TWI819642B - Method, device, equipment, robot and warehousing system for handling materials - Google Patents

Abstract

Embodiments of the present disclosure provide a method, a device, an equipment, a robot, and a warehousing system for handling materials. The method for handling materials includes: determining a moving direction of a first robot when the first robot moves to a target position corresponding to a storage space, where the first robot includes a moving chassis, a temporary storage shelf, and a handling device, the carrying device includes a horizontal rotating assembly and a handling assembly, the handling assembly is rotatable relative to a fixed unit in a horizontal direction; controlling the horizontal rotating assembly of the first robot to rotate relative to the fixed unit, so that the handling assembly is rotated to face the storage space, according to a positional relationship between the moving direction of the first robot and the storage space; and controlling the rotated handling assembly to handle materials corresponding to the storage space. By the rotatable handling assembly, the robot does not need to be integrally rotated during operation, so that there is no need to reserve a space for a robot to rotate in a warehouse, thereby improving the space utilization rate of the warehouse.

Description

Cargo handling methods, devices, equipment, robots and warehousing systems

The present disclosure relates to the field of intelligent warehousing technology, and in particular to a cargo handling method, device, equipment, robot and warehousing system.

The robot-based intelligent warehousing system uses an intelligent operating system to realize automatic removal and storage of containers through system instructions. It can also operate 24 hours a day, replacing manual management and operations, improving the efficiency of warehousing, and has been widely used and favor.

When robots perform warehousing operations, they need to walk based on pre-planned paths to achieve automated warehousing operations. At present, when a robot picks and places goods, it requires the robot to turn as a whole, thereby controlling the robot's handling device to pick and place goods sideways to complete corresponding warehousing operations.

However, in the above-mentioned picking and placing method, if the robot needs to turn, it must The lanes of the warehousing system are provided with special spaces for robots to turn, thereby reducing the space utilization of the warehousing system and increasing warehousing costs.

The present disclosure provides a cargo handling method, device, equipment, robot and warehousing system, which picks and places goods based on a four-way rotatable handling device, so that the robot does not need to perform overall steering during operation, thereby eliminating the need to reserve space for the robot to turn. space, improving the space utilization of the warehousing system and reducing warehousing costs.

In a first aspect, an embodiment of the present disclosure provides a cargo handling method. The method includes: when the first robot moves to a target position corresponding to the storage space, determining the traveling direction of the first robot, wherein the first robot It includes a mobile chassis, a temporary storage rack and a transportation device. The transportation device includes a horizontal rotation assembly and a transportation assembly. The transportation assembly is installed on the temporary storage rack toward the front end of the mobile chassis through the fixing unit of the horizontal rotation assembly. one side, and can rotate in the horizontal direction relative to the fixed unit; according to the positional relationship between the traveling direction of the first robot and the storage space, the horizontal rotating component of the first robot is controlled to move to the The fixing unit rotates to rotate the transportation component toward the storage space; and controls the rotated transportation component to transport goods corresponding to the storage space.

Optionally, the handling component of the first robot faces the temporary storage rack in the initial state; the first robot is controlled according to the positional relationship between the traveling direction of the first robot and the storage space. The horizontal rotation component rotates with respect to the fixed unit, including: when the traveling direction of the first robot is in line with the storage When the cargo entry and exit plane of the storage space is parallel, control the horizontal rotation assembly of the first robot to rotate 90° or 270° with respect to the fixed unit; and/or, when the traveling direction of the first robot is in line with the storage When the cargo entry and exit plane of the space is vertical, the horizontal rotation component of the first robot is controlled to rotate 180° with respect to the fixed unit.

Optionally, when the first robot moves to a position corresponding to the target position, the method further includes: determining whether the working space corresponding to the first robot satisfies the turning condition of the first robot.

Correspondingly, controlling the horizontal rotation component of the first robot to rotate with respect to the fixed unit according to the positional relationship between the traveling direction of the first robot and the storage space includes: if the working space does not meet the requirements If the turning condition of the first robot is determined, the horizontal rotating component of the first robot is controlled to rotate relative to the fixed unit according to the positional relationship between the traveling direction of the first robot and the storage space.

Optionally, determining whether the working space corresponding to the first robot satisfies the turning condition of the first robot includes: determining whether the width of the working space is greater than a preset width.

Optionally, the method further includes: determining a working path of the first robot to control the first robot to move to a target position corresponding to the storage space based on the working path.

Correspondingly, determining whether the working space corresponding to the first robot satisfies the turning condition of the first robot includes: determining whether the working space satisfies the turning condition of the first robot according to the working path.

Optionally, judging whether the working space satisfies the steering condition of the first robot according to the working path includes: determining the target node corresponding to the target position according to the working path; The distance to the target position is used to determine whether the working space satisfies the steering condition of the first robot.

Optionally, judging whether the working space satisfies the steering condition of the first robot according to the working path includes: determining the target node corresponding to the target position according to the working path; judging whether the target node Located in a preset narrow lane; if so, it is determined that the working space does not meet the turning conditions of the first robot.

Optionally, when there are multiple target positions, determining the working path of the first robot includes: determining the transportation direction corresponding to each target position; according to each target position and its corresponding transportation direction, Determine the working path of the first robot.

Optionally, the method further includes: determining the operation tasks of each robot according to the type of each robot handling device.

Correspondingly, determining the working path of the first robot includes: determining the working path of the first robot according to the working task corresponding to the first robot.

Optionally, determining the operation tasks of each robot according to the type of each robot handling device includes: for each order task, determining the target position of the goods corresponding to the order task; if the operation space corresponding to the target position is smaller than the predetermined Assuming space, the order task is determined to be the operation task of the first robot, wherein the horizontal rotating component of the first robot can drive the handling component to rotate to the far away from the end of the staging rack.

Optionally, the method further includes: when it is detected that the working path corresponding to the second working task of the second robot does not meet the turning condition of the second robot, determining that the second working task is the first robot The operation task; according to the operation task, determine the operation path of the first robot, and control the first robot to move to the target position according to the operation path.

Optionally, if there are multiple target positions, including a first target position, a second target position and a third target position, and the storage space corresponding to the first target position is located on the first side of the first robot , the storage space corresponding to the second target position is located on the second side of the first robot, and the storage space corresponding to the third target position is located in front of the first robot; according to the traveling direction of the first robot In a positional relationship with the storage space, controlling the horizontal rotation component of the first robot to rotate with respect to the fixed unit so that the handling component rotates toward the storage space includes: controlling the first robot The horizontal rotating assembly is rotated 90° clockwise relative to the fixed unit, so that the rotated carrying assembly faces the storage space corresponding to the first target position to carry out the transportation of goods corresponding to the first target position. ; Control the horizontal rotating component of the first robot to rotate 90° counterclockwise relative to the fixed unit, so that the rotated transport component faces the storage space corresponding to the second target position to perform the second Carry the goods corresponding to the target position; control the horizontal rotating component of the robot to rotate 180° counterclockwise relative to the fixed unit, so that the rotated transport component faces the storage space corresponding to the third target position, so as to Carry out goods corresponding to the third target position Transportation of things.

Optionally, if the working space meets the turning condition of the first robot and the position relationship is a vertical relationship, the method further includes: controlling the mobile chassis of the first robot to rotate clockwise or counterclockwise. 90°, so that the storage space is located on the first side or the second side of the first robot; control the horizontal rotating assembly to rotate 90° or 270° relative to the fixed unit, so that the rotated The transportation component faces the storage space; the rotation of the transportation component is controlled to transport goods corresponding to the storage space.

Optionally, the horizontal rotating component of the transport device includes the fixed unit and a rotating unit that can rotate relative to the fixed unit. The fixed unit is connected to the temporary storage rack, and the transport component is arranged on the rotating unit. On the unit, controlling the horizontal rotation component of the first robot to rotate relative to the fixed unit includes: generating a first rotation control signal of the rotation unit; controlling the rotation unit based on the first rotation control signal The horizontal rotating component is driven to rotate relative to the fixed unit.

Optionally, after controlling the horizontal rotation component of the first robot to rotate relative to the fixed unit, the method further includes: detecting the rotation angle of the handling component; when the rotation angle is a preset angle, A rotation stop instruction of the horizontal rotating component is generated to control the horizontal rotating component to stop rotating.

In a second aspect, embodiments of the present disclosure also provide a cargo handling device. The device includes: a traveling direction determination module, configured to determine the traveling direction of the first robot when the first robot moves to a target position corresponding to the storage space. direction, where, the The first robot includes a mobile chassis, a temporary storage rack, and a transportation device. The transportation device includes a horizontal rotation assembly and a transportation assembly. The transportation assembly is located on the temporary storage rack toward the mobile through the fixing unit of the horizontal rotation assembly. One side of the front end of the chassis can rotate in the horizontal direction relative to the fixed unit; the handling component rotation module is used to control the third robot according to the positional relationship between the traveling direction of the first robot and the storage space. The horizontal rotating component of a robot rotates with respect to the fixed unit, so that the transport component rotates towards the storage space; a cargo transport module is used to control the rotated transport component to correspond to the storage space transportation of goods.

In a third aspect, embodiments of the present disclosure also provide a cargo handling equipment, including a storage and at least one processor; the storage stores computer execution instructions; the at least one processor executes the computer execution instructions stored in the storage , causing the at least one processor to execute the cargo handling method provided by any embodiment corresponding to the first aspect of this disclosure.

In a fourth aspect, an embodiment of the disclosure further provides a robot, including a mobile chassis, a temporary storage rack, a handling device, and cargo handling equipment provided by a corresponding embodiment of the third aspect of the disclosure. The handling device includes a horizontal rotating assembly and a handling device. The transport assembly is provided on the side of the temporary storage rack facing the front end of the mobile chassis through the fixed unit of the horizontal rotating assembly, and can rotate in the horizontal direction relative to the fixed unit.

In a fifth aspect, an embodiment of the present disclosure also provides a warehousing system, including a shelf, a robot, and the cargo handling equipment provided by a corresponding embodiment of the third aspect of the present disclosure.

In a sixth aspect, embodiments of the present disclosure also provide a computer-readable storage Media, the computer-readable storage medium stores computer-executable instructions. When the processor executes the computer-executable instructions, the cargo handling method provided by any embodiment corresponding to the first aspect of the present disclosure is implemented.

In a seventh aspect, an embodiment of the present disclosure also provides a computer program product, including a computer program that, when executed by a processor, implements the cargo handling method provided by any embodiment corresponding to the first aspect of the present disclosure.

The cargo handling methods, devices, equipment, robots and warehousing systems provided by the embodiments of the present disclosure are for robots with rotatable handling devices. After the first robot moves to the target position corresponding to the storage space, based on the traveling direction of the first robot and the The positional relationship of the storage space controls the horizontal rotating component of the first robot's transport device to rotate relative to the fixed unit, so that the transport component faces the storage space, and controls the transport component to transport the goods in the storage space. Through the above cargo transport method, There is no need to control the mobile chassis of the robot at or in front of the storage space to realize the overall steering of the robot. You only need to control the robot's handling device to make the handling component face the storage space, and then control the handling component to extend toward the storage component to complete the handling of goods. This eliminates the need to reserve space for robots to turn in the warehouse, improves storage density and warehouse space utilization, and reduces storage costs.

