position due to the use of the default distance for pushing and placing, so that the shipping container may easily slip or fall into the process of moving. To solve these problems, the goods gripping apparatus provided by embodiments of the present invention includes a depth sensing module and a sensor mounted on the goods gripping mechanism, wherein the depth sensing module can determine the depth of the goods container according to a measurement signal collected by the sensor, so that It will be possible to adaptively pick up and place the goods container in question according to the depth of the goods container, the safety of picking and place the goods container is improved, and the likelihood of the goods container being damaged and falling during the place setting process is effectively reduced.

In fig. 2 shows a simplified block diagram of a device for grabbing goods, proposed by one of the variants of the present invention. Such a product-grabbing device is applicable to a warehouse robot. As shown in FIG. 2, the goods gripping device 200 of the embodiment includes a goods gripping mechanism 210, a sensor 220, and a depth sensing module 230.

The sensor 220 is mounted on the goods picking mechanism 210 and is configured to collect a measurement signal when the goods picking mechanism 210 is extended. The depth determining module 230 is configured to determine the depth of the goods container in accordance with the measurement signal. The merchandise picking mechanism 210 is configured to grip or place a merchandise container in accordance with the depth of the merchandise container. This depth represents the length of the merchandise container in the extending direction of the merchandise pick-up mechanism 210 when the merchandise pick-up mechanism 210 grips the container. Depth sensing module 230 may be integrated or built on an integrated circuit, chip, or other electronic device such as a processor in product gripper 200 .

In particular, as shown in FIG. 2, the goods picking device 200 has a central axis S1 arranged horizontally, and the depth direction of the goods container is the direction in which the central axis S1 extends. The sensor 220 may be located at a predetermined position on the free cantilever end "a" of the upper surface of the goods picking mechanism 210, and may also be located at a predetermined position on the free cantilever end "a" on the inner surface of the goods picking mechanism 210. This preset position must be specifically determined according to the type of sensor. The free cantilever end "a" refers to the end of the goods picking mechanism 210 close to the goods container before the picking. The depth sensing module 230 may be located at an end of the merchandise picking mechanism 210 that is remote from the merchandise container, i.e. at the end where the "root" portion "b" of the goods picking mechanism is located, be electrically connected to the sensor 220, receive an electrical signal from this sensor 220, and determine the depth of the goods container in accordance with the measurement signal.

In particular, the merchandise grasping mechanism 210 may be in the form of a mechanical arm, and may also be in the form of a fork or other mechanical structure that can be used to grip a merchandise container.

Moreover, the goods picking device 200 can be moved in a vertical direction, for example, moved to a predetermined height in accordance with a movement command. This predetermined height is usually the height at which the storage position is located where the goods container is located, such a height as the height where the product sign for the storage position is installed. For example, movement of the product picking device 200 in the vertical direction may be accomplished by raising or lowering the platform, or by raising or lowering the mechanism. Moreover, in accordance with the gripping command, the goods gripping device causes the goods gripping mechanism 210 to extend horizontally forward and triggers the sensor 220 to collect a measurement signal and transmit this measurement signal to the depth detection module 230. The depth determining module 230 determines the depth of the goods container in accordance with the measurement signal.

In particular, in FIG. 3 shows a simplified block diagram of a mechanism for grabbing goods in accordance with the embodiment shown in FIG. 2. As shown in FIG. 3, the goods picking mechanism 210 is an integrated structure, particularly a rectangular structure with an open area at one end, and of course may also have some other shape. This is not limited in embodiments of the present invention. In the process of picking up a goods container, the goods container is placed on the goods picking mechanism 210. In fig. 4 shows a simplified block diagram of a mechanism for grabbing goods in accordance with the embodiment shown in FIG. 2. As shown in FIG. 4, the goods picking mechanism 210 may have a left arm 211 and a right arm 212, and in the process of picking up a goods container, the goods container is placed between the left arm 211 and the right arm 212. The left arm 211 and the right arm 212 are arranged symmetrically and can be manufactured made of the same material and may have the same dimensions. Each of the components of the goods gripping mechanism 210, the left arm 211 and the right arm 212, may be a telescopic goods gripping mechanism and may include an inner section and an outer section. The inner arm section may be mounted in the outer arm section, and the inner arm section may be moved in the direction of the length of the outer arm section, i.e. move in the direction in which the above-mentioned central axis S1 extends, so that the result is elongation (extension) and compression (retraction) of the mechanism for picking up goods.

In particular, the number of sensors 220 may be 1, 2, 4, or another value. Such a sensor may be a distance sensor, such as a laser distance sensor or an ultrasonic distance sensor, and may be located on the inside of the left arm 211 or the right arm 212 of the goods gripping mechanism 210 to measure the distance between them. a left arm 211 and a right arm 212 in the goods picking mechanism 210. In addition, when picking up a goods container, the distance between the point of the goods picking mechanism where the distance measuring sensor is located (left arm 211 or right arm 212) and the goods container is measured. The sensor may further be a beam crossing sensor such as a photoelectric beam crossing sensor or an infrared beam crossing sensor. In general, the beam crossing sensor includes a group or pair of an emitting sensor and a receiving sensor, which may be located on the left arm 211 and the right arm 212 of the goods picking mechanism 210, respectively. The sensor may further be a visual sensor, such as a two-dimensional (2D) video camera, a depth camera, or a radar, and be mounted on the top surface of the merchandise picking mechanism 210.

