WO2019201094A1 - 搬运方法、搬运装置及搬运系统 - Google Patents
搬运方法、搬运装置及搬运系统 Download PDFInfo
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- WO2019201094A1 WO2019201094A1 PCT/CN2019/081298 CN2019081298W WO2019201094A1 WO 2019201094 A1 WO2019201094 A1 WO 2019201094A1 CN 2019081298 W CN2019081298 W CN 2019081298W WO 2019201094 A1 WO2019201094 A1 WO 2019201094A1
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- target object
- handling device
- speed
- navigation
- distance
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/063—Automatically guided
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
Definitions
- the present disclosure relates to the field of intelligent logistics technology, and more particularly to a handling method, a handling device, and a handling system.
- more and more logistics robots are used to automatically carry the shelves in the warehouse.
- the shelves for the items to be placed in the warehouse need to be placed in specific coordinate positions, and the logistics robots travel to the coordinates of the shelves according to the navigation path.
- the position ie, traveling directly below the shelf
- the shelf is first identified, then the shelf is lifted, and finally the shelf is transported to the workstation where the workstation personnel picks up the item from the shelf or restocks the item onto the shelf.
- the shelves are often not accurately placed at a predetermined coordinate position (for example, a certain offset occurs after the shelf is collided), which causes the logistics robot to reach the coordinate position of the shelf and stop if it is not recognized.
- the logistics robot On the shelf, the logistics robot also needs to travel again and look for shelves.
- the logistics robot stops and then looks for the shelf the working time of the logistics robot to move the shelf becomes longer, which affects the handling efficiency of the shelf.
- the present disclosure provides a handling method, handling device, and handling system that at least partially solves the problems of the prior art.
- the present disclosure provides a handling method that should be configured as a handling device, including:
- the position of the target object is advanced at the first speed
- the present disclosure also provides a handling device comprising:
- a running mechanism configured to travel the handling device
- the connector is configured to interface with the target object
- a lifting mechanism configured to be coupled to the pair of joints, lift the pair of joints, and lift the target object after docking the joint with the target object;
- a target recognition component configured to identify a marker point on the target object
- Control module configured as:
- the target recognition component When the target recognition component recognizes the marker point of the target object, controlling the travel of the travel mechanism according to the marker point of the target object to align the transport device with the target object;
- the traveling mechanism is controlled to travel to a preset position.
- the present disclosure also provides a handling system comprising:
- the object includes a target object for storing the article and a handling device for transporting the target object, wherein the carrying device is capable of:
- the position of the target object is advanced at the first speed
- the transport method, the transport device, and the transport system provided by the embodiments of the present disclosure control the transport device by different motion speeds, so that the transport device does not have to stop during the process of transporting the target object, thereby improving the transport device to find and transport the target object. Time to improve the efficiency of the delivery of goods.
- FIG. 1 is a schematic diagram of the working context of the cargo picking system 100 provided in an embodiment
- FIG. 2 is a schematic view of an article handling platform provided in an embodiment
- FIG. 3 is a schematic structural view of a handling device provided in an embodiment
- FIG. 4 is a schematic structural view of a shelf equipped with articles to be carried according to an embodiment
- Figure 5 is a schematic view of a handling device approaching a shelf provided in an embodiment
- FIG. 6 is a schematic view of a handling device handling shelf provided in an embodiment
- FIG. 7 is a schematic flow chart of a handling method provided in an embodiment
- FIG. 10 is a schematic flow chart of another carrying method provided in an embodiment.
- FIG. 1 is a schematic diagram showing the working environment of the cargo picking system 100 provided by the embodiment of the present disclosure.
- the cargo picking system 100 includes a control system 10, a handling device 20 (eg, a mobile robot), an inventory container 30 (eg, a shelf), a cache container 40, and an order container 50.
- a handling device 20 eg, a mobile robot
- an inventory container 30 eg, a shelf
- a cache container 40 e.g., a cache container
- Control system 10 can be a computing platform configured by components such as a processor, memory, software, network, and the like.
- the control system 10 can provide an electronic shopping service to an e-commerce individual user.