100:Handling robot

10:Mobile chassis

20: Temporary storage shelf

21: Column rack

22:Place the board

23:Storage unit

30:Handling device

40. 1932: Handling components

41:Fixed plate

411:Installation hole

412: Fixed block

42:Pallet

421:Slider

43:Side panel

44:Telescopic arm

45: Import and export of goods

50. 1931: Horizontal rotating assembly

51. 1933: Fixed unit

511: Fixed bracket

5111: snap end

512:Support plate

513:First side position

514:Second side position

52:Rotation unit

521:Driving parts

522:Transmission gear

523: Rotary parts

5231:Through hole

524: Transmission chain

525:Fixed gear

60:Limit component

61: The first limiting part

62: Second limit part

63: Blocking Department

70: Detect components

71: First detection unit

72: Second detection unit

73: First detection substrate

74: Second detection substrate

80: Bellows

81: Fixed end

800: Warehousing system

810:Robot

820, 01, 03, h1, h2: shelves

821:Cargo

822: Target location

S901: When the first robot moves to the target position corresponding to the storage space, determine the traveling direction of the first robot

S902: According to the traveling direction of the first robot and the location of the storage space position relationship, controlling the horizontal rotating component of the first robot to rotate with respect to the fixed unit, so that the carrying component rotates towards the storage space

S903: Control the rotated transport component to transport the goods corresponding to the storage space.

1000, 14, 16: The first robot

1010:Handling components

1011: Import and export of goods

S1201: When the first robot moves to the target position corresponding to the storage space, determine the traveling direction of the first robot

S1202: Determine whether the working space corresponding to the first robot meets the turning condition of the first robot

S1203: If the working space does not meet the turning condition of the first robot, control the horizontal rotation component of the first robot to rotate according to the positional relationship between the traveling direction of the first robot and the storage space. The fixing unit rotates so that the carrying assembly rotates toward the storage space

S1204: If the working space meets the steering condition of the first robot, and the position relationship is a vertical relationship, control the mobile chassis of the first robot to rotate 90° clockwise or counterclockwise, so that the storage The space is located on the first side or the second side of the first robot

S1205: Control the horizontal rotating component to rotate 90° or 270° relative to the fixed unit so that the rotated transport component faces the storage space.

S1206: Control the rotated transport component to correspond to the storage space transportation of goods

S1301: Determine the working path of the first robot

S1302: Control the first robot to move to the target position corresponding to the storage space based on the working path.

S1303: Based on the working path, determine whether the working space satisfies the turning condition of the first robot.

S1304: When the first robot moves to the target position corresponding to the storage space, determine the traveling direction of the first robot

S1305: If the working space does not meet the turning condition of the first robot, control the horizontal rotation component of the first robot to rotate according to the positional relationship between the traveling direction of the first robot and the storage space. The fixed unit rotates

S1306: Control the rotated transport component to transport the goods corresponding to the storage space.

S301: Determine the target node corresponding to the target location according to the job path.

S302: Determine whether the target node is located in the preset narrow lane

S303: If yes, it is determined that the working space does not meet the turning condition of the first robot.

1710: Travel direction determination module

1720:Handling component rotation module

1730:Cargo handling module

1810:Storage

1820: Processor

1830:Bus

1910:Mobile Chassis

1920: Temporary storage shelf

1930:Handling device

1940: Cargo handling equipment

2010: Cargo handling equipment

2020: Robots

2030: Shelves

Figure 1 is a schematic structural diagram of a handling robot provided by an embodiment of the present disclosure.

FIG. 2 is a front view of the transport robot in FIG. 1 .

Figure 3 is a schematic structural diagram of a transport device provided by an embodiment of the present disclosure.

Fig. 4 is a front view of the conveying device in Fig. 3;

Fig. 5 is a schematic structural diagram of the transport device in Fig. 3 with the tray removed.

Fig. 6 is a schematic structural diagram of the transport device in Fig. 5 with the side plates removed.

Fig. 7 is a schematic view of the transport device in Fig. 6 with the fixing plate removed.

Figure 8 is an application scenario diagram of the cargo handling method provided by the embodiment of the present disclosure.

Figure 9 is a flow chart of a cargo handling method provided by an embodiment of the present disclosure.

Figure 10 is a schematic diagram of the positional relationship between the first robot and the storage space in the embodiment shown in Figure 9 of the present disclosure.

Figure 11 is a schematic diagram of the positional relationship between the first robot and the storage space in the embodiment shown in Figure 9 of the present disclosure.

Figure 12 is a flow chart of a cargo handling method provided by another embodiment of the present disclosure.

Figure 13 is a flow chart of a cargo handling method provided by another embodiment of the present disclosure.

FIG. 14 is a schematic diagram of the working path of the first robot in the embodiment shown in FIG. 13 of the present disclosure.

Figure 15 is a flowchart of step S1303 in the embodiment of Figure 13 of the present disclosure.

Figure 16 is a schematic diagram of the positional relationship between the first robot and the storage space provided by an embodiment of the present disclosure.

Figure 17 is a schematic structural diagram of a cargo handling device provided by an embodiment of the present disclosure. Figure.

Figure 18 is a schematic structural diagram of cargo handling equipment provided by an embodiment of the present disclosure.

Figure 19 is a schematic structural diagram of a robot provided by another embodiment of the present disclosure.

Figure 20 is a schematic structural diagram of a warehousing system provided by an embodiment of the present disclosure.

Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with aspects of the present disclosure as detailed in the appended claims.

The technical solution of the present disclosure and how the technical solution of the present disclosure solves the above technical problems will be described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. Embodiments of the present disclosure will be described below with reference to the accompanying drawings.

At present, the application scenarios of handling robots can include but are not limited to intelligent warehousing systems, intelligent logistics systems, intelligent sorting systems or other application scenarios that require handling robots. Taking smart warehousing systems as an example, currently, handling robots mainly include mobile shelves and handling devices. The handling devices are connected to the moving shelves and can move relative to the moving shelves. The movable shelf moves in the vertical direction so that the handling device can move to the designated height of the movable shelf, thereby carrying out loading and unloading operations on the back of the movable shelf itself or at the designated height. The handling device can be rotated to the side of the mobile shelf to pick up and place goods on the side of the handling robot, thereby completing the handling of goods.

However, when the handling robot docks with the conveyor line or shelf at the top of a narrow lane to pick and place goods, since the handling device in the existing handling robot cannot be rotated to the front of the handling robot (i.e., the front end of the handling robot), it is necessary to Only by setting up a special rotation space for the handling robot to rotate in the narrow lane can the conveyor line in front of the handling robot or the picking and placing operations on the shelves be carried out.

It should be understood that the lane refers to the space between two adjacent shelves in the storage space that can be passed by the handling robot.

To this end, embodiments of the present disclosure provide a handling robot that can realize four-way pickup of goods by the handling robot, which helps to improve the utilization rate of storage space and the efficiency of picking and placing goods.

The following takes the application scenario of the intelligent warehousing system as an example to further elaborate on the pickup mechanism and handling device in this embodiment.

FIG. 1 is a schematic structural diagram of a handling robot provided by an embodiment of the present disclosure, and FIG. 2 is a front view of the handling robot in FIG. 1 .

As shown in Figures 1 and 2, embodiments of the present disclosure provide an overall structure of a handling robot. As can be seen from Figures 1 and 2, the handling robot 100 may include a mobile chassis 10, a temporary storage rack 20 and a transportation device 30. The temporary storage rack 20 is provided on the mobile chassis 10. The transportation device 30 includes a horizontal rotating assembly 50, a walking line group The transport assembly 40 is provided on the side of the temporary storage rack 20 facing the front end of the mobile chassis 10 through the fixed unit 51 of the horizontal rotating assembly 50, and can rotate in the horizontal direction relative to the fixed unit 51.

It should be noted that the horizontal direction is not an absolute direction. In this embodiment, the above-mentioned horizontal direction refers to the direction perpendicular to the height direction of the shelf when the handling robot is normally placed.

The temporary storage rack 20 may include one layer or multiple layers of storage units 23 arranged in a vertical direction (ie, the direction of vertically moving the chassis 10 in FIGS. 1 and 2 ). The storage unit 23 at the bottom of the temporary storage rack 20 is provided on the mobile chassis 10 . The storage unit 23 at the bottom of the temporary storage rack 20 can be understood as the basket of the transport robot 100 . The temporary storage rack 20 may include a column frame 21 and a plurality of placing plates 22 . The plurality of placing plates 22 are fixed at different heights of the column frame 21 . The placing plates 22 and the column frame 21 constitute a plurality of storage units on the temporary storage shelf 20 twenty three. Among them, the mobile chassis 10 can be regarded as the placing plate 22 constituting the bottommost storage unit 23 of the temporary storage rack 20 .

Referring to FIGS. 1 and 2 , the fixing unit 51 may include a fixing bracket 511 and a support plate 512 . The fixing bracket 511 is connected to the support plate 512 and is located under the support plate 512 for connecting the support plate 512 to the temporary storage rack 20 . One end of the fixed bracket 511 facing the temporary storage rack 20 has an engaging end 5111 that matches the structure of the column frame 21. The fixed bracket 511 engages with the column frame 21 of the temporary storage rack 20 through the engaging end 5111, and the engaging end 5111 is slidingly connected to the column frame 21, so that the horizontal rotating assembly 50 can reciprocate in the vertical direction relative to the temporary storage rack 20 through the fixing unit 51, so as to facilitate the transfer robot 100 in its own basket and the temporary storage rack 20. Pick up and place goods at the same height.

It should be understood that since there is no relative rotation between the fixed unit 51, the mobile chassis 10 and the temporary storage rack 20, the rotation of the transport assembly 40 relative to the fixed unit 51 can also be understood as the rotation of the transport assembly 40 relative to the mobile chassis 10 or the temporary storage rack. Rotation of shelf 20.

Figure 3 is a schematic structural diagram of a conveying device provided by an embodiment of the present disclosure. Figure 4 is a front view of the conveying device in Figure 3. Figure 5 is a schematic structural view of the conveying device in Figure 3 with the tray removed. Figure 6 is a schematic structural view of the conveying device in Figure 5. A schematic structural diagram of the device with the side plates removed. Figure 7 is a schematic diagram of the transport device in Figure 6 with the fixing plate removed.

Referring to FIGS. 2 to 7 , the wiring assembly includes a corrugated tube 80 for passing connecting wires. The corrugated tube 80 includes a tube body and an extension portion connected to the tube body. The extension portion is used to enlarge the relative position of the handling assembly 40 . The rotation angle of the fixed unit 51. Among them, the mobile chassis 10 is electrically connected to the transport component 40 through a connecting wire, and is used to provide power to the transport component 40 . Since the length of the bellows in the handling robot in the prior art is 250mm, or the number of turns of the bellows is 0.5, this embodiment can extend the length of the bellows over the length of the original pipe body through the extension part to meet the needs of the handling assembly. The requirement for the length of the corrugated tube 80 and the wiring assembly during four-way rotation can be achieved by expanding the rotation angle of the handling assembly 40 relative to the fixed unit 51 without reserving a rotation space for the handling robot 100 to rotate in the narrow lane. The handling robot 100 performs picking and placing operations on the conveyor line or temporary storage rack 20 directly in front of it (that is, the front end of the mobile chassis 10 or the fixed unit 51 shown in Figures 1 and 2), so that the handling robot 100 can achieve four To pick up the goods (i.e. in the backpack, the front end of the mobile chassis 10 and the mobile chassis 10 or two sides of the temporary storage rack 20), which helps to improve the utilization of storage space and the efficiency of picking and placing goods.

Wherein, the extension part can form an integrated structure with the pipe body, or the extension part can also be detachably connected with the pipe body. That is to say, in this embodiment, the bellows 80 may have an integrated structure, or the bellows 80 may also have a split structure. In this embodiment, the bellows 80 adopts an integrated structure.