Optionally, the depth detection module 230 is further configured to: obtain, when the measurement signal changes from the default signal to the predetermined obstacle signal, a first state of the goods gripping mechanism; obtaining, when the measurement signal changes from the predetermined obstacle signal to the default signal, a second state of the goods picking mechanism; and determining the depth of the goods container in accordance with the first state and the second state.

The default signal may be an appropriate signal when the sensor 220 is not obstructed by the shipping container. For example, the default signal may be a signal collected by the sensor 220 when the merchandise container is not in contact with the merchandise pick-up mechanism 210, or the merchandise container is not positioned within the operating area of the merchandise gripping mechanism 210, wherein the operating area of the merchandise gripping mechanism 210 is referred to as an area between the left arm 211 and the right arm 212 of the merchandise pick-up mechanism 210, or an area of the merchandise pick-up mechanism 210 configured to grasp a merchandise container. The predetermined obstacle signal then corresponds to the signal in a situation where the sensor 220 is obstructed by a shipping container. For example, said predetermined obstacle signal may be a signal collected by the sensor 220 in a situation where a merchandise container is in contact with the merchandise pick-up mechanism 210, or a merchandise container is located in the operating area of the merchandise pick-up mechanism 210.

In particular, the first state may correspond to the extension of the goods picking mechanism 210 to a first length, and the second state may correspond to the extension of the goods picking mechanism 210 to a second length. Accordingly, the procedure for determining the depth of a goods container according to the first state and the second state comprises: determining the depth of the goods container in accordance with the amount of difference between the first extension length and the second extension length.

Moreover, when the measurement signal of the sensor 220 changes from a predetermined obstacle signal to a default signal, i.e. The sensor 220 transitions from a state where it is occluded by the goods container to a state where it is not occluded by the goods container, which means that the current extension length of the goods picking mechanism exceeds the depth of the goods container. In this case, the goods picking mechanism 210 may stop the pushing operation, or continue to push forward a predetermined length to facilitate stopping the pushing; and seize the cargo container if the command to seize the cargo container is received. By using a method for gripping a commodity container based on the depth measurement result of the commodity container, the degree of adaptation and efficiency of the picking operation of the commodity container can be improved.

In the goods gripping device proposed in the present embodiment, a sensor is installed on the goods gripping mechanism of the goods gripping device, and based on the measurement signal collected by the sensor, the depth of the goods container is determined by the depth detection module, so that gripping can be carried out. goods container and placing it in place according to the depth of the goods container, and thus improves the efficiency and safety of picking up the goods container and placing it in place, effectively reducing the possibility of the goods container being damaged and falling while placing it in place, and increasing the degree intelligence and operational efficiency of a warehouse robot.

As an option, FIG. 5 is a simplified block diagram of a device for picking up goods according to another embodiment of the present invention. In this embodiment, the sensors are further described based on the embodiment shown in FIG. 2. As shown in FIG. 5, the goods picking device includes a goods picking mechanism 510, a sensor 520, and a depth sensing module 530. The goods picking mechanism 510 includes a left arm 511 and a right arm 512 arranged symmetrically. The sensor 520 is an intersection beam sensor comprising an emitting sensor 521 and a receiving sensor 522. These emitting sensor 521 and receiving sensor 522 are located symmetrically on the left arm 511 and on the right arm 512 of the goods picking mechanism 510.

Accordingly, the predetermined obstacle signal corresponds to the output signal of the receiving sensor 522 when the receiving sensor 522 does not receive a signal from the emitting sensor 521. The default signal corresponds to the output signal of the receiving sensor 522 when the receiving sensor 522 receives a signal from the emitting sensor 521.

In particular, the pair of beam crossing sensors may be a photoelectric beam crossing sensor, such as an infrared beam crossing sensor. When the goods picking mechanism 510 is extended, the emitting sensor 521 emits a sensor signal, such as a light signal or an infrared signal, towards the receiving sensor 522, and the receiving sensor 522 receives this sensor signal and outputs a measurement signal. If the receiving sensor 522 can receive a sensor signal, the measurement signal output by the receiving sensor is a basic signal, such as a high level signal. However, if the receiving sensor 522 cannot receive the sensor signal, the measurement signal transmitted to the output of the receiving sensor is a predetermined obstacle signal, such as a low level signal. Accordingly, the depth determining module 530 can determine the depth of the shipping container based on a change in the measurement signal transmitted to the output of the receiving sensor 522.

In addition, when the measurement signal received by the depth sensing module 530 changes from a predetermined obstacle signal to a default signal, the depth sensing module 530 may further issue a movement stop command to the goods picking mechanism 510. The goods picking mechanism 510 may stop the pull-out operation in response to this movement stop command. Moreover, depth sensing module 530 may further provide a shutdown signal to components of sensor 520 to turn off sensor 520.

Optionally, the depth determination module 530 is further configured to: obtain a predetermined arm extension distance; receiving, if the actual arm extension distance in the goods picking mechanism has reached a predetermined arm extension distance, a measurement signal transmitted to the output by the sensor; controlling, if the measuring signal is the main signal, a mechanism for gripping goods to grip the goods container; and generating, if the measurement signal is a predetermined obstacle signal, error information about the predetermined arm extension distance.

Specifically, if the measurement signal is a predetermined obstacle signal, after generating the error information of the predetermined arm extension distance, it is possible to further continue to control the mechanism for picking up goods to advance until the measurement signal changes to become the main signal, and then the goods gripping mechanism is controlled to grip the goods container.