- the control system 10 can also interface with an e-commerce service system, and the e-commerce service system provides an e-shopping service to an e-commerce individual user.
- Control system 10 may include one or more servers, which may be a centralized control architecture or a distributed computing architecture.
- the server has a processor 101 and a memory 102, which may have an order pool 103 in the memory 102.
- the electronic device 60 used by the user is connected to the control system 10 through the network, or the electronic device 60 used by the user is connected to the electronic service system connected to the control system through the network.
- the electronic device 60 is generally installed with the electronic shopping application APP.
- the shopping user interface of the e-shopping application APP issues an order, the order is transmitted to the control system 10 through the network, or transmitted to the e-commerce service system through the network, and then transmitted to the control system 10 by the e-commerce server system, and the control system 10 can
- the order is stored in the order pool 103.
- the control system 10 is operable to communicate with the handling device 20, the auxiliary display device at the picking station S, the electronic device 60, the picker, or other automated picking device, such as a wireless communication technology or a wired communication technology.
- the handling device 20 performs a cargo handling task under the control of the control system 10. For example, the handling device 20 can be moved below the target shelf 30, lift the target shelf 30, and transport it to the assigned picking station S.
- the mobile robot has a lifting mechanism and has an autonomous navigation function, the handling device 20 can travel under the shelf and lift the entire shelf with a lifting mechanism.
- the cargo storage area G has a plurality of inventory containers 30, such as shelves, on which various goods are placed, for example, as shelves that we see in supermarkets with various commodities. The goods can be put on shelves or the goods are unloaded by the loading personnel.
- inventory containers 30 such as shelves, on which various goods are placed, for example, as shelves that we see in supermarkets with various commodities. The goods can be put on shelves or the goods are unloaded by the loading personnel.
- the shelf is a square frame, and the bottom end of the shelf has four legs that are symmetric in position and height higher than the height of the mobile robot, the bottom of the shelf allows mobile robots to pass; and the shelves are arranged in rows and columns of shelves, blank lines The / column constitutes a mobile robot passage.
- the cache container 40 and the order container 50 can be placed in each of the picking stations S, and the cache container 40 can cache the items sorted from the shelves, and then sort the items buffered by the cache container 40 into the corresponding order containers 50 according to the order information.
- a seed wall can also be configured at each picking station S. The seed wall is preferably easy to be moved, for example with wheels.
- the order container 50 can be placed on different seeding walls.
- the cache container 40 and the order container 50 may have a label, which may be a conventional paper label, such as a barcode, or an electronic label, such as a radio frequency tag RFID.
- a label which may be a conventional paper label, such as a barcode, or an electronic label, such as a radio frequency tag RFID.
- the form of the storage container 40 and the order container 50 may be the same or different.
- the control system 10 When actually picking the goods, the control system 10 obtains a pending order from the order pool, and assigns the pending order to a picking station S; based on the order information, the control system 10 determines the target handling rack 30, designating a mobile robot to target The shelf 30 is transported to the picking station S, and the picking personnel or other automated picking device takes the goods out of the target shelf 30 according to the prompt information from the control system 10, and places them in the order container 40 corresponding to the order, which can be placed, for example, in the order container 40. On the seed wall, the order container after the goods are sorted can be transported to the packing station for packaging.
- the transport method, the transport device, and the transport system in the embodiments of the present disclosure are applicable not only to the above-described cargo picking scene, but also to other application scenarios in which a transport device is required to carry goods, such as a cargo sorting scene and a transport scene.
- FIG 2 shows a schematic view of the item handling platform.
- the article transport platform includes a target object (for example, a shelf 2) for transporting the transport device 1 and the transport device, and the transport device 1 can transport the shelf 2 from one location to another in the article transport platform.
- a navigation path 3 between each handling device 1 and the shelf to be transported which includes one or more navigation points 4 configured for position coordinate identification.
- the obstacle area 5 is the area where the shelves 2 are located, and the navigation path 3 of the handling device 1 can be set to be unable to pass the obstacle area 5.