In order to facilitate the installation of the bellows 80 in the handling device 30 , as shown in FIGS. 4 to 7 , the bellows 80 can be wound around the horizontal rotating assembly 50 . In this way, when the handling assembly 40 rotates in the horizontal direction relative to the fixed unit 51, the number of turns of the bellows 80 in the horizontal rotating assembly 50 will also be released or retracted. Correspondingly, the bellows 80 and the wiring assembly will also be released or retracted. As the transport component 40 is stretched or retracted as it rotates, on the one hand, it can expand the rotation angle of the transport component 40 relative to the fixed unit 51 , which helps to achieve four-way pickup of the transport machine 100 , and on the other hand, it can make The structure of the wiring components in the handling device 30 is more regular.

Among them, the number of turns of the bellows 80 in the horizontal rotating assembly 50 is greater than or equal to 2, or the total length of the bellows 80 is greater than or equal to 700 mm, or the number of turns of the bellows 80 in the horizontal rotating assembly 50 is greater than or equal to 2 and the corrugated The total length of tube 80 is greater than or equal to 700mm. In this way, by limiting at least one of the number of turns of the corrugated tube 80 and the total length of the corrugated tube 80 in this disclosed embodiment, compared with the handling robot in the prior art, the length of the corrugated tube 80 can be increased so that Meeting the requirements for the length of the corrugated tube 80 and wiring components when the handling assembly 40 is rotated in four directions helps realize the four-way pickup of the handling assembly 40 .

Further, the number of turns of the bellows 80 in the horizontal rotating assembly 50 is 2.5, or the total length of the bellows 80 is 950mm, or the number of turns of the bellows 80 in the horizontal rotating assembly 50 is greater than or equal to 2.5 and the bellows is 80The total length is greater than or equal to 950mm. This helps to achieve four-way pickup of goods by the handling assembly 40 and at the same time prevents the corrugated tube 80 from being too long.

Specifically, as shown in Figures 3 to 7, the horizontal rotating assembly 50 includes the above-mentioned fixed unit 51 and a rotating unit 52 that can rotate relative to the fixed unit 51. The fixed unit 51 is connected to the temporary storage rack 20, and the transport assembly 40 is located on On the rotating unit 52 , the bellows 80 is wound around the rotating unit 52 . In this way, when the rotating unit 52 drives the carrying assembly 40 to rotate, the bellows 80 and the wiring assembly will also be elongated or retracted with the rotation of the carrying assembly 40, so as to meet the requirements for the bellows 80 when the carrying assembly 40 picks up goods in four directions. Length requirements.

Specifically, the rotating unit 52 can be disposed on the support plate 512 and can rotate relative to the support plate 512 to drive the handling assembly 40 to rotate relative to the fixed unit 51 , thereby helping the handling robot 100 achieve four-way picking up of goods.

As shown in Figure 7, the rotating unit 52 includes a rotating member 523, which is rotatably arranged on the fixed unit 51, and the rotating member 523 has a through hole 5231 extending along the axis of the rotating member 523, and the bellows 80 surrounds it. Located in the through hole 5231. In this way, without affecting the arrangement of the internal structure of the rotating unit 52, the length of the bellows 80 and the wiring assembly can be increased in the limited internal space of the handling assembly 40, so that the handling robot 100 can be moved in a narrow lane without rotating the handling robot 100. 100 directly in front of the docking conveyor line or the temporary storage rack 20 to perform picking and placing operations, thereby realizing the handling machine Robot 100’s four-way pickup.

It should be noted that the handling assembly 40 can be connected to the rotating member 523, so that the handling assembly 40 can be driven by the rotating member 523 to rotate relative to the fixed unit 51 along the axis of the rotating member 523, so that the handling assembly 40 rotates relative to the rotating member 523. The position of the fixed unit 51 will not shift when it rotates.

Specifically, as shown in FIG. 7 , the rotating unit 52 may include a driving member 521 , a transmission gear 522 , a transmission chain 524 , a rotating member 523 and a fixed gear 525 provided on the fixed unit 51 . The transmission gear 522 is connected to the output shaft of the driving member 521 , and the transmission chain 524 is wound around the transmission gear 522 and the fixed gear 525 . The rotating member 523 is disposed in the fixed gear 525 and can rotate relative to the fixed gear 525. The end of the conveying assembly 40 can be connected to the output shaft of the driving member 521. The conveying assembly 40 is disposed on the rotating member 523 and is connected to the rotating member 523. In this way, the transmission gear 522 can rotate under the driving of the driving member 521. Since the fixed gear 525 is fixed on the support plate 512 of the fixed unit 51, driven by the driving member 521, the driving member 521 can drive itself, the transmission gear 522 and the transmission. The chain 524 rotates together with the transport assembly 40 relative to the fixed unit 51. The rotation of the transport assembly 40 drives the rotary member 523 to rotate relative to the fixed unit 51, thereby helping to realize the four-way picking up of goods by the transport robot 100.

For example, the handling assembly 40 may be connected to the rotary member 523 through fasteners such as bolts. The rotating member 523 may be a rotating ring. The driving member 521 can be a motor or other driving structure that can drive the transmission gear 522 to rotate.

It should be noted that the rotating unit 52 may also be driven by a conveyor belt. The setting method of conveyor belt transmission can refer to the setting method of gear transmission and transmission chain 524 mentioned above. formula, which will not be described again in this embodiment.

The bellows 80 is spirally wound around the axis of the rotating member 523 in the through hole 5231 . In this way, the structure of the horizontal rotating assembly 50 and the conveying device 30 can be made more compact while meeting the requirement for the length of the bellows 80 when the conveying assembly 40 picks up goods in four directions.

As another possible implementation, the bellows 80 can also be stacked in the through hole 5231 of the rotating member 523 .

The handling robot 100 in this embodiment will be further described below with the bellows 80 being wound around the through hole 5231 of the rotating member 523 .

In order to facilitate the electrical connection between the connecting wire and the handling assembly 40, as shown in FIGS. 4 to 7 , the fixed end 81 of the corrugated tube 80 extends into and is fixed in the handling assembly 40 . In this way, the connecting wire in the corrugated tube 80 can be extended into the handling assembly 40 through the fixed end 81 to achieve electrical connection with the handling assembly 40 and thereby provide power to the handling assembly 40 .

Specifically, the handling component 40 may include a fork, a suction cup, or a clamping robotic arm. That is to say, the handling assembly 40 includes but is not limited to forks. In this way, while realizing the four-way pickup of goods by the carrier robot and improving the utilization rate of storage space and the efficiency of picking and placing goods, the structures of the handling device 30 and the handling robot 100 can be made more diverse.

Referring to Figures 1 to 6, the cargo fork may include a fixed plate 41, a side plate 43, a telescopic arm 44 and a pallet 42 provided on the fixed plate 41. The side plates 43 are connected to both sides of the fixed plate 41, and the telescopic arm 44 is provided on The side plate 43 can be telescoped relative to the side plate 43 along the length direction of the side plate 43 so that the goods can be moved to the The goods on the pallet 42, or the goods on the pallet 42 are moved to the storage unit 23 of the temporary storage rack 20, so that the goods can be taken or stored. Among them, the cargo fork can be fixed on the rotating unit 52 through the fixed plate 41, so that the entire cargo fork can be driven by the rotating unit 52 to rotate relative to the temporary storage rack 20, so that the cargo inlet and outlet 45 faces the side of the mobile chassis 10 or the mobile chassis. 10 front end.

The following takes a cargo fork as an example to further elaborate on the handling robot 100 of the present disclosure.

Referring to FIGS. 1 to 6 , the handling assembly 40 includes a fixed plate 41 and a pallet 42 . The pallet 42 is located on the fixed plate 41 and can slide relative to the fixed plate 41 . The fixed end 81 extends out of the fixed plate 41 and is located on the pallet 42 under. In this way, the position of the fixed end 81 of the bellows 80 can be limited while facilitating the electrical connection between the connecting wire and the transport assembly 40 .

Correspondingly, the fixing plate 41 of the handling component 40 such as the fork is provided with a mounting hole 411 so that the fixed end 81 can pass through the mounting hole 411 and extend out of the fixing plate 41 and be located under the pallet 42 . Among them, the fixed plate 41 is provided with a fixed block 412, and the fixed end 81 can be inserted into the fixed block 412 (as shown in Figures 5 to 7), so that the bellows 80 can be fixed on the fixed plate 41 through the fixed block 412. position is limited. Alternatively, the fixed end 81 can also be provided on the side of the tray 42 facing the fixing plate 41 . In this embodiment, the location of the fixed end 81 is not further limited.

In order to facilitate the entry and exit of goods, the handling assembly 40 has a cargo inlet and outlet 45 opposite to the temporary storage rack 20 . The horizontal rotating assembly 50 is used to drive the handling assembly 40 to rotate relative to the fixed unit 51 so that the cargo inlet and outlet 45 faces the fixed unit 51 . side The side or the end of the fixing unit 51 away from the temporary storage rack 20 (ie, the front end of the fixing unit 51 shown in FIGS. 1 and 2 ), so as to achieve four-way picking up of the handling assembly 40 .

Specifically, the rotation angle of the carrying assembly 40 relative to the fixing unit 51 is less than or equal to 270°, such as 90° or 180°. In this way, while realizing four-way picking up of goods by the transport robot 100, excessive rotation of the transport assembly 40 can be prevented.

It should be noted that the fixed unit 51 is connected to the temporary storage rack 20 and does not rotate relative to the mobile chassis 10 and the temporary storage rack 20 . Therefore, the rotation angle of the transport assembly 40 relative to the fixed unit 51 is less than or equal to 270°, and the rotation angle of the transport assembly 40 relative to the mobile chassis 10 or temporary storage rack 20 is less than or equal to 270°.

Further, as shown in FIGS. 1 to 6 , when the cargo inlet and outlet 45 of the handling component 40 such as a fork faces the temporary storage rack 20 , the cargo inlet and outlet 45 can be rotated 90° relative to the fixed unit 51 to the first side of the fixed unit 51 position 513, so that the handling robot 100 can perform picking and placing operations at the first side position 513 of the fixed unit 51. When the cargo inlet and outlet 45 faces the first side 513 of the fixed unit 51 , the cargo inlet and outlet 45 can rotate 270° relative to the fixed unit 51 to the end of the fixed unit 51 away from the temporary storage rack 20 (that is, the front end of the fixed unit 51 ). When the cargo inlet and outlet 45 faces the second side 514 of the fixing unit 51 , the cargo inlet and outlet 45 can be rotated 90° relative to the fixing unit 51 to the end of the fixing unit 51 away from the temporary storage rack 20 . In this way, there is no need to reserve space for the transportation robot 100 to rotate in the narrow lane. Only the rotation unit 52 drives the transportation component 40 such as the fork to rotate, so that the transportation robot 100 can be positioned directly in front of it (i.e., in Figures 1 and 2 The front end of the mobile chassis 10 shown) conveyor line or temporary storage The loading and unloading operation is performed on the shelf 20, so that the handling robot 100 can pick up goods in four directions.

In order to prevent excessive rotation of the handling assembly 40, the handling robot also includes a limiting assembly 60. The limiting assembly 60 is located between the handling assembly 40 and the fixing unit 51 and is used to limit the rotation angle of the handling assembly 40 relative to the fixing unit 51 to a predetermined value. within the setting range. Among them, the preset range can be understood as less than or equal to 270°.