In addition, the depth sensing module 530 is further configured to: receive a predetermined arm extension distance from the warehouse robot or warehouse system; receiving, if the actual arm extension distance of the goods picking mechanism 510 has reached a predetermined arm extension distance, measurement signals output by the sensor receivers 522; if the measurement signals transmitted to the output by the sensor receivers 522 are the main signals that control the grip of the cargo container; and determining, if said measurement signals are predetermined obstacle signals, that the predetermined arm extension distance is not correct, so that the goods container need not be grasped in accordance with the predetermined arm extension distance. In such a case, the merchandise picking mechanism 510 may continue to advance further and receive the measurement signals output by the sensor receivers 522 until the measurement signals output by the sensor receivers 522 become the primary signals and then pick up the merchandise. container.

In the embodiment under consideration, the depth of a commodity container is determined using a pair of beam intersection sensors and a depth detection module, and subsequent commands to pick up and place the commodity container in place are issued in accordance with the depth of this commodity container, and thus the efficiency of depth determination is high, the sensitivity is high, the cost is low, the option under consideration can be easily implemented, and the safety of picking up and repositioning the goods container is increased.

In fig. 6 is a simplified block diagram of a device for picking up goods according to another embodiment of the present invention. This embodiment further describes sensors based on the embodiments shown in FIG. 2. As shown in FIG. 6, the goods picking device includes a goods picking mechanism 610, a first beam crossing sensor 621, a second beam crossing sensor 622, and a depth detection module 630.

The goods picking mechanism 610 includes a left arm 611 and a right arm 612 arranged symmetrically. The sensors are two pairs of beam crossing sensors, and these sensors are, in order of increasing distance from the shipping container, a first beam crossing sensor 621 and a second beam crossing sensor 622 in succession. The first beam intersection sensor 621 includes a first sensor emitter 6211 and a first sensor receiver 6212. The second beam intersection sensor 622 includes a second sensor emitter 6221 and a second sensor receiver 6222. A first sensor emitter 6211 and a second sensor emitter 6221 are located on the left shoulder 611. A first sensor receiver 6212 and a second sensor receiver 6222 are located on the right arm 612 opposite their respective sensor emitters. A predetermined distance is maintained between the first intersection sensor 621 and the second intersection sensor 622. Depth sensing module 630 is configured to determine the depth of a shipping container in accordance with the specified target spacing and measurement signals collected by at least two pairs of intersection beam sensors.

The predetermined interval may be any fixed interval and may have a default value, a user-specified value, or a value determined according to the dimensions of the goods picking mechanism 610, such as 10 cm, 15 cm, or other size.

It should be understood that the description of the structure shown in FIG. 6 is given using two pairs of cross-beam sensors as an example only. There may also be a larger number of cross-beam sensor pairs such as 3 sensor pairs, 4 sensor pairs and even more sensor pairs. Each beam intersection sensor contains an emitting sensor and a receiving sensor. These emitting sensor and receiving sensor are symmetrically located on the left arm 611 and on the right arm 612 of the goods picking mechanism 610, and there is a predetermined gap between two adjacent groups of beam crossing sensors.

In particular, the first beam intersection sensor 621 is located at the cantilever free end of the goods picking mechanism 610. This cantilevered free end of the goods picking mechanism 610 is the end of the goods picking mechanism 610 close to the goods container. In some embodiments, all beam intersection sensors may be turned on when the left arm 611 and right arm 612 extend, i.e. the first beam intersection sensor 621 and the second beam intersection sensor 622 are turned on. However, in other embodiments, when the left arm 611 and the right arm 612 are extended, only the first beam sensor 621 is turned on and the other beam sensor remains turned off. If the measurement signal output by the first receiving sensor 6212 of the first beam crossing sensor 621 changes from a predetermined obstacle signal to a default signal, it is determined that the arm extension output of the current goods picking mechanism 610 satisfies the goods container picking condition, and then another is started. beam intersection sensor, i.e. include a second beam intersection sensor 622. When it is determined that the condition for gripping is satisfied, then if the output signals of the first receiving sensor 6212 and the second receiving sensor 6222 are both a default signal, the depth determining module 630 determines that the specified target gap is equal to the depth of the shipping container.

In addition, if the system contains more than two, for example N+1 (N is not less than 1), pairs of through-beam sensors, when it is determined that the locking condition is satisfied, the receiving sensor outputs from at least two through-beam sensors represent the main signals, the Mth receiving sensor is the closest receiving sensor to the first receiving sensor 6212 among the receiving sensors whose output signals are default signals, M is a positive integer not greater than N, then the depth determination unit 630 determines that the value (M-1 )*L is the depth of the shipping container, where L is the size of the specified gap.

In the exemplary embodiment, the depth of a commodity container is determined by providing multiple pairs of beam intersection sensors and a depth detection module, so that subsequent picking and placing of the commodity container is controlled in accordance with the depth of the commodity container, and thus the efficiency of depth detection is high. this option can be easily implemented, and the safety of picking up and repositioning the goods container is increased.

In fig. 7 is a simplified block diagram of a device for picking up goods according to another embodiment of the present invention. The exemplary embodiment further describes a sensor based on the embodiment shown in FIG. 2. As shown in FIG. 7, the goods picking device includes a goods picking mechanism 710, a sensor 720, and a depth sensing module 730. The sensor 720 is a visual sensor, such as a 2D video camera, a depth camera, or a photographic device, located on the top surface of the merchandise gripper 710 and configured to photograph a measured image of the work area of the merchandise gripper 710. Accordingly, the depth determining module 730 is configured to determine the depth of the goods container in accordance with the gray scale (brightness) of the measured image.

In addition, the sensor 720 may be a micro video camera and a micro video camera lens.