- the carrying device 1 can perform navigation by using any navigation method in the prior art, such as two-dimensional code visual navigation, inertial navigation, SALM navigation, or patrol navigation, and any navigation in the prior art can also be used.
- the way of combining the modes is to navigate, such as two-dimensional code visual navigation combined with inertial navigation or two-dimensional code visual navigation combined with SLAM navigation.
- the technical solution of the embodiment of the present disclosure does not specifically limit the navigation manner.
- the handling device 1 may include a running mechanism 101.
- the traveling device 1 can move the inside of the work space by the traveling mechanism 101.
- the handling device 1 can also include a pair of lifting mechanisms 102 that can lift the shelf 2 by the lifting mechanism 102 when identifying and aligning to the shelf 2.
- Figure 3 shows only a single handling device 1 and the item handling platform may comprise any suitable number of handling devices 1.
- the object recognition device 103 on the transport device 1 can effectively recognize the shelf 2 when the transport device 1 approaches the shelf 2.
- the handling device 1 further includes a navigation recognition component (not shown in FIG. 3) configured to recognize the navigation point 4 and a control module (not shown in FIG. 3) that controls the entire handling device 1 to travel and navigate.
- FIG. 4 is a schematic diagram of a shelf 2 according to an embodiment of the present disclosure, and the shelf 2 stores the article 6.
- the shelf 2 includes a plurality of compartments, each compartment being capable of accommodating the article 6.
- the item 6 can also be hung from a hook or rod in the shelf 2 or on the shelf 2.
- the item 6 can be placed on the shelf 2 in any suitable manner on the interior or exterior surface of the shelf.
- the shelf 2 can be rolled, carried or otherwise carried by the handling device 1.
- the shelf 2 includes one or more shelf supports 202 and shelf markers 201 that are configured to identify the shelf identity.
- Item 6 represents any item suitable for storing sorting, or transport, in an automated inventory, warehouse, manufacturing, and/or part processing system, which may be any material, may be a living or inanimate object.
- item 6 may represent an item stored in a warehouse.
- the handling device 1 can carry a control system specifying a shelf 2 containing specific items 6 associated with the customer order to be packaged for delivery to the customer or other party.
- item 6 may represent baggage stored in a baggage facility at an airport.
- the handling device 1 can retrieve the shelf 2 containing the luggage to be transported and tracked. This may include selecting a particular baggage item for explosives screening, carrying baggage items associated with flights that have converted the boarding gate, or removing baggage items belonging to passengers who have missed the flight.
- item 6 may represent various components of a manufacturing kit. More specifically, these components may represent components intended to be included in an assembled product, such as computer components used to customize a computer system.
- the handling device 1 can retrieve the particular components identified by the specifications associated with the customer order.
- item 6 can represent a person.
- shelf 2 can represent a bed containing a particular patient.
- the item storage system can be configured to provide a safe and effective system for moving hospital beds, which limits the likelihood of patient injury and reduces the likelihood of errors due to human error.
- item 6 can be any suitable item suitable for storage in shelf 2 in any suitable form.
- the handling device 1 is able to move within the workspace, and when the shelf 2 is lifted, the shelf 2 can be carried within the workspace. Based on the received handling command, the handling device 1 can determine the destination of the handling device 1. For example, in a particular embodiment, the handling device 1 can receive information from the control system at the destination of the handling device 1. The handling device 1 can receive this information via a wireless interface, a wired connection, or using any other suitable component to facilitate communication with the control system. In general, the handling device 1 can be controlled, in whole or in part, to any desired location based on commands from the control system.
- the handling device 1 receives commands, data, instructions or information in any suitable form in a wireless manner. These commands are used to identify a particular shelf 2 to move the handling device 1 to its destination to carry the shelf 2.
- the handling device 1 can move the handling device 1 and/or the shelf 2 by means of a motor or wheels on the running gear 101.
- the handling device 1 moves to a storage location identified by the command (see Figures 5-6), and the handling device 1 can interface with the identified shelf 2.
- the handling device 1 can be docked with the shelf 2 in any suitable manner such that when the handling device 1 is docked with the shelf 2, the shelf 2 is coupled to and/or supported by the handling device 1.