4 to 6 , the limiting component 60 may include a limiting part and a blocking part 63. The limiting part is provided at the bottom of the handling assembly 40, and the blocking part 63 is provided at the corner of the fixing unit 51 and is located on the handling part. On the rotation trajectory of the assembly 40, the rotation angle of the transport assembly 40 can be limited to a preset range by the blocking portion 63. In this way, when the transport component 40 such as the fork rotates relative to the fixed unit 51 , the blocking part 63 can block the further rotation of the transport component 40 by blocking the limiting part, thereby limiting the rotation angle of the transport component 40 .

As shown in FIGS. 4 and 5 , the limiting portion can be provided on the side of the fixing plate 41 facing the fixing unit 51 (ie, the bottom of the fixing plate 41 in FIGS. 4 and 5 ), so that when the transport assembly 40 faces the opposite direction, When the fixing unit 51 rotates, it is blocked by the blocking part 63 to limit the rotation angle of the transport assembly 40 , such as the transport assembly 40 .

Further, as shown in FIGS. 4, 5 and 7, the limiting part may include a first limiting part 61 and a second limiting part 62. The first limiting part 61 and the second limiting part 62 are both located at The transport assembly 40 is at one end away from the temporary storage rack 20 . The first limiting portion 61 is located at the bottom of the transport assembly 40 and is disposed close to the first side 513 of the temporary storage rack 20 . The second limiting part 62 and the first limiting part 61 may be located on opposite sides of the horizontal rotating assembly 50 . side. That is to say, the second limiting part 62 and the first limiting part 61 are located on the same side of the transport assembly 40 , and the second limiting part 62 and the first limiting part 61 are arranged oppositely on both sides of the horizontal rotating assembly 50 (As shown in Figure 4, Figure 5 and Figure 7). The blocking portion 63 is provided on the fixing unit 51 and close to the second limiting portion 62 . In this way, the blocking portion 63 can limit the rotation angle of the transport assembly 40 relative to the fixing unit 51 by blocking the first limiting portion 61 and the second limiting portion 62 , while also protecting the horizontal rotating assembly 50 .

For example, what is shown in FIG. 7 is the direction in which the cargo inlet and outlet 45 of the handling component 40, such as a fork, faces the temporary storage rack 20. When the cargo inlet and outlet 45 faces the temporary storage rack 20 , the cargo inlet and outlet 45 can rotate 90° relative to the fixing unit 51 to the first side position 513 of the fixing unit 51 , at which time the second limiting portion 62 rotates to the blocking portion. 63 is blocked, and the handling assembly 40 cannot continue to rotate, so that the handling robot 100 can perform picking and placing operations on the first side 513 of the fixed unit 51 .

When the cargo inlet and outlet 45 faces the first side 513 of the fixed unit 51, the cargo inlet and outlet 45 can rotate 270° relative to the fixed unit 51 in the direction shown by the arrow in Figure 7 to the end of the fixed unit 51 away from the temporary storage rack 20. At this time, the first limiting part 61 rotates to the blocking part 63 and is blocked, and the handling assembly 40 cannot continue to rotate, so that the handling robot 100 can dock with the conveyor line or temporary storage rack 20 at the top of the narrow lane to perform picking and placing operations without reservation. Rotation space of the transport robot 100.

For example, the first limiting part 61 and the second limiting part 62 may be limiting blocks disposed at the bottom of the handling assembly 40 and protruding toward the fixing unit 51. Correspondingly, the blocking part 63 may be disposed on the fixing unit 51. A raised block towards the handling assembly 40 .

In order to facilitate the transportation component 40 in the transportation robot to obtain its own rotation angle after restarting, as shown in FIG. 7 , the transportation robot 100 may also include a detection component 70 , and the detection component 70 is provided on the side of the transportation component 40 facing the fixing unit 51 . Used to detect the rotation angle of the transport assembly 40.

Further, the detection assembly 70 may include a detection unit. The detection unit is provided on a side of the handling assembly 40 facing the horizontal rotation assembly 50. The horizontal rotation assembly 50 is provided with a detection base plate. The detection unit can rotate relative to the detection base plate to detect the handling assembly. 40° rotation angle.

Referring to FIG. 7 , the detection unit includes a first detection unit 71 . Correspondingly, the detection substrate may include a first detection substrate 73 , which is located on the fixed unit 51 and at the periphery of the rotating unit 52 . The first detection unit 71 is arranged opposite to the first detection substrate 73 , and the first detection unit 71 can rotate relative to the first detection substrate 73 to detect the rotation angle of the transport assembly 40 . In this way, when the handling assembly 40 rotates relative to the fixing unit 51, the first detection unit 71 can be driven by the handling assembly 40 to rotate relative to the first detection substrate 73, so that the first detection unit 71 can rotate according to its relative position to the first detection substrate 73. One detects the rotation angle of the substrate 73 and detects the rotation angle of the transport assembly 40 relative to the fixed unit 51 so that the transport assembly 40 can obtain its own rotation angle after restarting.

Since the rotation angle of the transport assembly 40 relative to the fixed unit 51 is limited, the detection assembly 70 may also include a second detection unit 72 arranged side by side with the first detection unit 71 . The fixed unit 51 is provided with a third detection unit located on the periphery of the first detection substrate 73 . The two detection substrates 74 , the second detection substrate 74 and the first detection substrate 73 are located in the rotation unit 52 On opposite sides of the second detection unit 72 and the second detection substrate 74 , the second detection unit 72 is disposed opposite to the second detection substrate 74 , and the second detection unit can rotate relative to the second detection substrate 74 to detect the rotation angle of the transport assembly 40 . The first detection substrate 73 is located on the side of the support plate 512 of the fixing unit 51 facing the temporary shelf 20 . In this way, when the cargo inlet and outlet 45 rotates from the direction toward the temporary storage rack 20 toward the first side 513 of the fixed unit 51 , the second detection unit 72 can be driven toward the fixed unit relative to the second detection substrate 74 by the transport assembly 40 The second side 514 of 51 rotates so that the second detection unit 72 can detect the rotation angle of the handling assembly 40 relative to the fixed unit 51 based on the angle of rotation relative to the second detection base plate 74, so that the handling assembly 40 can detect the rotation angle after restarting. Get its own rotation angle.

For example, both the first detection unit 71 and the second detection unit 72 are metal sensors or other sensors that can be used to measure angles. Correspondingly, both the first detection substrate 73 and the second detection substrate 74 are arc-shaped metal plates. In this way, on the one hand, the rotation angle of the handling component 40 can be measured, and on the other hand, the structure of the fixing unit 51 and the handling robot 100 can be made more compact.

The present disclosure provides a handling robot. By arranging an extension part on the corrugated pipe, the length of the bellows can be extended over the length of the original pipe body to meet the length requirements of the corrugated pipe and wiring components when the handling component is rotated in four directions. Therefore, without the need to rotate the handling robot in the narrow lane, the four-way pickup of goods by the handling robot can be realized, so that the handling robot can pick and place goods on the conveyor line or shelf directly in front of it, which helps to improve the storage space. Utilization rate and delivery efficiency.

The application scenarios of the disclosed method embodiments are explained below: Figure 8 is an application scenario diagram of the cargo handling method provided by the embodiment of the present disclosure. As shown in Figure 8, the cargo handling method provided by the embodiment of the present disclosure can be executed by cargo handling equipment or robots. The warehousing system 800 uses a robot 810 to carry out cargo handling. 821 transportation, such as storing the goods 821 on the target storage location 822 of the shelf 820, or taking the goods 821 out of the target storage location 822 of the shelf 820.

In the prior art, wide lanes are often reserved between adjacent shelves 820, so that the robot 810 can move to the target position D through the lane, and complete the robot operation at the target position D or the intersection before the target position D. 810 turns, so that the target storage location 822 is located on the side of the robot 810, and then the transport device 30 of the robot 810 carries the goods 30 corresponding to the target storage location 822.

However, the size of the robot 810 is usually large. In order to ensure the safe steering of the robot 810, the warehouse needs to reserve a wider lane 823, resulting in low space utilization of the warehouse. In order to improve the space utilization of the warehouse, the main idea of the cargo handling method provided by the embodiment of the present disclosure is: by providing a robot equipped with a handling device that can rotate in at least four directions, when the robot moves to the target position, the robot moves Without turning, based on the positional relationship between the robot's traveling direction and the storage space (target storage location 822), the handling device is rotated so that the handling assembly faces the storage space, and the handling assembly is controlled to extend toward the storage space to complete the storage space. The corresponding transportation of goods.

FIG. 9 is a flow chart of a cargo handling method provided by an embodiment of the present disclosure. As shown in FIG. 9 , the cargo handling method may include cargo handling equipment, such as a robot, a control device connected to the robot, etc. The cargo handling method package provided by this embodiment Includes the following steps:

Step S901: When the first robot moves to the target position corresponding to the storage space, determine the traveling direction of the first robot.

Among them, the first robot is a transport robot that performs cargo transport tasks in the warehousing system. It can transport the goods stored on the shelves, that is, the goods placed in the storage space, to the conveyor line, operation desk, etc., and can also move the operation desk and conveyor line Transport goods from other places to the storage space of the shelves. The first robot includes a mobile chassis, a temporary storage rack, and a transportation device. The transportation device includes a horizontal rotation assembly and a transportation assembly. The transportation assembly is located on the temporary storage rack toward the mobile through the fixing unit of the horizontal rotation assembly. One side of the front end of the chassis and can rotate in the horizontal direction relative to the fixed unit. The first robot's handling device can rotate in four directions. In some embodiments, the first robot may be the handling robot 100 provided in the above embodiments.

In some embodiments, the target location may be a location corresponding to the goods that the robot needs to pick up or store, such as a location corresponding to the goods. The location is a storage space on a shelf of the warehousing system. A shelf usually includes multiple users. Storage space for cargo storage.

In some embodiments, the target position may be a position corresponding to the cargo inlet and outlet of the conveyor line. The conveyor line can be connected to the top of the lane of the storage system.

Specifically, the target position can be determined according to the handling instructions corresponding to the order task, and the first robot is controlled to move from the current position to the target position. When it is detected that the first robot moves to the target position, the traveling direction of the first robot is determined.

Specifically, it can be based on the moment before the first robot moves to the target position. The corresponding position and the target position determine the traveling direction of the first robot.

Further, the traveling direction of the first robot at the target position can be determined according to the working path of the first robot. The working path may be a walking path planned by the warehousing system for the first robot based on the current position and the target position of the first robot. The working path includes each path node, and further can be based on the traveling direction corresponding to the path node corresponding to the target position. , determine the traveling direction of the first robot at the target position.

Step S902: According to the positional relationship between the traveling direction of the first robot and the storage space, control the horizontal rotating component of the first robot to rotate with respect to the fixed unit, so that the carrying component rotates toward the location. Describe the storage space.

Among them, the positional relationship between the traveling direction and the storage space can be described by the positional relationship between the traveling direction and the cargo entry and exit plane of the storage space, which can include parallel relationships and intersection relationships. When the angle between the traveling direction and the cargo entry and exit plane is 90°, The positional relationship between the direction of travel and the storage space is vertical.

Specifically, according to the angle between the traveling direction of the first robot and the cargo entry and exit surface of the storage space, the horizontal rotating component of the first robot can be controlled to rotate relative to the fixed unit, so that the carrying component of the first robot faces the storage space.

Optionally, the handling component of the first robot faces the temporary storage rack in the initial state; the first robot is controlled according to the positional relationship between the traveling direction of the first robot and the storage space. The horizontal rotation assembly rotates with respect to the fixed unit, including: when the traveling direction of the first robot is parallel to the cargo entry and exit plane of the storage space, controlling the level of the first robot The rotating assembly rotates 90° or 270° with respect to the fixed unit; and/or, when the traveling direction of the first robot is perpendicular to the cargo entry and exit plane of the storage space, the horizontal rotation of the first robot is controlled. The assembly is rotated 180° with respect to the fixed unit.