In particular, the visual sensor is configured to photograph a measured image of the work area of the product picking mechanism 710, i.e. a measured image of the area in which the goods gripping mechanism grips the goods container. When there is a goods container in the work area, the field of view of the visual sensor may be obstructed, so that the photographed measured image will be dark, i.e. The brightness of this measured image is low. The threshold brightness can be preset. If the average brightness of the measured image is less than a predetermined threshold brightness, this indicates the presence of a merchandise container in the operating area of the merchandise pick-up mechanism 710. The default signal corresponds to the average luminance of the measured image exceeding a predetermined threshold luminance, and then the predetermined obstacle signal corresponds to the average luminance of the measured image below the predetermined threshold luminance. Therefore, the visual sensor can determine the depth of the goods container according to the change in the average brightness of the measured image. If the visual sensor is a depth video camera, the depth video camera may be used to collect point cloud data in the work area of the merchandise pick-up mechanism 710, and then the depth of the merchandise container is determined based on this point cloud data. The specific detection algorithm is similar to the algorithm for the measured image, and can be implemented according to the average value of the point cloud data. If this average value is less than a specified threshold value, it means that the field of view is occluded and corresponds to a specified obstacle signal; and if this average value is greater than a given threshold value, this means that the field of view is not occluded and corresponds to the default signal.

In the present embodiment, the depth of a commodity container is determined by constructing a visual sensor and a depth detection module, and a subsequent command to pick up and place such a commodity container is issued in accordance with the depth of the commodity container, and thus the depth detection efficiency is high and the accuracy is high. this option can be easily implemented, and the safety of picking up and repositioning the goods container is increased.

In fig. 8 is a simplified block diagram of a device for picking up goods according to another embodiment of the present invention. The exemplary embodiment further describes a sensor based on the embodiment shown in FIG. 2. As shown in FIG. 8, the goods picking device includes a goods picking mechanism 810, a sensor 820, and a depth sensing module 830. The goods picking mechanism 810 includes a left arm 811 and a right arm 812 arranged symmetrically. Sensor 820 is a distance sensor located on the inside of left arm 811 or right arm 812. FIG. 8 illustrates an example in which a distance sensor is located on the left shoulder 811. The measurement signal represents the measured distance output by the distance sensor.

In particular, there may be one or more distance measuring sensors, and such distance measuring sensor may be an ultrasonic sensor, a radar sensor, or the like.

If the measured distance is the distance between the left shoulder 811 and the right shoulder 812, this measured distance corresponds to the default signal mentioned above. However, if the measured distance is less than the distance between the left shoulder 811 and the right shoulder 812, the measured distance indicates the distance between the goods picking mechanism where the distance measuring sensor is located and the goods container and corresponds to the above predetermined obstacle signal. Therefore, the depth determining unit 830 can determine the depth of the goods container in accordance with the change in the measured distance.

In the present embodiment, the depth of the commodity container is determined using a distance measuring sensor and a depth detection module, and a command for subsequent picking up and placing of the commodity container is issued in accordance with the depth of the commodity container, and thus the depth detection efficiency is high and the cost is low. , this option can be easily implemented, and the safety of picking up and placing the goods container in place is increased.

In fig. 9 is a simplified block diagram of a device for picking up goods according to another embodiment of the present invention. The embodiment under consideration further refines the design of the mechanism for picking up goods based on the embodiment shown in FIG. 2, enlarges the push rod mechanism at the cantilevered free end of the mechanism to grab goods, and enlarges the temporary storage plate. As shown in FIG. 9, the merchandise picking apparatus of the embodiment includes a merchandise gripping mechanism 910, a sensor 920, a depth sensing module 930, a temporary storage plate 940, and a push bar mechanism 950. The goods picking mechanism 910 has a left arm 911 and a right arm 912.

The sensor 920 is mounted on the goods picking mechanism 910 and is configured to collect a measurement signal when the goods picking mechanism 910 is extended. The depth determining module 930 is configured to determine the depth of the goods container in accordance with the measurement signal. The goods picking mechanism 910 is configured to pick up or place a goods container according to the depth of the goods container. The depth represents the length of the merchandise container in the extending direction of the merchandise gripping mechanism 910 when the merchandise gripping mechanism engages the container. The temporary storage plate 940 is located between the left arm 911 and the right arm 912 and is configured to temporarily store a shipping container. The push rod mechanism 950 is movably mounted on the end of the goods gripping mechanism 910 close to the goods container, and after the goods gripping mechanism 910 grips the goods container, the push rod mechanism 950 can rotate inward to a state of perpendicularity with respect to the inner side surface of the mechanism 910 to grab goods.

Specifically, the temporary storage plate 940 is a rectangular plate arranged horizontally and parallel to the central axis S1. When the merchandise pick-up mechanism 910 grabs a merchandise container, the merchandise grabber may place the merchandise container on the temporary storage plate 940 and, upon reaching the target position, move the merchandise container located on the temporary storage plate 940 to a warehouse merchandise shelf corresponding target position for storage. The target position may be a position corresponding to the buffer mechanism of the warehouse robot, and may also be a position corresponding to a fixed merchandise shelf or storage position in the warehouse system.