- the handling device 1 interfaces with the shelf 2 by positioning itself under the inventory holder to raise the lift portion 1021 of the handling device 1 until the lifting mechanism lifts the shelf 2 away from the ground.
- the handling device 1 when the handling device 1 is docked with the shelf 2, the handling device 1 can support all or part of the weight of the shelf 2.
- one or more components of the handling device 1 may grab one or more components of the shelf 2, grasp, connect, interlock, or otherwise interact with one or more components of the shelf 2. To form a physical connection between the handling device 1 and the shelf 2. In the process of transporting the rack 2 by the transport device 1, the orientation of the rack 2 can be adjusted by rotation.
- each shelf 2 is set with a specific position coordinate when storing, and in the process of placing the shelf 2 according to the specified coordinates, usually the actual placement point of the shelf 2 and the position coordinates of the shelf 2 should be placed. There will be a certain deviation between the two.
- the handling device 1 searches for the shelf 2 according to the position of the shelf 2, due to the positional deviation, the moving operation device 1 needs to stop and repeatedly search for the position of the shelf 2, resulting in waste of time. , reducing the efficiency of the handling of the shelves.
- an embodiment of the present disclosure discloses a handling method applied to the handling device 1 , including:
- Step 601 according to the navigation path, proceed to the position of the target object at the first speed
- the position coordinates of the target object (for example, the shelf 2) can be obtained according to the transport task, and the transport device 1 can acquire the navigation by acquiring the current position coordinates of the transport device and the position coordinates of the target object.
- Path 3 which has a plurality of navigation points 4 thereon.
- the handling device 1 can approach the target position at the first speed.
- the first speed may be the normal movement speed of the handling device 1, or the speed set according to the actual needs, and by setting the first speed, the handling device 1 can use the less time to approach the target position.
- Step 602 when the distance between the current position of the handling device 1 and the position of the target object is less than or equal to the first distance, proceed to the position of the target object at the second speed, and the second speed is less than the first speed.
- the first speed is usually a faster speed.
- a faster speed is used to approach the target object, it is often difficult to accurately identify the target object due to the speed of the handling device being too fast.
- the handling device 1 can know the distance between the current position and the target position (for example, the theoretical coordinate value of the shelf 2) in real time, and when the distance is smaller than the first distance, change the speed of the handling device 1 to the second speed, the second Speed To facilitate the speed at which the target object is recognized, it is understandable that the second speed is less than the first speed.
- Step 603 when traveling at the second speed, identifying a marker point on the target object, and when identifying the marker point on the target object, aligning with the target object according to the marker point of the target object;
- the target recognition component 103 on the handling device 1 can be opened at this time, and the target recognition component 103 is used to identify the target object. Mark points on.
- the target recognition device 103 on the transport device is activated to identify the target.
- 103 identifies the marker point on the target object.
- the target recognition component 103 can also be turned on when the handling device begins to travel according to the navigation path.
- the target recognition component 103 can be a plurality of types of devices.
- the target recognition component 103 can be a camera device.
- the marker point can be a graphic marker (for example, a two-dimensional code graphic), and the target recognition component 103 can also It is an RFID signal receiver, and the marker point can be an RFID tag. That is, the target recognition component 103 can be any device or device capable of identifying the target object.
- the device type of the target recognition component 103 is not defined here.
- Step 604 after aligning with the target object, stopping the traveling, and lifting the target object;
- Step 605 after lifting the target object, proceed to a preset position.
- the navigation path includes multiple navigation points.
- the handling device 1 can determine whether the distance between the current position of the handling device 1 and the position of the target object is less than or equal to the first distance by:
- One of the ways is to determine whether the transport device 1 has reached a predetermined navigation point on the navigation path, and if so, determine that the distance between the current position of the transport device 1 and the position of the target object is less than or equal to the first distance.
- Another way is to determine whether the transport device 1 has reached a predetermined navigation point on the navigation path, and if so, measure the predetermined navigation point of the transport device 1 from the navigation path by using the self-navigation device on the transport device 1 a distance when the distance between the current position of the handling device 1 and the position of the target object is less than or Equal to the first distance.