The cargo entry and exit plane is the plane through which cargo enters and exits the storage space. The storage space may include one or more cargo entry and exit planes.

Specifically, when the traveling direction of the first robot is parallel to the cargo entry and exit plane, the storage space is usually located on the side of the first robot, and the horizontal rotating assembly is controlled to cause the handling assembly of the handling device to rotate toward the storage space.

In some embodiments, the handling component of the first robot includes a cargo inlet and outlet, and the handling component faces the storage space, that is, the cargo inlet and outlet of the handling component faces the storage space.

Exemplarily, Figure 10 is a schematic diagram of the positional relationship between the first robot and the storage space in the embodiment shown in Figure 9 of the present disclosure. As shown in Figure 10, the traveling direction of the first robot 1000 at the target position D is the direction X1, The storage space S1 is located in front of the first robot 1000, and the traveling direction is perpendicular to the cargo entry and exit plane F1 of the storage space S1. Then the horizontal rotation component of the first robot 1000 can be controlled to rotate 180° with respect to the fixed unit, thereby enabling the first robot 1000 to carry The cargo inlet and outlet 1011 of the assembly 1010 faces the storage space S1.

Exemplarily, Figure 11 is a schematic diagram of the positional relationship between the first robot and the storage space in the embodiment shown in Figure 9 of the present disclosure. As shown in Figure 11, the traveling direction of the first robot 1000 at the target position D is the direction X2, The angle between the traveling direction of the first robot 1000 and the cargo entry and exit plane F2 of the storage space S2 is θ, then it can The horizontal rotating assembly of the first robot 1000 is controlled to rotate π-θ with respect to the fixed unit, so that the cargo inlet and outlet 1011 of the carrying assembly 1010 of the first robot 1000 faces the storage space S2.

Step S903: Control the rotated transport assembly to transport the goods corresponding to the storage space.

Specifically, after the transport component of the first robot is rotated toward the storage space driven by the horizontal rotating component, the transport component is controlled to extend, so that the goods in the transport component are placed in the storage space, or the goods in the transport component are moved by the transport component. The goods in the storage space are taken to the temporary storage shelf of the first robot.

Further, before the carrying assembly is extended, the carrying assembly can also be calibrated to align the carrying assembly with the storage space.

The cargo handling method provided by the embodiment of the present disclosure is for a robot with a rotatable handling device. After the first robot moves to the target position corresponding to the storage space, the first robot is controlled based on the positional relationship between the traveling direction and the storage space. The horizontal rotating component of a robot's handling device rotates relative to the fixed unit, so that the handling component faces the storage space, and the handling component is controlled to carry the goods in the storage space. Through the above cargo handling method, there is no need to control the goods at or before the storage space. The robot's mobile chassis realizes the overall steering of the robot. It only needs to control the robot's handling device so that the handling component faces the storage space, and then controls the handling component to extend toward the storage component to complete the handling of goods, eliminating the need to reserve space for the robot to turn in the warehouse. , improves storage density and warehouse space utilization, and reduces storage costs.

Figure 12 is a flow chart of a cargo handling method provided by another embodiment of the present disclosure. As shown in Figure 9, the cargo handling method provided by this embodiment is based on the embodiment shown in Figure 9. Before step S902, a step of judging the turning condition is added, and after step S902, a step of handling the goods when the turning condition is met is added. Relevant steps, as shown in Figure 12, the cargo handling method provided in this embodiment may include the following steps:

Step S1201: When the first robot moves to the target position corresponding to the storage space, determine the traveling direction of the first robot.

Step S1202: Determine whether the working space corresponding to the first robot satisfies the turning condition of the first robot.

The steering condition may be the spatial condition of the working space, and the working space may be the space of the tunnel corresponding to the target position, or the steering space around the target position used for robot steering. The turning conditions are the conditions that the working space needs to satisfy when the first robot turns in the working space.

Specifically, the steering condition can be determined based on the size information and steering mode of the first robot.

Further, the spatial size of the working space corresponding to the first robot can be determined, and then based on the spatial size of the working space, it can be determined whether the working space satisfies the turning condition of the first robot. The space dimensions may include one or more of the length, width and height of the working space.

Specifically, the spatial size of the working space can be determined by sensors installed in the storage system, such as sensors on shelves, floors or robots.

Specifically, the detection image of the working space can be collected through the image acquisition device installed in the warehousing system, and then the spatial dimensions of the working space can be determined based on the detection image. inch.

Optionally, determining whether the working space corresponding to the first robot satisfies the turning condition of the first robot includes: determining whether the width of the working space is greater than a preset width.

The preset width may be determined according to the width and/or length of the first robot. The preset width may be the minimum width corresponding to which the first robot can perform steering.

Specifically, when the width of the working space is greater than the preset width, the working space satisfies the turning condition of the first robot; otherwise, it does not.

Step S1203, if the working space does not meet the turning condition of the first robot, control the horizontal rotation assembly of the first robot according to the positional relationship between the traveling direction of the first robot and the storage space. The fixing unit is rotated so that the carrying assembly is rotated toward the storage space.

Specifically, when the working space does not meet the turning conditions of the first robot, that is, when the working space is relatively narrow, and the width of the working space is smaller than the preset width, based on the traveling direction of the first robot, the traveling direction and the goods in the storage space are determined. The positional relationship between the entry and exit surfaces, and based on the positional relationship, the rotation direction and rotation angle of the horizontal rotating component are determined, so that the horizontal rotating component of the first robot is controlled to rotate relative to the fixed unit based on the rotation direction and rotation angle, so that the handling component is at this level Driven by the rotating assembly, the storage space is rotated toward the storage space.

Through the rotation method of the above-mentioned transport device, when the working space of the warehouse is small, there is no need to control the first robot to turn, and the transport of goods can be completed only by the rotation of the transport component of the first robot, which improves the efficiency of the warehousing system. space utilization Rate.

Optionally, the horizontal rotating component of the transport device includes the fixed unit and a rotating unit that can rotate relative to the fixed unit. The fixed unit is connected to the temporary storage rack, and the transport component is arranged on the rotating unit. On the unit, controlling the horizontal rotation component of the first robot to rotate relative to the fixed unit includes: generating a first rotation control signal of the rotation unit; controlling the rotation unit based on the first rotation control signal The horizontal rotating component is driven to rotate relative to the fixed unit.

Specifically, the first rotation control signal of the rotation unit can be generated according to the positional relationship between the traveling direction of the first robot and the storage space, or the above-mentioned rotation direction and rotation angle.

In some embodiments, the first rotation control signal may include the rotation direction and angle of the horizontal rotation component, such as 90° clockwise rotation, 45° counterclockwise rotation, etc.

In some embodiments, in order to effectively prevent excessive rotation of the carrying assembly, the rotation angle of the carrying assembly or the horizontal rotating assembly relative to the fixed unit is less than or equal to 270°.

When the working space meets the turning conditions of the first robot, that is, when the working space is large, the first robot can be controlled to turn first, that is, the mobile chassis of the first robot is first controlled to rotate so that the storage space is located on the side of the first robot. The side where the robot carrying device is located is the front of the first robot, and the side where the temporary storage rack is located is the back of the robot. Furthermore, the transport device of the first robot is controlled to rotate 180° from facing the temporary storage rack to facing the storage space, thereby moving the goods in the storage space. Luck.

Step S1204, if the working space meets the steering condition of the first robot and the position relationship is a vertical relationship, control the mobile chassis of the first robot to rotate 90° clockwise or counterclockwise so that the The storage space is located on the first side or the second side of the first robot.

Specifically, the positional relationship is a vertical relationship, that is, the storage space is located in front of the first robot. When the working space meets the turning conditions of the first robot, that is, when the working space is larger, the first robot is controlled to turn first, that is, the first robot is controlled to turn. The mobile chassis of the robot is rotated 90° so that the storage space is located on the side of the first robot, the first side or the second side.

Specifically, if the positional relationship is a parallel relationship, that is, the storage space is located on the side, the first side or the second side of the first robot, then step S1024 can be omitted. When the working space meets the turning conditions of the first robot, step S1205 is directly executed. .

Step S1205: Control the horizontal rotating assembly to rotate 90° or 270° relative to the fixed unit, so that the rotated carrying assembly faces the storage space.

Specifically, the handling component is oriented toward the temporary storage rack in the initial state or default state. When the first robot turns, the horizontal rotating component of the first robot is controlled to rotate, so that the handling component is driven by the horizontal rotating component. Rotates from facing the temporary storage rack to facing the storage space.

In some embodiments, the first robot further includes a limiting component. The limiting component includes a blocking part and a limiting part. The limiting part is provided at the bottom of the handling component. The blocking part is provided on the fixed unit. Through the limiting part, Bits and blocks can limit horizontal rotation The rotation angle of the component, for example, the maximum angle of clockwise rotation is 90° and the maximum angle of counter-clockwise rotation is 270°; or the maximum angle of clockwise rotation is 270° and the maximum angle of counter-clockwise rotation is 90°.

In some embodiments, in order to reduce the rotation angle of the horizontal rotating assembly, when controlling the mobile chassis, the storage space can be located at the side closer to the blocking portion among the first side and the second side of the first robot, such as On one side, after the rotation of the mobile chassis is completed, the horizontal rotating assembly is controlled to rotate clockwise or counterclockwise 90°, so that the carrying assembly faces the storage space.

Step S1206: Control the rotated transport assembly to transport the goods corresponding to the storage space.

Optionally, after controlling the horizontal rotation component of the first robot to rotate relative to the fixed unit, the method further includes: detecting the rotation angle of the handling component; when the rotation angle is a preset angle, A rotation stop instruction of the horizontal rotating component is generated to control the horizontal rotating component to stop rotating.

Among them, the preset angle can be 60°, 90°, 180°, 270° and other angles, which need to be determined according to the above position relationship.

Specifically, after determining the positional relationship between the traveling direction of the first robot and the storage space, the preset angle and rotation direction can be determined based on the positional relationship, thereby controlling the horizontal rotation component to drive the transport component to rotate the preset angle along the rotation direction.

For example, if the angle between the traveling direction of the first robot and the cargo entry and exit surface of the storage space is 60°, it can be determined that the rotation direction of the horizontal rotating component is counterclockwise, and the preset angle is 120°.

Specifically, in order to improve the control accuracy of the rotation angle of the handling component, when the horizontal rotation component drives the handling component to rotate, the rotation angle of the handling component can be detected, thereby achieving closed-loop control of the angle. When the rotation angle is detected to be a preset angle, Stops horizontal selection component rotation based on the rotation stop command.

Specifically, when the working space meets the turning conditions of the first robot, the mobile chassis of the first robot can be controlled to rotate according to the above position relationship, so that the storage space is located on the first side or the second side of the first robot, The horizontal rotating component is controlled to rotate 90° or 270° relative to the fixed unit so that the rotated transport component faces the storage space; and the rotated transport component is controlled to transport goods corresponding to the storage space. When the horizontal rotation component rotates, the preset angle is 90° or 270°. When the rotation angle is the preset angle, a rotation stop instruction of the horizontal rotation component is generated to control the horizontal rotation component to stop rotating.