In particular, the number of push rod mechanisms 950 may be 2, 4, or other number. Fig. 9 illustrates an example in which there are 2 push rod mechanisms. The push rod mechanisms 950 are respectively located symmetrically on the free cantilever ends "a" of the left arm 911 and the right arm 912. When not in operation, the push rod mechanisms 950 are oriented vertically downward or vertically upward, or they are placed parallel to the height direction of the left arm 911 or the right arm 912 of the mechanism. 910 for picking up goods. The non-operating state corresponds to a state in which the goods picking mechanism 910 does not grip the goods container. The push rod mechanisms 950 can be rotated relative to the goods picking mechanism 910 and can, in particular, be rotated along the central axis S1 of the goods picking mechanism 910. When the goods gripping mechanism 910 engages a goods container in accordance with a command to grab the goods container, the push bar mechanisms 950 rotate inward 90 degrees until they are perpendicular to the inner side surface of the left arm 911 or the right arm 912 of the mechanism 910 to pick up goods, in which case the push rod mechanisms 950 are operational. In particular, in FIG. 10 is a simplified block diagram of a device for picking up goods when the push rod mechanisms are in operation in the embodiment shown in FIG. 9. As shown in FIG. 10, upon entering the operating state, the push rod mechanisms 950 rotate inward until they are perpendicular to the inner side surface of the left arm 911 or the right arm 912.

Additionally, when the merchandise pick-up mechanism is initialized or begins to move, it can be determined, in accordance with the measurement signal from the sensor 920, whether a merchandise container is present on the merchandise pick-up mechanism 910. If a merchandise container is present on the merchandise pick-up mechanism 910, the push rod mechanisms 950 are controlled to be perpendicular to the inner side surface of the merchandise pick-up mechanism 910 to thereby prevent the merchandise container from falling during movement of the pick-up device. goods.

In particular, initialization of the goods gripping device means that the goods gripping device has started to operate or the goods gripping device is moving or displacing.

In the present embodiment, a plate for temporary storage of the goods container is introduced into the mechanism for grasping goods containing a left arm and a right arm, and the dimensions of the pushing rod mechanisms are increased, and thus the degree of safety during movement of the goods container is further increased.

In fig. 11 is a logic diagram of a depth measurement method according to one embodiment of the present invention. This depth measuring method is applied to a goods grasping device in a warehouse robot and can be carried out by this goods grasping device. As shown in FIG. 11, the depth measuring method contains the following operations.

In step S1001, a measurement signal is collected by a sensor in the goods picking device when the goods picking mechanism in the goods picking device is extended.

In step S1002, the depth of the goods container is determined by the depth determining module in the goods picking device in accordance with the measurement signal. Depth is the length of the goods container in the direction of extension of the mechanism for picking up goods.

In step S1003, the goods container is picked up or placed in place by a mechanism for picking up goods in accordance with the depth of the goods container.

The procedure for installing a commodity container in place in accordance with the depth of this commodity container specifically comprises: installing a commodity container, in accordance with the depth of this commodity container, on the buffer mechanism of the warehouse robot or at a central position on the temporary storage plate, or at a deep position, thereby preventing a shipping container from falling during a warehouse robot move due to the container being placed in an unfortunate position, or preventing damage to goods inside the shipping container due to compression of the shipping container during placement.

In particular, a goods container having a shallow depth must be placed in a position as deep as possible on the buffer mechanism in accordance with the depth of the goods container to prevent the goods container from sliding during the movement of the warehouse robot. In the case of a shipping container having a large depth, if such shipping container is placed on a buffer mechanism, it is necessary to prevent damage to that shipping container and even the goods contained therein due to the fact that such shipping container is subject to compression due to the need to push it too far when installed in place. In other words, for a goods container having a large depth, it is necessary to determine an appropriate pushing distance when being installed in place according to the depth of the goods container, thereby preventing such goods container from falling into the center of the buffer mechanism when the goods container is pressed.

Optionally, the goods picking mechanism includes a left arm and a right shoulder, and a procedure for determining the depth of a goods container according to the measurement signal comprises: obtaining, if the measurement signal changes from a default signal to a predetermined obstacle signal, a first state of the goods picking mechanism ; obtaining, if the measurement signal changes from a predetermined obstacle signal to a default signal, a second state of the mechanism for picking up goods; and determining the depth of the goods container in accordance with the first state and the second state.

As an option, the sensor contains a pair of beam crossing sensors. The cross-beam sensor pair consists of an emitting sensor and a receiving sensor. These emitting sensor and receiving sensor are located symmetrically on the left shoulder and on the right shoulder. The specified obstacle signal corresponds to the output signal of the receiving sensor when this receiving sensor does not receive a signal from the emitting sensor. The default signal matches the output of a receiving sensor when that receiving sensor receives a signal from an emitting sensor.

Optionally, the sensor includes at least two pairs of beam intersection sensors. Each pair of beam crossing sensors is located symmetrically on the left shoulder and right shoulder. Moreover, between two adjacent groups of beam crossing sensors, there is a specified gap. The procedure for determining the depth of a freight container in accordance with a measurement signal comprises: determining the depth of a freight container in accordance with a predetermined gap and measurement signals collected by at least two pairs of beam intersection sensors.

As an option, the sensor is a visual sensor. This visual sensor is located on the top surface of the goods picking mechanism. The procedure for collecting a measuring signal by a sensor in a device for gripping goods when the mechanism for gripping goods in the device for gripping goods is extended, comprises: photographing, by means of a visual sensor, a measured image of the working area of the mechanism for gripping goods when the mechanism for gripping goods is extended into device for grabbing goods. Accordingly, the procedure for determining the depth of the goods container according to the measurement signal comprises: determining the depth of the goods container in accordance with the measured image.