- the predetermined navigation point may be the last one of all navigation points on the navigation path.
- the handling device 1 automatically returns to the designated place.
- the handling device 1 can also report an event that does not recognize the marked point on the target object to the control system, such as a server in the control system.
- the acquiring a target location of the target object and approaching the target location at the first speed includes:
- Step 701 Obtain a location of the target object and a starting location of the handling device.
- Step 702 planning a navigation path 3 according to the location of the target object and the starting position of the handling device
- Step 703 according to the planned navigation path, travel to the location of the target object at a first speed.
- the handling device 1 can identify the navigation point 4 in the handling system by the navigation recognition component 105 of the navigation point 4. According to a specific implementation of the embodiment of the present disclosure, the method further includes:
- step 801 the handling device 1 determines all navigation points 4 on the navigation path 3.
- the method may be performed according to the position of the navigation point on the navigation path 3.
- the method further includes:
- Step 802 determining whether the handling device 1 reaches the last one of the navigation points 4 on the navigation path 3.
- Step 803 if yes, determining that the distance between the current position of the handling device 1 and the target position is less than the first distance.
- the method further includes:
- Step 901 based on the self-navigation device on the handling device 1, determine the distance of the handling device 1 from the last navigation point 4.
- the self-navigation device on the handling device 1 can be a plurality of types of devices, such as a gyroscope, an accelerometer, a GPS, and the like.
- Step 902 Determine whether the distance of the handling device 1 from the last navigation point reaches a preset length.
- the distance between the transport device 1 and the last navigation point can be set according to actual needs, and based on the distance, it is determined that the transport device 1 is lowered to the second speed.
- Step 903 after the distance of the handling device 1 from the last navigation point 4 reaches a preset length, it is determined that the distance between the current position of the handling device 1 and the target position is less than the first distance.
- the handling device 1 can continue to search for the marker point by winding in place or in a similar manner.
- the carrier device 1 When the target recognition component 103 recognizes the marker point of the target object but cannot read the information of the marker point, the carrier device 1 automatically returns to the designated location. In addition to this, the transport device 1 also reports information of the target object whose information of the marked point cannot be read to the control system.
- the carrier device 1 can read the information in the marker point by using the target recognition component 103, and based on the information, the carrier device 1 can determine the information and the task information acquired by the carrier device 1. Whether or not the information is consistent with the task information acquired by the transport device 1 moves the target object to a predetermined position.
- the information of the marker points also stores the orientation information of the target object (for example, the shelf), and the carrier device needs to place the target object at a specific position in a predetermined orientation.
- the handling device 1 needs to determine the orientation information of the target object based on the information, and controls the lifting mechanism 102 on the handling device 1 to move the target object to a predetermined position in a preset orientation.
- the steering mechanism on the handling device 1 can adjust the orientation of the lifting mechanism 102 such that the lifting mechanism 102 moves the target object to the preset position in a predetermined orientation.
- the transport device 1 reports the information of the target object to the control system.
- the target recognition component 103 has a first orientation when the handling device 1 is moving at a first speed. Since the target recognition component 103 does not need to perform the recognition task at this time, the first orientation may be a direction in which the target recognition component 103 is stored and fixed.
- the target recognition component 103 moves at a first angular velocity, at which time the target recognition component 103 is substantially oriented toward the marking point of the target object, and is ensured by the setting of the first angular velocity.
- the target recognition device 103 can still be oriented substantially toward the marked point of the target object.