In this embodiment, for a robot whose transport device can pick up and place goods in four directions, after the first robot moves to the target position corresponding to the storage space, it is determined whether the working space of the first robot supports the first robot to turn. If not, , then based on the positional relationship between the traveling direction of the first robot and the storage space, the horizontal rotating component of the transporting device of the first robot is controlled to rotate relative to the fixed unit, so that the transporting component faces the storage space, thereby achieving forward picking and placing. If it is satisfied, the mobile chassis of the first robot is controlled to rotate to realize the steering of the first robot, so that the storage space is located on the side of the first robot, and then the handling assembly is rotated to store the goods, thereby achieving lateral pickup and placement of goods. The above-mentioned loading and unloading of goods realizes the transportation of goods by controlling the rotation of the handling device when the working space is insufficient for turning, and improves the efficiency of the machine. The flexibility of people picking up and placing goods, and at the same time, there is no need to reserve a wide robot turning space in the warehouse, which improves the space utilization of the warehouse and reduces warehousing costs.

Figure 13 is a flow chart of another cargo handling method provided in real time by the present disclosure. The cargo handling method provided by this embodiment is based on the embodiment shown in Figure 9, adding a step of determining the operation path before step S901, and After step S901, a step of judging steering conditions based on the working path is added. As shown in Figure 13, the cargo handling method provided by this embodiment may include the following steps:

Step S1301: Determine the working path of the first robot.

The job path may include one or more path nodes. The node attributes of each path node may include node identification, node coordinates, traveling direction, node identification of the next path node, and other information.

Specifically, the working path of the first robot can be determined based on the current position and target position of the first robot, as well as each walkable lane in the warehouse of the warehousing system.

In some embodiments, the working path may include a relatively narrow lane, and the first robot cannot turn when walking on the lane, or even can only walk forward.

Optionally, when there are multiple target positions, determining the working path of the first robot includes: determining the transportation direction corresponding to each target position; according to each target position and its corresponding transportation direction, Determine the working path of the first robot.

Among them, the transportation direction refers to the direction of the first robot when the first robot picks and places goods at the target position, which can include forward picking and placing goods and sideways picking and placing goods. The forward loading and unloading of goods, that is, the storage space, is located in front of the first robot, and the lateral loading and unloading of goods, that is, the storage space, is located on the side of the first robot, which can be the first side or the second side.

Specifically, the transportation direction corresponding to the target position can be determined according to the width of the lane corresponding to the target position. When the width of the lane corresponding to the target position is greater than the first width, it is determined that the transportation direction corresponding to the target position is forward loading and unloading; and when the width of the lane corresponding to the target position is less than or equal to the first width, it is determined that the width of the lane corresponding to the target position is forward. The transportation direction is sideways loading and unloading.

Specifically, for each target position, each alternative path can be determined based on the current position of the first robot and the target position; and then each alternative path can be determined based on the transportation direction of the target position and the path length of each alternative path. path consumption, determine the candidate path with the smallest path consumption as the job path to the target location. Among them, path consumption includes walking consumption, robot turning consumption and handling device rotation consumption. Walking consumption is proportional to the path length of the alternative path; robot steering consumption is positively correlated with the number of turns and steering angle of the first robot, which can be specifically related to each The rotation consumption of the handling device is positively correlated with the number of rotations and the rotation angle of the horizontal rotation component, specifically proportional to the sum of the rotation angles of the horizontal rotation component during each rotation.

Exemplarily, Figure 14 is a schematic diagram of the working path of the first robot in the embodiment shown in Figure 13 of the present disclosure. As shown in Figure 14, the current position of the first robot 14 is P1, and the target position is a point P2 on the conveyor line. The conveyor line is located at the top of the lane between the shelves. When the transportation direction corresponding to the target position P2 is forward loading and unloading, the working path of the first robot 14 is path R1, and the first robot 14 is on path R1. Steering is performed at the node C1 on the target position P2 so that the storage space corresponding to the target position P2 is located in front of the first robot 14, so that the first robot 14 carries goods in a forward pick-and-place manner after reaching the position corresponding to the target position; When the transportation direction corresponding to the target position P2 is lateral picking and placing of goods, since the lane between shelf 01 and shelf 03 is relatively narrow, the first robot 14 can only walk sideways on the lane. In order to reduce the number of The turning of a robot 14 and the rotation of its carrying components can determine the working path of the first robot 14 as path R2. The first robot does not turn on path R2, so that when the first robot 14 reaches the target position, the target position corresponds to The storage space is located on the side of the first robot 14, so that the first robot 14 carries goods in a lateral pick-and-place manner.

Optionally, the method further includes: determining the operation tasks of each robot according to the type of each robot handling device. Correspondingly, determining the working path of the first robot includes: determining the working path of the first robot according to the working task corresponding to the first robot.

The types of handling devices may include four-way types and three-way types. The handling components of the four-way type handling device can pick up and place goods in four directions, such as front, rear, left and right, while the handling components of the three-way type handling device can only pick up and place goods in three directions, such as rear, left and right.

Specifically, the work tasks of each robot can be determined based on the spatial size of the work space corresponding to each target position and the type of the transport device of each robot.

Optionally, determine each machine according to the type of each robot handling device Human work tasks include: for each order task, determining the target location of the goods corresponding to the order task; if the operating space corresponding to the target location is smaller than the preset space, determining the order task as the first The working task of the robot, wherein the horizontal rotating component of the first robot can drive the carrying component to rotate toward an end away from the temporary storage rack.

The preset space may be the minimum space that supports the first robot's turning, and its space size is the preset size. The first robot is a robot that can pick up and place goods in four directions.

Further, when the spatial size of the working space corresponding to the target position is smaller than the preset size, it can be determined that the working task corresponding to the target position is a task of a robot whose type of handling device is a four-way type, that is, a working task of the first robot; When the spatial size of the working space corresponding to the target position is greater than or equal to the preset size, any robot closest to the target position or any idle robot can be determined to perform the job task corresponding to the target position.

Optionally, the method further includes: when it is detected that the working path corresponding to the second working task of the second robot does not meet the turning condition of the second robot, determining that the second working task is the first robot The operation task; according to the operation task, determine the operation path of the first robot, and control the first robot to move to the target position according to the operation path.

Among them, the second robot is a robot that can pick up and place goods in three directions, and the type of its handling device is a three-way type. The second robot and the first robot may have the same parts except for the handling device, such as the mobile chassis, the temporary storage rack, etc.

Specifically, when determining the operation tasks of each robot, including the first robot The operation task and the second operation task of the second robot are then detected in real time. When it is determined that the operation path corresponding to the second operation task of the second robot does not meet the turning condition of the second robot, the second operation task of the second robot is determined. The second work task of the robot is the work task of the first robot. The first robot executes the unfinished second work task of the second robot, and determines the work path of the first robot based on the work task of the first robot.

Step S1302: Control the first robot to move to a target position corresponding to the storage space based on the working path.

Specifically, after determining the working path, the first robot is controlled to walk along the working path to the target position.

In some embodiments, the working path of the first robot may include a narrow vertical lane. The target position may be located on a conveyor line. The conveyor line is docked with the narrow vertical lane. The first robot may be controlled to move in a first direction, such as forward or forward. direction, moving along the narrow vertical tunnel to the target position, so that the storage space is located in front of the first robot.

In some embodiments, the working path of the first robot may include a narrow horizontal lane and a narrow vertical lane, a first inflection point exists between the narrow horizontal lane and the narrow vertical lane, and the first robot moves along the narrow vertical lane in a first direction. When reaching the first inflection point, no steering is performed at the first inflection point, that is, the first robot is controlled to move to the narrow cross lane while maintaining the current posture, and then moves along the narrow cross lane to the target position, so that the storage space is located at The front or side of the first robot.

Step S1303: Based on the working path, determine whether the working space satisfies the turning condition of the first robot.

Specifically, the spatial size of the working space can be determined based on the working path, and then it can be determined based on the spatial size of the working space whether the working space satisfies the turning condition of the first robot.

Specifically, whether the working space satisfies the turning condition of the first robot can be determined based on the path width of each sub-path corresponding to the working path.

Optionally, judging whether the working space satisfies the steering condition of the first robot according to the working path includes: determining the target node corresponding to the target position according to the working path; The distance to the target position is used to determine whether the working space satisfies the steering condition of the first robot.

Among them, the last path node in the job path is usually the target node.

Specifically, the width of the lane corresponding to the target position can be determined based on the distance between the target node and the target position, and then based on the width of the lane, it can be determined whether the working space meets the turning conditions of the first robot.

Optionally, Figure 15 is a flow chart of step S1303 in the embodiment of the present disclosure shown in Figure 13. As shown in Figure 15, step S1303 may include the following steps:

Step S301: Determine the target node corresponding to the target location according to the operation path.

Step S302: Determine whether the target node is located in a preset narrow lane.

The preset narrow lane may be a lane with a width smaller than the preset width.

Specifically, the lane to which the target node belongs can be determined based on the node identifier of the target node, and then whether the lane to which the target node belongs is a preset narrow lane.

Specifically, the warehousing system can pre-set lanes for each lane in the warehouse. Type, such as preset narrow lanes, wide lanes, main roads, etc. Based on the lane type to which each lane belongs, the lane identification of each lane is determined. When determining the node identification of each path node of the operation path, the lane identification corresponding to the path node can be combined. For example, the third path node of the second preset narrow lane can be Z2D03, and the sixth path node of the first main road can be The path node can be M1D06, etc.

Step S303, if yes, it is determined that the working space does not meet the turning condition of the first robot.

Specifically, if the target node is not located in the preset narrow lane, it is determined that the working space satisfies the turning condition of the first robot.

Step S1304: When the first robot moves to the target position corresponding to the storage space, determine the traveling direction of the first robot.

Step S1305, if the working space does not meet the turning condition of the first robot, control the horizontal rotation assembly of the first robot according to the positional relationship between the traveling direction of the first robot and the storage space. For the fixed unit rotation.

Specifically, when multiple target positions correspond to one target node, after controlling the first robot to move to the target node, in order to reduce the total angle of rotation of the first robot's handling component, the handling sequence of each target position can be determined, and then The transport component of the first robot is controlled to transport the goods in each storage space based on sequential rotation toward the storage spaces corresponding to each target position in the transport sequence.

Optionally, if there are multiple target positions, including a first target position, a second target position and a third target position, and the storage space corresponding to the first target position The storage space corresponding to the second target position is located on the second side of the first robot, and the storage space corresponding to the third target position is located on the first side of the first robot. Front; According to the positional relationship between the traveling direction of the first robot and the storage space, control the horizontal rotating component of the first robot to rotate with respect to the fixed unit, so that the carrying component rotates toward the The storage space includes: controlling the horizontal rotation component of the first robot to rotate 90° clockwise relative to the fixed unit, so that the rotated transport component faces the storage space corresponding to the first target position to perform Carry the goods corresponding to the first target position; control the horizontal rotation assembly of the first robot to rotate 90° counterclockwise relative to the fixed unit, so that the rotated handling assembly faces the second target position The corresponding storage space is used to transport the goods corresponding to the second target position; the horizontal rotating component of the robot is controlled to rotate 180° counterclockwise relative to the fixed unit, so that the rotated transport component faces the desired location. The storage space corresponding to the third target position is used to transport the goods corresponding to the third target position.

Specifically, when there are target positions in three directions of the first robot, the handling sequence corresponding to the three target positions can be determined first, and then the rotation control of the horizontal rotating assembly is sequentially performed based on the handling sequence, so that the handling assembly is sequentially Move the goods in the corresponding storage space toward the storage space corresponding to each target position.

For example, the transport order from first to last may be the first target position, the third target position and the second target position, or the third target position, the first target position. and the second target position, or the second target position, the first target position and the third target position. Of course, other sequences are also possible.