As an option, the sensor is a distance sensor. This distance sensor is located on the inside of the left shoulder or right shoulder. The collection procedure, by a sensor in the device for grasping goods, a measuring signal, when the mechanism for grasping goods is extended, in the device for grasping goods, contains: collection, by a sensor for measuring the distance, the measured distance, when the mechanism for grasping goods is extended, in the device for seizure of goods. Accordingly, the procedure for determining the depth of a goods container according to the measurement signal comprises: determining the depth of the goods container based on the measured distance.

As an option, the mechanism for picking up goods further comprises a push rod mechanism. This push rod mechanism is movably mounted at one end of the mechanism for gripping goods close to the goods container. After determining the depth of the goods container in accordance with the measuring signal, the depth measuring method further comprises: controlling the push rod mechanism to rotate it inward to a state of perpendicularity with respect to the inner side surface of the mechanism for picking up goods; and gripping the goods container in accordance with the depth of the goods container.

Optionally, after gripping a shipping container according to the depth of the shipping container, the method further comprises: placing, according to the depth of the shipping container, the shipping container onto the buffer mechanism of the warehouse robot.

Based on the found depth values, different push distances are determined for commodity containers having different depths, so that such commodity containers having different depths can be placed in safe positions on the assumption that these commodity containers are not damaged, and thus the degree of safety of commodity containers during movement.

Optionally, the depth measuring method further comprises: determining, in accordance with the measurement signal, when the goods gripping device is initialized, whether a goods container is present on the goods gripping mechanism in the goods gripping device; and if a merchandise container is present on the merchandise picking mechanism, controlling the push rod mechanism to rotate it inwardly to a state of perpendicularity with respect to the inner side surface of the merchandise picking mechanism.

In particular, the initialization of the goods picking device may consist of the goods picking device starting to operate or the goods picking device moving.

Optionally, after determining the depth of the goods container in accordance with the measurement signal, the method further comprises: obtaining, by the depth determining module, a predetermined arm extension distance; receiving, if the actual arm extension distance in the goods picking mechanism has reached a predetermined arm extension distance, a measurement signal transmitted to the output by the sensor; controlling, if the measurement signal is a default signal, a mechanism for grabbing goods to grab a goods container in accordance with the depth of the goods container; and generating, if the measurement signal is a predetermined obstacle signal, error information about the predetermined arm extension distance.

In fig. 12 shows a simplified block diagram of a warehouse robot proposed in one embodiment of the present invention. As shown in FIG. 12, the warehouse robot includes a movable chassis 1110 and a device 1120 for picking up goods.

Product pick-up device 1120 is a product pick-up device provided by any one of the embodiments of FIGS. 2 - 10 of the present invention, and this device is coupled to the movable chassis 1110 and configured to grip or position a shipping container according to the depth of the shipping container.

Optionally, the warehouse robot further includes: a buffer mechanism 1130 mounted on a movable chassis 1110 and configured to accommodate a shipping container; and accordingly, a goods picking device 1120 for placing the goods container on the buffer mechanism 1130 according to the depth of the goods container.

The buffer mechanism 1130 may particularly take the form of a rear basket.

In fig. 13 shows a simplified block diagram of a warehouse robot proposed by one of the variants of the present invention. As shown in FIG. 13, this warehouse robot includes a memory 1210, a processor 1220, and a computer program.

The computer program is stored in the storage device 1210 and is configured to be executed by the processor 1220 to implement the depth measurement method according to the embodiment of FIG. 11 in the present invention.

Storage device 1210 and processor 1220 are connected by bus 1230.

The corresponding description can be understood with reference to related illustrations and effects corresponding to the steps shown in FIG. 10, so it will not be given here again.

In fig. 14 shows a simplified block diagram of a warehouse system proposed by one embodiment of the present invention. As shown in FIG. 14, this warehouse system includes a warehouse robot 1310, a merchandise shelf 1320, and a warehouse management module 1330.

The product container 1321 is placed on the product shelf 1320, or needs to be placed on the product shelf 1320. The warehouse robot 1310 is a warehouse robot offered by any one of the options corresponding to FIG. 12 and fig. 13 of the present invention. This warehouse robot 1310 is connected to the warehouse management module 1330 and is configured to receive a command from this warehouse management module, where the command contains information about a product container to be picked up or stored, and the warehouse robot moves to a predetermined position in accordance with the command from warehouse management module 1330, and picks up or places the goods container.

One embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon. When this computer program is executed, the processor implements the depth measurement method of the embodiment corresponding to FIG. 11 of the present invention.

This computer-readable storage medium may be a read-only memory (ROM), random access memory (RAM), CD-ROM, magnetic tape, floppy disk, optical storage device, or other similar medium.

It should be understood that the described device and method proposed in embodiments of the present invention may be implemented by other methods. For example, the device embodiments described above are just examples. For example, modularization is simply a partitioning of logical functions, so a different partition may occur in actual implementation. For example, several modules or components may be combined or integrated in another system, or some features may be ignored or not implemented. In addition, the interconnections or direct connections or communication connections presented or discussed herein may be implemented by certain interfaces. Indirect connections or communication connections between devices or modules may take electrical, mechanical, or other forms.

Those skilled in the art may readily suggest other solutions for implementing the present invention after studying the description and practice of the invention described herein. The present invention is intended to cover any variations, functions or adaptations of the present invention. These variations, functions or adaptations are consistent with the general principles of the present invention and contain generally accepted knowledge and conventional techniques known in the art, but not described in the present invention. The description and embodiments given herein are merely examples, and the actual scope and spirit of the present invention are set forth in the Claims.