- a handling device 1 including:
- the traveling mechanism 101 is configured to travel of the conveying device 1;
- the joint 102 is configured to be operable to couple to or support the target object when the handling device 1 is docked with the target object;
- a target recognition component 103 configured to identify a marker point 201 on the target object
- a lifting mechanism configured to be coupled to the pair of joints 102, lift the pair of joints 102 and lift the target object after the joints 102 are docked with the target object;
- Control module configured as:
- the traveling mechanism 101 When the distance between the current position of the handling device 1 and the position of the target object is less than the first distance, the traveling mechanism 101 is controlled to travel to the position of the target object at a second speed, and the handling is initiated. a target recognition component 103 on the device 1, the second speed being less than the first speed;
- the target recognition component 103 recognizes the marker point of the target object, controlling the travel of the travel mechanism according to the marker point of the target object to align the transport device with the target object;
- the traveling mechanism 101 is controlled to stop traveling, and the lifting mechanism is controlled to lift the pair of joints 102 and lifted after the joint 102 is docked with the target object.
- the target object
- the traveling mechanism is controlled to travel to a preset position.
- the target recognition component 103 on the handling device 1 is activated to cause the target recognition component 103 to identify the marker point 201 on the target object at a second speed.
- the speed of the handling device 1 is controlled to be zero.
- the target recognition assembly has a first orientation as the handling device travels at a first speed.
- the target recognition assembly moves at a first angular velocity as the handling device travels at a second speed.
- an embodiment of the present disclosure provides a system for storing an item, including a target object storing an item and a handling device 1 for moving the target object, the handling device 1 capable of:
- the position of the target object is advanced at the first speed
- the speed of the carrier device 1 is reduced to zero, and the target object is moved to a preset position by the carrier device 1.
- the conveying method, the conveying device 1 and the system for storing articles provided by the embodiments of the present disclosure control the conveying device by different movement speeds, so that the conveying device does not have to stop during the process of conveying the target object, thereby improving the handling and searching of the conveying device.
- the time of the target object improving the efficiency of the delivery of the item.
- the term “a” is understood to mean “at least one” or “one or more”, that is, in one embodiment, the number of one element may be one, and in other embodiments, the element The number can be multiple, and the term “a” cannot be construed as limiting the quantity.