Specifically, for the storage space corresponding to the third target position located in front of the first robot, the horizontal rotation component of the first robot can be controlled to rotate 180° counterclockwise, so that the handling component rotates from the state facing the temporary storage rack to the state facing the third The storage space corresponding to the target position is used to store the goods in the storage space corresponding to the third target position, or the goods in the storage space corresponding to the third target position are stored on the temporary storage shelf of the first robot. The first robot needs to return to the initial state, that is, the state facing the temporary storage rack, every time the handling of the components is completed.

Specifically, for the storage space corresponding to the first target position located on the first side of the first robot, the horizontal rotation component of the first robot can be controlled to rotate 90° clockwise, so that the transport component rotates from a state facing the temporary storage rack to a state facing the temporary storage rack. The storage space corresponding to the first target position is used to store the goods in the storage space corresponding to the first target position, or the goods in the storage space corresponding to the first target position are stored on the temporary shelf of the first robot.

Specifically, for the storage space corresponding to the second target position located on the second side of the first robot, the horizontal rotation component of the first robot can be controlled to rotate 90° counterclockwise, so that the transport component rotates from a state facing the temporary storage rack to a state facing the storage rack. The storage space corresponding to the second target position is used to store the goods in the storage space corresponding to the second target position, or the goods in the storage space corresponding to the second target position are stored on the temporary shelf of the first robot.

Illustratively, Figure 16 shows the first robot provided by an embodiment of the present disclosure. The schematic diagram of the positional relationship with the storage space is shown in Figure 16. The first robot 16 corresponds to three target positions. The storage spaces corresponding to the three target positions are the storage space S3 located on the conveyor line and the storage space located on the shelf h1. Space S4 and storage space S5 are located on the shelf h2. The storage space S3 is located in front of the first robot 16, that is, on the side where the handling device of the first robot 16 is located. The storage space S4 and the storage space S5 are respectively located in front of the first robot 16. Two sides, the first side and the second side. The first robot 16 can sequentially transport the goods in each storage space according to the transport sequence.

Step S1306: Control the rotated transport assembly to transport the goods corresponding to the storage space.

Specifically, when there are multiple storage spaces, each transport component can be controlled in turn to transport the goods in each storage space according to the transport sequence.

In this embodiment, work tasks are assigned to robots based on the type of robot handling device, so that the first robot can handle work tasks with a small work space, and work tasks with sufficient work space are assigned to the second robot first, improving It improves the accuracy of task allocation and improves the efficiency of task processing; and performs path planning of the robot based on the operation task, so that the robot moves to the corresponding target position based on the planned operation path; for the first robot, after moving to the corresponding After the target position, based on the positional relationship between the traveling direction of the robot and the storage space corresponding to the target position, the transport component of the first robot is rotated so that the transport component faces the storage position, so that the first robot does not need to turn, only the transport device By rotating the part, the transportation of goods corresponding to the storage space can be completed, so that the goods transportation needs The reserved space is reduced, which improves the space utilization of the warehouse of the warehousing system and reduces warehousing costs.

Figure 17 is a schematic structural diagram of a cargo handling device provided by an embodiment of the present disclosure. As shown in Figure 17, the cargo handling device includes: a traveling direction determination module 1710, a handling component rotation module 1720 and a cargo handling module 1730.

Among them, the traveling direction determination module 1710 is used to determine the traveling direction of the first robot when the first robot moves to the target position corresponding to the storage space. The first robot includes a mobile chassis, a temporary storage rack and a handling device. , the transport device includes a horizontal rotating component and a transport component. The transport component is provided on the side of the temporary storage rack toward the front end of the mobile chassis through the fixed unit of the horizontal rotating component, and can be relative to the fixed unit. The unit rotates in the horizontal direction; the handling component rotation module 1720 is used to control the horizontal rotation component of the first robot relative to the fixed position according to the positional relationship between the traveling direction of the first robot and the storage space. The unit rotates to rotate the transport component toward the storage space; the cargo transport module 1730 is used to control the rotated transport component to transport cargo corresponding to the storage space.

Optionally, the handling component of the first robot faces the temporary storage rack in the initial state; the handling component rotation module 1720 is specifically used to: when the traveling direction of the first robot is consistent with the storage space When the cargo entry and exit plane is parallel, control the horizontal rotation component of the first robot to rotate 90° or 270° with respect to the fixed unit; and/or, when the traveling direction of the first robot is in line with the direction of the storage space When the goods enter and exit the plane vertically, control the horizontal rotation group of the first robot The piece is rotated 180° with respect to the fixed unit.

Optionally, the device further includes: a steering condition determination module, used to determine whether the working space corresponding to the first robot satisfies the steering condition of the first robot when the first robot moves to a position corresponding to the target position. condition.

Correspondingly, the handling assembly rotation module 1720 is specifically used to: if the working space does not meet the turning condition of the first robot, control the movement of the first robot according to the positional relationship between the traveling direction of the first robot and the storage space. The horizontal rotating assembly of the first robot rotates with respect to the fixed unit.

Optionally, the steering condition judgment module is specifically used to judge whether the width of the working space is greater than the preset width.

Optionally, the device further includes: a working path determination module, used to determine the working path of the first robot, so as to control the first robot to move to the target position corresponding to the storage space based on the working path. .

Correspondingly, the turning condition judgment module is specifically used to judge whether the working space meets the turning condition of the first robot according to the working path.

Optionally, a steering condition judgment module is specifically used to: determine the target node corresponding to the target position according to the operation path; determine whether the operation space satisfies the requirements according to the distance between the target node and the target position. The steering condition of the first robot.

Optionally, a steering condition judgment module is specifically used to: determine the target node corresponding to the target position according to the operation path; determine whether the target node is located in a preset narrow lane; if so, determine the operation space Not satisfied with the first robot turning conditions.

Optionally, when there are multiple target locations, the working path determination module is specifically used to: determine the transport direction corresponding to each target location; determine the transport direction according to each target location and its corresponding transport direction. Describe the working path of the first robot.

Optionally, the device further includes: a task determination module, configured to determine the task of each robot according to the type of each robot handling device.

Correspondingly, the working path determination module is specifically used to determine the working path of the first robot according to the working task corresponding to the first robot.

Optionally, the job task determination module is specifically used to: for each order task, determine the target location of the goods corresponding to the order task; if the operation space corresponding to the target location is smaller than the preset space, determine the The order task is the operation task of the first robot, wherein the horizontal rotating assembly of the first robot can drive the carrying assembly to rotate toward an end away from the temporary storage rack.

Optionally, the device further includes: a work task reassignment module, configured to determine whether the second work task corresponding to the second work path of the second robot does not meet the turning condition of the second robot. The second operation task is the operation task of the first robot; according to the operation task, the operation path of the first robot is determined, and the first robot is controlled to move to the target position according to the operation path.

Optionally, if there are multiple target positions, including a first target position, a second target position and a third target position, and the storage space corresponding to the first target position is located on the first side of the first robot , the storage corresponding to the second target location The storage space is located on the second side of the first robot, and the storage space corresponding to the third target position is located in front of the first robot; according to the positional relationship between the traveling direction of the first robot and the storage space, The handling component rotation module 1720 is specifically used to control the horizontal rotation component of the first robot to rotate 90° clockwise relative to the fixed unit, so that the rotated handling component faces the first target position. storage space to transport the goods corresponding to the first target position; control the horizontal rotating component of the first robot to rotate 90° counterclockwise relative to the fixed unit, so that the rotated transport component faces The storage space corresponding to the second target position is used to carry the goods corresponding to the second target position; the horizontal rotation component of the robot is controlled to rotate 180° counterclockwise relative to the fixed unit, so that the rotated The transport assembly is directed toward the storage space corresponding to the third target position to transport the goods corresponding to the third target position.

Optionally, the device further includes: a second cargo handling module, configured to control the first robot if the working space meets the turning conditions of the first robot and the positional relationship is a vertical relationship. The mobile chassis is rotated 90° clockwise or counterclockwise so that the storage space is located on the first side or the second side of the first robot; the horizontal rotating assembly is controlled to rotate 90° or 270° relative to the fixed unit. °, so that the rotated transport component faces the storage space; and the rotated transport component is controlled to transport the goods corresponding to the storage space.

Optionally, the horizontal rotating component of the transport device includes the fixed unit and a rotating unit that can rotate relative to the fixed unit. The fixed unit is connected to the temporary storage rack, and the transport component is arranged on the rotating unit. On the unit, the handling assembly rotates The rotation module group includes: a control signal generation unit for generating a first rotation control signal of the rotation unit according to the positional relationship between the traveling direction of the first robot and the storage space; a rotation control unit for generating a first rotation control signal based on the position of the first robot. The first rotation control signal controls the rotation unit to drive the horizontal rotation assembly to rotate relative to the fixed unit.

Optionally, the device further includes: a rotation detection module for detecting the rotation angle of the handling component after controlling the horizontal rotation component of the first robot to rotate relative to the fixed unit; when the rotation When the angle is a preset angle, a rotation stop instruction of the horizontal rotating component is generated to control the horizontal rotating component to stop rotating.

The cargo handling device provided by the embodiments of the disclosure can execute the cargo handling method provided by any embodiment of the disclosure, and has functional modules and beneficial effects corresponding to the execution method.

Figure 18 is a schematic structural diagram of a cargo handling equipment provided by an embodiment of the present disclosure. As shown in Figure 18, the cargo handling equipment includes: a storage 1810, a processor 1820 and a computer program.

The computer program is stored in the storage 1810 and is configured to be executed by the processor 1820 to implement the cargo handling method provided by any one of the embodiments corresponding to Figures 9, 12, 13 and 15 of the present disclosure. .

Among them, the storage 1810 and the processor 1820 are connected through a bus 1830.

Relevant descriptions can be understood corresponding to the relevant descriptions and effects corresponding to the steps of FIG. 9, FIG. 12, FIG. 13, and FIG. 15, and will not be described in detail here.

Figure 19 is a schematic structural diagram of a robot provided by another embodiment of the present disclosure. As shown in Figure 19, the robot includes a moving chassis 1910, a temporary storage rack 1920, a handling device 1930, and a cargo handling equipment 1940.

Among them, the cargo handling equipment 1940 is the cargo handling equipment provided in the embodiment shown in Figure 18; the handling device 1930 includes a horizontal rotating assembly 1931 and a handling assembly 1932. The handling assembly 1932 is located on the temporary storage rack 1920 through the fixing unit 1933 of the horizontal rotating assembly 1931. The side facing the front end of the mobile chassis 1910 can rotate in the horizontal direction relative to the fixed unit 1933 .

Figure 20 is a schematic structural diagram of a warehousing system provided by an embodiment of the present disclosure. As shown in Figure 20, the warehousing system includes: cargo handling equipment 2010, a robot 2020 and a shelf 2030.

Among them, the shelf 2030 is used to store goods. The cargo handling equipment 2010 is the cargo handling equipment provided by the embodiment shown in FIG. 18 of the present disclosure; the robot 2020 is used for cargo handling.

One embodiment of the present disclosure provides a computer-readable storage medium on which a computer program is stored. The computer program is executed by a processor to implement any one of the embodiments corresponding to Figures 9, 12, 13 and 15 of the present disclosure. Examples of cargo handling methods provided.

Among them, the computer-readable storage media can be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.

An embodiment of the present disclosure also provides a program product, the program product includes executable instructions, the executable instructions are stored in a readable storage medium, cargo handling equipment, At least one processor of the robot or the warehousing system can read the execution instruction from the readable storage medium, and the at least one processor executes the execution instruction to cause the shelf dispatching device to implement the cargo handling method provided by the various embodiments mentioned above.