It should be understood that the present invention is not limited to the exact structure as described above and shown in the drawings, but may be modified and changed in any manner without departing from the scope of the invention. The scope of the present invention is limited only by the appended claims.

Claims (81)

1. A device for grabbing goods, containing: a mechanism for grabbing goods, a sensor and a depth determination module; wherein the sensor is located on the goods picking mechanism, the sensor is configured to collect a measurement signal when the goods picking mechanism is extended; wherein the measurement signal comprises one of a default signal and a predetermined obstacle signal, the default signal is a corresponding signal in the case that the sensor is not obstructed by a cargo container, and the predetermined obstacle signal is a corresponding signal in the case that the sensor is obstructed by a cargo container ; wherein the depth determining module is configured to determine the depth of the goods container in accordance with the measurement signal; in which the goods picking mechanism is configured to pick up or place in place a goods container in accordance with the depth of that goods container, wherein the depth is the length of the goods container in the extending direction of the goods picking mechanism; wherein the depth detection module is further configured to: obtaining a given shoulder extension distance; receiving, if the actual arm extension distance in the goods picking mechanism has reached a predetermined arm extension distance, a measurement signal transmitted to the output by the sensor; controlling, if the measurement signal is a default signal, a mechanism for grabbing goods to grab the goods container; And generating, if the measuring signal is a predetermined obstacle signal, error information about the predetermined arm extension distance. 2. A device for grasping goods according to claim 1, in which the mechanism for grasping goods comprises a left shoulder and a right shoulder, in which the left shoulder and the right shoulder are located symmetrically; wherein the sensor is located on at least one of the left shoulder and the right shoulder. 3. The goods gripping device according to claim 2, wherein the depth sensing module is specifically configured to: obtaining, when the measurement signal changes from the default signal to the predetermined obstacle signal, a first state of the goods picking mechanism; obtaining, when the measurement signal changes from a predetermined obstacle signal to a default signal, a second state of the goods picking mechanism; And determining the depth of the goods container in accordance with the first state and the second state. 4. The goods gripping device according to claim 3, wherein the first state comprises a first extension length of the goods gripping mechanism, and the second state comprises a second extension length of the goods gripping mechanism, wherein the depth sensing module is further configured to determine the depth of the goods container according to with a difference in value between the first extension length and the second extension length. 5. A device for grabbing goods according to claim 3, in which the sensor contains a pair of beam intersection sensors; wherein the pair of beam crossing sensors comprises a emitting sensor and a receiving sensor; wherein the emitting sensor and the receiving sensor are arranged symmetrically on the left shoulder and the right shoulder; wherein the predetermined obstacle signal is an output signal of the receiving sensor when the receiving sensor does not receive a signal from the emitting sensor; And wherein the default signal is the output signal of the receiving sensor when the receiving sensor receives a signal from the emitting sensor. 6. A device for grabbing goods according to claim 2, in which the sensor contains at least N+1 pairs of beam intersection sensors; in which each pair of beam crossing sensors is symmetrically located on the left shoulder and right shoulder, and a predetermined gap is formed between two adjacent groups of beam crossing sensors, where N is greater than or equal to 1; And in which the depth module is configured to: determining when the output signals of the receiving sensors of at least two pairs of beam intersection sensors are default signals, and the Mth receiving sensor is the nearest receiving sensor to the first receiving sensor among the receiving sensors whose output signals are default signals, (M-1 )*L as the depth of the goods container, where M is a positive integer less than or equal to N, L is the amount of the specified gap, and the first receiving sensor is a receiving sensor located at the end of the goods picking mechanism in the extension direction of the picking mechanism goods. 7. A device for picking up goods according to claim 1, wherein the sensor is a visual sensor; this visual sensor is located on the upper surface of the mechanism for picking up goods; and the measurement signal is a measured image of the working area of the goods picking mechanism photographed by the visual sensor. 8. The device for grasping goods according to claim 2, in which the sensor is a sensor for measuring distance; wherein the distance measuring sensor is located on the inner side of the left shoulder or the right shoulder; and the measurement signal represents the measured distance output by the distance measurement sensor. 9. Device for grabbing goods according to any one of paragraphs. 1-8, in which the mechanism for picking up goods includes a push rod mechanism; wherein the push rod mechanism is movably mounted on an end of the goods picking mechanism in an extending direction of the goods picking mechanism; wherein after the depth determining module determines the depth of the goods container, the push bar mechanism is configured to rotate to a state of perpendicularity with respect to the inner side surface of the goods picking mechanism. 10. A method for measuring depth performed by a device for picking up goods in a warehouse robot, wherein the device for picking up goods includes a mechanism for picking up goods, a sensor and a depth sensing module; the method contains: collection, by a sensor, of a measuring signal when the mechanism for grabbing goods is extended; wherein the measurement signal comprises one of a default signal and a predetermined obstacle signal, the default signal is a corresponding signal in the case that the sensor is not obstructed by a cargo container, and the predetermined obstacle signal is a corresponding signal in the case that the sensor is obstructed by a cargo container ; determining, by means of the depth determining module, the depth of the goods container in accordance with the measurement signal; And grabbing or placing in place, by a mechanism for gripping goods, a goods container according to the depth of the goods container; wherein the depth is the length of the goods container in the extending direction of the goods picking mechanism; wherein the method further comprises: receiving, by the depth determination module, a specified shoulder extension distance; receiving, if the actual arm extension distance in the goods picking mechanism has reached a predetermined arm extension distance, a measurement signal transmitted to the output by the sensor; controlling, when the measurement signal is a default signal, a mechanism for grabbing goods to grab a goods container in accordance with the depth of the goods container; And generating, when the measurement signal is a predetermined obstacle signal, error information about a predetermined arm extension distance. 