- ordinal numbers such as “first”, “second”, etc. will be used to describe various components, those components are not limited herein. This term is only used to distinguish one component from another. For example, a first component could be termed a second component, and as such, a second component could also be termed a first component without departing from the teachings of the inventive concept.
- the term "and/or" used herein includes any and all combinations of one or more of the associated listed items.
Abstract
Description
Claims (19)
- 一种搬运方法,应用于搬运装置,其特征在于,包括:根据导航路径,以第一速度向目标对象的位置行进;当所述搬运装置的当前位置与所述目标对象的位置之间的距离小于或等于第一距离时,以第二速度向所述目标对象的位置行进,所述第二速度小于所述第一速度;在以所述第二速度行进时,识别所述目标对象上的标记点,并在识别到所述目标对象上的标记点时,根据所述目标对象的标记点与所述目标对象进行对准;在与所述目标对象对准后,停止行进,并抬起所述目标对象;在抬起所述目标对象后,向预设位置行进。
- 根据权利要求1所述的方法,其特征在于,所述根据导航路径,以第一速度向目标对象的位置行进,包括:获取所述目标对象的位置以及所述搬运装置的起始位置;根据所述目标对象的位置以及所述搬运装置的起始位置规划导航路径;根据规划得到的导航路径,以第一速度向所述目标对象的位置行进。
- 根据权利要求1所述的方法,其特征在于,所述导航路径包括多个导航点。
- 根据权利要求3所述的方法,其特征在于,判断所述搬运装置是否到达所述导航路径上的预定导航点;若是,则确定所述搬运装置的当前位置与所述目标对象的位置之间的距离小于或等于所述第一距离。
- 根据权利要求3所述的方法,其特征在于,判断所述搬运装置是否到达所述导航路径上的预定导航点;若是,则利用所述搬运装置上的自导航装置测量所述搬运装置离开所述导航路径上的预定导航点的距离;当所述搬运装置离开所述导航路径上的预设导航点的距离达到预设长度时,则确定所述搬运装置的当前位置与所述目标对象的位置之间的距离小于或 等于所述第一距离。
- 根据权利要求4或5所述的方法,其特征在于,所述预定导航点为所述导航路径上所有导航点中的最后一个导航点。
- 根据权利要求1所述的方法,其特征在于,所述方法还包括:当没有识别到所述目标对象上的标记点时,自动返回到指定地点。
- 根据权利要求7所述的方法,其特征在于,所述方法还包括:将没有识别到所述目标对象上的标记点的事件上报给服务器。
- 一种搬运装置,其特征在于,包括:行走机构,配置为所述搬运装置的行进;对接头,配置为与目标对象对接;举升机构,配置为与所述对接头连接,举升所述对接头并在对接头与所述目标对象对接后抬起所述目标对象;目标识别组件,配置为识别所述目标对象上的标记点;控制模块,配置为:根据导航路径,控制所述行走机构以第一速度向所述目标对象的位置行进;当所述搬运装置的当前位置与所述目标对象的位置之间的距离小于第一距离时,控制所述行走机构以第二速度向所述目标对象的位置行进,并启动所述所述目标识别组件,所述第二速度小于所述第一速度;在以所述第二速度行进时,控制所述目标识别组件识别所述目标对象上的标记点;在所述目标识别组件识别到所述目标对象的标记点时,根据所述目标对象的标记点控制所述行走机构的行进以使所述搬运装置与所述目标对象对准;在所述搬运装置与所述目标对象对准后,控制所述行走机构停止行进,并控制所述举升机构举升所述对接头,并在所述对接头与所述目标对象对接后继续抬起所述目标对象;在所述举升机构抬起所述目标对象后,控制所述行走机构向预设位置行进。
- 根据权利要求9所述的装置,其特征在于,所述装置还包括:在所述搬运装置以第一速度行进时,所述目标识别组件具有第一朝向。
- 根据权利要求9所述的装置,其特征在于,所述装置还包括:在所述搬运装置以第二速度行进时,所述目标识别组件以第一角速度运动。
- 根据权利要求9所述的装置,其特征在于,所述控制模块配置为:获取所述目标对象的位置以及所述搬运装置的起始位置;根据所述目标对象的位置以及所述搬运装置的起始位置规划导航路径;根据规划得到的导航路径,控制所述行走机构以第一速度向所述目标对象的位置行进。
- 根据权利要求9所述的装置,其特征在于,所述导航路径包括多个导航点。
- 根据权利要求13所述的装置,其特征在于,所述控制模块配置为:判断所述搬运装置是否到达所述导航路径上的预定导航点;若是,则确定所述搬运装置的当前位置与所述目标对象的位置之间的距离小于或等于所述第一距离。
- 根据权利要求13所述的装置,其特征在于,所述控制模块配置为:判断所述搬运装置是否到达所述导航路径上的预定导航点;若是,则利用所述搬运装置上的自导航装置测量所述搬运装置离开所述导航路径上的预定导航点的距离;当所述搬运装置离开所述导航路径上的预设导航点的距离达到预设长度时,则确定所述搬运装置的当前位置与所述目标对象的位置之间的距离小于或等于所述第一距离。
- 根据权利要求14或15所述的装置,其特征在于,所述预定导航点为所述导航路径上所有导航点中的最后一个导航点。
- 根据权利要求9所述的装置,其特征在于,所述控制模块还配置为:当所述目标识别组件没有识别到所述目标对象上的标记点时,控制所述行走机构自动返回到指定地点。
- 根据权利要求17所述的装置,其特征在于,所述控制模块还配置为:将没有识别到所述目标对象上的标记点的事件上报给服务器。
- 一种搬运系统,包括存储物品的目标对象以及搬运所述目标对象的搬运装置,其特征在于,所述搬运装置能够:根据导航路径,以第一速度向目标对象的位置行进;当所述搬运装置的当前位置与所述目标对象的位置之间的距离小于或等于第一距离时,以第二速度向所述目标对象的位置行进,所述第二速度小于所述第一速度;在以所述第二速度行进时,识别所述目标对象上的标记点,并在识别到所述目标对象上的标记点时,根据所述目标对象的标记点与所述目标对象进行对准;在与所述目标对象对准后,停止行进,并抬起所述目标对象;在抬起所述目标对象后,向预设位置行进。
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