In the several embodiments provided in this disclosure, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of modules is only a logical function division. In actual implementation, there may be other division methods. For example, multiple modules may be combined or Integration into another system, or some features can be ignored, or not implemented. On the other hand, the coupling or direct coupling or communication connection between each other shown or discussed may be indirect coupling or communication connection through some interfaces, devices or modules, which may be electrical, mechanical or other forms.

The modules described as separate components may or may not be physically separate. The components displayed as modules may or may not be physical units, that is, they may be located in one place, or they may be distributed to multiple networks. on the unit. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional module in various embodiments of the present disclosure may be integrated into a processing unit, or each module may exist as a separate entity, or two or more modules may be integrated into one unit. The units composed of the above modules can be implemented in the form of hardware or in the form of hardware plus software functional units.

The above-mentioned integrated modules implemented in the form of software function modules can be stored in a computer-readable storage medium. The above software function modules are stored in a A storage medium includes a number of instructions to cause a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (English: processor) to execute some steps of the methods described in various embodiments of the present disclosure. .

It should be understood that the above-mentioned processor may be a central processing unit (Central Processing Unit, referred to as CPU), or other general-purpose processor, digital signal processor (Digital Signal Processor, referred to as DSP), or application specific integrated circuit (Application Specific Integrated Circuit). Circuit, referred to as ASIC), etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc. The steps of the method disclosed in the invention can be directly implemented by a hardware processor, or can be executed by a combination of hardware and software modules in the processor.

The storage may include high-speed RAM, and may also include non-volatile storage NVM, such as at least one disk storage, and may also be a pen drive, a mobile hard disk, a read-only memory, a magnetic disk, or an optical disk.

The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. . Buses can be divided into address buses, data buses, control buses, etc. For ease of presentation, the busbars in the drawings of this disclosure are not limited to only one busbar or one type of busbar.

The above storage media can be implemented by any type of volatile or non-volatile storage device or their combination, such as static random access memory (SRAM), Electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, fast Flash memory, magnetic disk or optical disk. Storage media can be any available media that can be accessed by a general purpose or special purpose computer.

An exemplary storage medium is coupled to the processor such that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and storage media may be located in Application Specific Integrated Circuits (ASICs). Of course, the processor and the storage medium can also exist as discrete components in an electronic device or a host control device.

Persons of ordinary skill in the art can understand that all or part of the steps to implement the above method embodiments can be completed through program instructions and related hardware. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps including the above-mentioned method embodiments are executed; and the aforementioned storage media includes: ROM, RAM, magnetic disks, optical disks and other media that can store program codes.

In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " The directions or positional relationships indicated by "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. are based on the directions or positions shown in the accompanying drawings. The positional relationship is only for the convenience of describing the present disclosure and simplifying the description. It does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present disclosure.

Unless otherwise clearly stated and limited, the terms "installation", "connection", "connection", "fixing", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral body; it can be Direct connection, or indirect connection through an intermediary, can make the internal connection between two elements or the interaction between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this disclosure can be understood according to specific circumstances. Furthermore, the terms “first”, “second”, etc. are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present disclosure, but not to limit it; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; and these modifications or substitutions do not deviate from the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present disclosure. Scope.

S901: When the first robot moves to the target position corresponding to the storage space, determine the traveling direction of the first robot

S902: According to the positional relationship between the traveling direction of the first robot and the storage space, control the horizontal rotating component of the first robot to rotate with respect to the fixed unit, so that the carrying component rotates toward the storage space

S903: Control the rotated transport component to transport the goods corresponding to the storage space.

Claims (20)

A cargo handling method, characterized in that the method includes: determining the traveling direction of the first robot when the first robot moves to a target position corresponding to the storage space, wherein the first robot includes a mobile chassis, a temporary Storage rack and transport device. The transport device includes a horizontal rotating component and a transport component. The transport component is provided on the side of the temporary storage rack facing the front end of the mobile chassis through the fixing unit of the horizontal rotating component, and can Rotate in the horizontal direction relative to the fixed unit; according to the positional relationship between the traveling direction of the first robot and the storage space, control the horizontal rotating component of the first robot to rotate with respect to the fixed unit, so as to Rotate the handling component toward the storage space; control the rotated handling component to carry goods corresponding to the storage space; wherein, when the first robot moves to a position corresponding to the target position, the method It also includes: determining whether the working space corresponding to the first robot satisfies the turning condition of the first robot; accordingly, controlling the first robot according to the positional relationship between the traveling direction of the first robot and the storage space. The horizontal rotating component of the robot rotates with respect to the fixed unit, including: if the working space does not meet the turning condition of the first robot, then according to the positional relationship between the traveling direction of the first robot and the storage space , control center The horizontal rotating assembly of the first robot rotates with respect to the fixed unit. The method according to claim 1, characterized in that the carrying component of the first robot faces the temporary storage rack in the initial state; according to the traveling direction of the first robot and the position of the storage space Relationship, controlling the horizontal rotation component of the first robot to rotate with respect to the fixed unit includes: when the traveling direction of the first robot is parallel to the cargo entry and exit plane of the storage space, controlling the first robot The horizontal rotating assembly rotates 90° or 270° with respect to the fixed unit; and/or, when the traveling direction of the first robot is perpendicular to the cargo entry and exit plane of the storage space, control the first robot The horizontal rotation assembly rotates 180° with respect to the fixed unit. The method according to claim 1, characterized in that determining whether the working space corresponding to the first robot satisfies the turning condition of the first robot includes: determining whether the width of the working space is greater than a preset width. The method according to claim 1, characterized in that the method further includes: determining a working path of the first robot to control the first robot to move to a target corresponding to the storage space based on the working path. Position; determine whether the working space corresponding to the first robot meets the turning conditions of the first robot, including: According to the working path, it is determined whether the working space satisfies the turning condition of the first robot. The method according to claim 4, wherein determining whether the working space satisfies the turning condition of the first robot according to the working path includes: determining the target position corresponding to the target position according to the working path. Target node; determine whether the working space satisfies the turning condition of the first robot according to the distance between the target node and the target position. The method according to claim 4, wherein determining whether the working space satisfies the turning condition of the first robot according to the working path includes: determining the target position corresponding to the target position according to the working path. Target node; determine whether the target node is located in a preset narrow lane; if so, determine that the working space does not meet the turning condition of the first robot. The method according to claim 4, characterized in that when there are multiple target positions, determining the working path of the first robot includes: determining the transportation direction corresponding to each of the target positions; The target position and its corresponding carrying direction determine the working path of the first robot. The method according to claim 4, characterized in that the method further includes: Determine the work task of each robot according to the type of each robot handling device; correspondingly, determine the work path of the first robot, including: determining the work path of the first robot according to the work task corresponding to the first robot . The method according to claim 8, characterized in that determining the operation tasks of each robot according to the type of each robot handling device includes: for each order task, determining the target position of the goods corresponding to the order task; if the If the working space corresponding to the target position is smaller than the preset space, then the order task is determined to be the working task of the first robot, wherein the horizontal rotating component of the first robot can drive the carrying component to rotate away from the one end of the temporary storage rack. The method according to any one of claims 1 to 9, characterized in that the method further includes: when it is detected that the working path corresponding to the second working task of the second robot does not meet the turning condition of the second robot. , determine the second job task as the job task of the first robot; determine the working path of the first robot according to the job task, and control the first robot to move to the first robot according to the working path. target location. The method according to any one of claims 1-9, characterized in that if there are multiple target positions, including a first target position, a second target position and a third Three target positions, and the storage space corresponding to the first target position is located on the first side of the first robot, the storage space corresponding to the second target position is located on the second side of the first robot, and the storage space corresponding to the first target position is located on the second side of the first robot. The storage space corresponding to the three target positions is located in front of the first robot; according to the positional relationship between the traveling direction of the first robot and the storage space, the horizontal rotating assembly of the first robot is controlled to move to the fixed position. Rotating the unit to rotate the handling assembly toward the storage space includes: controlling the horizontal rotation assembly of the first robot to rotate 90° clockwise relative to the fixed unit so that the rotated handling assembly Towards the storage space corresponding to the first target position, to carry the goods corresponding to the first target position; control the horizontal rotation component of the first robot to rotate 90° counterclockwise relative to the fixed unit, so that The rotated carrying component is directed toward the storage space corresponding to the second target position to transport the goods corresponding to the second target position; the horizontal rotating component of the robot is controlled to rotate counterclockwise relative to the fixed unit 180°, so that the rotated carrying assembly faces the storage space corresponding to the third target position, so as to transport the goods corresponding to the third target position. The method according to any one of claims 4 to 9, characterized in that if the working space satisfies the steering condition of the first robot and the position relationship is a vertical relationship, the method further includes: controlling all The mobile chassis of the first robot is rotated 90° clockwise or counterclockwise so that the storage space is located on the first side or the second side of the first robot; the horizontal rotating assembly is controlled relative to the fixed unit Rotate 90° or 270°, The rotated transport component is directed toward the storage space; and the rotated transport component is controlled to transport goods corresponding to the storage space. The method according to any one of claims 1 to 9, characterized in that the horizontal rotating component of the transport device includes the fixed unit and a rotating unit that can rotate relative to the fixed unit, and the fixed unit is connected to the fixed unit. In the temporary storage rack, the carrying component is disposed on the rotating unit, and controlling the horizontal rotating component of the first robot to rotate relative to the fixed unit includes: generating a first rotation control signal of the rotating unit. ; Based on the first rotation control signal, the rotation unit is controlled to drive the horizontal rotation component to rotate relative to the fixed unit. The method according to any one of claims 1 to 9, characterized in that, after controlling the horizontal rotation component of the first robot to rotate relative to the fixed unit, the method further includes: detecting the movement of the handling component. Rotation angle; when the rotation angle is a preset angle, a rotation stop instruction of the horizontal rotation component is generated to control the horizontal rotation component to stop rotating. A cargo handling device, characterized in that the device includes a traveling direction determination module for determining the traveling direction of the first robot when the first robot moves to a target position corresponding to the storage space, wherein the The first robot includes a mobile chassis, a temporary storage rack and a handling device, the handling device includes water A horizontal rotating assembly and a conveying assembly. The conveying assembly is provided on the side of the temporary storage rack facing the front end of the mobile chassis through the fixed unit of the horizontal rotating assembly, and can rotate in the horizontal direction relative to the fixed unit. ; The handling component rotation module is used to control the horizontal rotation component of the first robot to rotate with respect to the fixed unit according to the positional relationship between the traveling direction of the first robot and the storage space, so that the The transportation component rotates toward the storage space; the cargo transportation module is used to control the rotated transportation component to transport the goods corresponding to the storage space. A kind of cargo handling equipment, characterized in that it includes: a storage and at least one processor; the storage stores computer execution instructions; the at least one processor executes the computer execution instructions stored in the storage, so that the at least one The processor executes the cargo handling method described in any one of claims 1-14. A robot, characterized in that it includes: a mobile chassis, a temporary storage rack, a handling device, and the cargo handling equipment described in claim 16; the handling device includes a horizontal rotation component and a handling component, and the handling component rotates through the horizontal rotation The fixing unit of the assembly is provided on the side of the temporary storage rack facing the front end of the mobile chassis, and can rotate in the horizontal direction relative to the fixing unit. A warehousing system is characterized by including shelves, robots and the cargo handling equipment described in claim 16. A computer-readable storage medium, characterized in that computer-executable instructions are stored in the computer-readable storage medium. When the processor executes the computer-executable instructions, the goods described in any one of claims 1-14 are realized. Transportation method. A computer program product, characterized by comprising a computer program that implements the cargo handling method described in any one of claims 1-14 when executed by a processor.