11. The method according to claim 10, in which the mechanism for grabbing goods includes a left arm and a right arm, in which determining the depth of the goods container in accordance with the measuring signal contains: obtaining, when the measurement signal changes from the default signal to the predetermined obstacle signal, a first state of the goods picking mechanism; obtaining, when the measurement signal changes from a predetermined obstacle signal to a default signal, a second state of the goods picking mechanism; And determining the depth of the goods container in accordance with the first state and the second state. 12. The method according to claim 11, in which the sensor comprises a pair of beam intersection sensors; wherein the pair of beam crossing sensors comprises a emitting sensor and a receiving sensor; wherein the emitting sensor and the receiving sensor are symmetrically arranged on the left shoulder and on the right shoulder; the predetermined obstacle signal is an output signal of the receiving sensor when the receiving sensor does not receive a signal from the emitting sensor; And wherein the default signal is the output signal of the receiving sensor when the receiving sensor receives a signal from the emitting sensor. 13. The method according to claim 10, in which the mechanism for grabbing goods comprises a left shoulder and a right shoulder; wherein the sensor comprises at least two pairs of beam intersection sensors; in which each pair of beam crossing sensors is symmetrically located on the left shoulder and right shoulder, and a predetermined gap is formed between two adjacent groups of beam crossing sensors; wherein determining the depth of the goods container in accordance with the measuring signal contains: determining the depth of the goods container in accordance with a predetermined gap and measurement signals collected by at least two pairs of beam crossing sensors. 14. The method according to claim 10, wherein the sensor is a visual sensor; this visual sensor is located on the upper surface of the mechanism for picking up goods; wherein collecting, by means of a sensor, a measuring signal when the mechanism for picking up goods is extended, comprises: photographing, by means of a visual sensor, a measured image of the working area of the goods picking mechanism when the goods picking mechanism is extended; in which the determination of the depth of the goods container, according to the measuring signal, contains: Determining the depth of the goods container according to the measured image. 15. The method according to claim 10, in which the mechanism for grabbing goods comprises a left shoulder and a right shoulder; wherein the sensor is a sensor for measuring distance; wherein the distance measuring sensor is located on the inner side of the left shoulder or the right shoulder; wherein collecting, by means of a sensor, a measuring signal when the mechanism for picking up goods is extended, comprises: collecting, by means of a sensor for measuring a distance, the measured distance when the mechanism for grabbing goods is extended; in which the determination of the depth of the goods container, according to the measuring signal, contains: Determining the depth of the goods container in accordance with the measured distance. 16. Method according to any one of paragraphs. 10-15, in which the mechanism for picking up goods includes a push rod mechanism; wherein the push rod mechanism is movably mounted on an end of the goods picking mechanism in an extending direction of the goods picking mechanism; wherein, after determining the depth of the goods container in accordance with the measurement signal, the method comprises: controlling the push rod mechanism to rotate to a state of perpendicularity with respect to the inner side surface of the mechanism for picking up goods. 17. Method according to any one of paragraphs. 10-15, in which the step of picking up or placing in place a goods container according to the depth of this goods container comprises: gripping, by a mechanism for gripping goods, a goods container according to the depth of this goods container; wherein, after gripping a goods container according to the depth of that goods container, the method comprises: placing, in accordance with the depth of the goods container, this goods container on the buffer mechanism of the warehouse robot. 18. The method according to claim 16, additionally containing: determining, in accordance with the measurement signal, when the goods picking device is initialized, whether a goods container is present on the goods picking mechanism; wherein controlling the push rod mechanism to rotate it inward to a state of perpendicularity with respect to the inner side surface of the mechanism for picking up goods comprises: determining that a goods container is present on a mechanism for picking up goods; based on determining that the goods container is present on the goods pick-up mechanism, controlling the push rod mechanism to rotate it inward to a state of perpendicularity with respect to the inner side surface of the goods pick-up mechanism. 19. A warehouse robot containing a movable chassis and a device for picking up goods according to any one of paragraphs. 1-9, wherein the goods gripping device is coupled to the movable chassis and configured to pick up or place in place a goods container in accordance with the depth of the goods container. 20. Warehouse robot according to claim 19, additionally containing: a buffer mechanism mounted on the movable chassis and configured to accommodate a shipping container thereon; wherein the goods picking device is configured to: placing the goods container on a buffer mechanism in accordance with the depth of this goods container. 21. A warehouse system containing a warehouse robot according to claim 19 or 20, a product shelf and a warehouse management module; wherein the warehouse robot is communicatively connected to a warehouse management module; wherein the movable chassis is configured to move, in accordance with a command from the warehouse management module, to a position where a merchandise container is located, and the merchandise picking mechanism is configured to grip the merchandise container in accordance with a depth of the merchandise container where the merchandise container is placed on a merchandise shelf . 22. A warehouse system containing a warehouse robot according to claim 19 or 20, a product shelf and a warehouse management module; wherein the warehouse robot is communicatively connected to a warehouse management module; wherein the movable chassis is configured to move, in accordance with a command from the warehouse management module, to a position where the goods container is to be located, and the mechanism for picking up goods is configured to be placed in place of the goods container in accordance with the depth of the goods container. 23. A computer-readable storage medium storing computer-executable instructions, wherein the computer-executable instructions are configured to, when the instructions are executed by a processor, implement the depth measuring method of any one of claims. 10-18.