WO2021047191A1 - 托盘自动运输方法、系统及设备 - Google Patents

托盘自动运输方法、系统及设备 Download PDF

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Publication number
WO2021047191A1
WO2021047191A1 PCT/CN2020/088148 CN2020088148W WO2021047191A1 WO 2021047191 A1 WO2021047191 A1 WO 2021047191A1 CN 2020088148 W CN2020088148 W CN 2020088148W WO 2021047191 A1 WO2021047191 A1 WO 2021047191A1
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Prior art keywords
pallet
target
vehicle body
tines
automatic
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PCT/CN2020/088148
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English (en)
French (fr)
Inventor
孙双
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杭州易博特科技有限公司
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Publication of WO2021047191A1 publication Critical patent/WO2021047191A1/zh

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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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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

Definitions

  • the invention relates to the field of cargo transportation, in particular to a method, system and equipment for automatic pallet transportation.
  • the existing pallet handling process is to move the forklift, lift the fork under the anti-theft pallet jack, lift the pallet off the ground, and the forklift will move the pallet as a whole; however, this handling method has the following disadvantages: the forklift is bulky, To prevent theft and overturning, the forklift needs to be counterweighted. The operating channel requires a wide area. The forklift has a large turning radius, which affects the storage capacity of the warehouse. The risk is high, and forklift safety accidents occur from time to time. Another pallet handling process is to move the pallet.
  • the main purpose of the present invention is to provide an automatic pallet transportation method, system and equipment, which aims to solve the need for manual and forklift auxiliary transportation in the prior art, reduce the reference storage capacity, require high transportation channel space, and cannot realize the pallet transportation.
  • Technical issues of autonomous handling are to provide an automatic pallet transportation method, system and equipment, which aims to solve the need for manual and forklift auxiliary transportation in the prior art, reduce the reference storage capacity, require high transportation channel space, and cannot realize the pallet transportation.
  • the present invention provides an automatic pallet transportation method
  • the pallet automatic transportation method includes the following steps:
  • the automatic pallet transportation method is based on a mobile robot, the mobile robot includes a controller, a vehicle body and tines, the controller and the tines are provided on the vehicle body;
  • the controller controls the vehicle body to move to the cargo position in response to the handling instruction, and locks the target pallet corresponding to the cargo position;
  • the tines are arranged in the grooves of the tines on the vehicle body that are compatible with the tines;
  • the extending the tines of the mobile robot into the jacks of the target tray specifically includes:
  • the tines are controlled to protrude from the grooves of the tines and extend into the sockets of the target tray.
  • the mobile robot further includes a connecting mechanism
  • the maintaining a relatively static state between the tines and the target pallet and moving the vehicle body to below the target pallet specifically includes:
  • the connecting mechanism between the tines and the vehicle body keeps the tines and the target pallet in a stationary state relative to the ground, and moves the vehicle body to below the target pallet.
  • Methods also include:
  • the automatic pallet transportation method further includes:
  • the present invention also proposes an automatic pallet transportation system.
  • the pallet automatic transportation system is based on a mobile robot.
  • the mobile robot includes a controller, a vehicle body, and fork teeth. On the vehicle body;
  • the automatic pallet transport system includes:
  • the locking module is used to move to the cargo position in response to the handling instruction and lock the target pallet corresponding to the cargo position;
  • a fork module for controlling the fork teeth to extend and extend into the socket of the target tray
  • the lifting module is used to lift the target pallet to a preset height after the tines extend a preset length, and the preset height is higher than the height of the vehicle body;
  • the moving module is used to maintain the relative static state between the tines and the target pallet, and move the vehicle body to below the target pallet;
  • the handling module is used to lower the forks until the target pallet falls on the vehicle body, and move the target pallet to the target position corresponding to the handling instruction through the vehicle body.
  • the forking module includes:
  • the jack recognition module is used to obtain the jack position of the jack of the target tray, move the vehicle body according to the jack position, so that the tines of the mobile robot are aligned with the jack, the
  • the fork teeth are arranged in the fork teeth grooves on the vehicle body that are compatible with the fork teeth;
  • the fork brake module is used to control the fork teeth to protrude from the fork teeth groove and extend into the socket of the target tray.
  • the mobile module includes:
  • the vehicle body moving module is used to keep the fork teeth and the target pallet in a stationary state with respect to the ground through the connection mechanism between the fork teeth and the vehicle body, and to move the vehicle body to the target pallet Below.
  • the automatic pallet transport system further includes:
  • a lifting module for lifting the target pallet to the preset height
  • the removal module is used to maintain the relative static state between the tines and the target pallet, and move the vehicle body until the target vehicle body moves out of the target position;
  • the lowering module is used to lower the tines until the target tray falls on the target position.
  • the shrinking module is used to shrink the fork teeth into the fork teeth groove of the mobile robot and move to the pending area until the next handling instruction is received.
  • the present invention also provides an automatic pallet transportation device, which includes: a vehicle body, a fork, a connecting mechanism, a memory, a controller, and the storage device and the storage device.
  • the automatic pallet transportation program running on the controller is configured to implement the steps of the automatic pallet transportation method as described above.
  • the controller controls the vehicle body to move to the cargo position in response to a handling instruction, and locks the target pallet corresponding to the cargo position; controls the prongs to extend and extend into the position.
  • the target tray In the hole of the target tray; after the prongs extend a preset length, the target tray is lifted to a preset height, the preset height is higher than the height of the vehicle body; and the fork is maintained
  • Moving the target pallet to the target position corresponding to the handling instruction can realize the autonomous handling of the pallet without the assistance of manual, forklift or corresponding auxiliary equipment, realizing the unmanned and automation of the entire handling process, and reducing the cost of use , Reduced volume, lighter weight, does not require spacious transportation channels, improves warehouse utilization, and can realize cluster collaborative operation, improve handling speed and efficiency, not limited to the type of pallets, and can
  • FIG. 1 is a schematic diagram of the internal control structure of an automatic pallet transport device in a hardware operating environment involved in a solution of an embodiment of the present invention
  • FIG. 2 is a schematic flow chart of the first embodiment of the automatic pallet transportation method of the present invention.
  • Figure 3 is a schematic diagram of the transportation process of the automatic pallet transportation method of the present invention.
  • Fig. 4 is a functional module diagram of the first embodiment of the automatic pallet transportation system of the present invention.
  • the solution of the embodiment of the present invention is mainly: the present invention controls the vehicle body to move to the cargo position in response to the handling instruction through the controller, and locks the target pallet corresponding to the cargo position; controls the protruding of the tines, Extend into the hole of the target tray; after the tines extend a preset length, lift the target tray to a preset height, the preset height is higher than the height of the vehicle body; keep The tines and the target pallet are in a relatively static state, and the vehicle body is moved below the target pallet; the tines are lowered until the target pallet falls on the vehicle body and passes The vehicle body moves the target pallet to the target position corresponding to the handling instruction, which can realize the autonomous handling of the pallet without the assistance of manual, forklift or corresponding auxiliary equipment, and realizes the unmanned and automation of the entire handling process and reduces The use cost is reduced, the volume is reduced, and the weight is lighter.
  • Fig. 1 is a schematic diagram of the internal control structure of an automatic pallet transport device in a hardware operating environment involved in a solution of an embodiment of the present invention.
  • the automatic pallet transport equipment may include: a vehicle body, fork teeth, a connecting mechanism, the connecting mechanism and the fork teeth are respectively connected to the vehicle body, and the controller and the storage device are located in the vehicle body.
  • the internal control result of the automatic pallet transportation device includes a controller 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005.
  • the communication bus 1002 is used to implement connection and communication between these components.
  • the user interface 1003 may include a standard wired interface and a wireless interface.
  • the network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (Wireless-Fidelity, Wi-Fi) interface).
  • the memory 1005 may be a high-speed random access memory (Random Access Memory, RAM) memory, or a stable memory (Non-volatile Memory, NVM), such as a disk memory.
  • RAM Random Access Memory
  • NVM Non-volatile Memory
  • the memory 1005 may also be a storage device independent of the aforementioned controller 1001.
  • FIG. 1 does not constitute a limitation on the automatic pallet transportation equipment, and may include more or less components than shown in the figure, or combine certain components, or Different component arrangements.
  • the memory 1005 as a storage medium may include an operating system, a network communication module, a user-end interface module, and an automatic pallet transportation program.
  • the automatic pallet transportation equipment of the present invention calls the automatic pallet transportation program stored in the memory 1005 through the controller 1001, and performs the following operations:
  • controller 1001 may call the automatic pallet transportation program stored in the memory 1005, and also perform the following operations:
  • the tines are controlled to protrude from the grooves of the tines and extend into the sockets of the target tray.
  • controller 1001 may call the automatic pallet transportation program stored in the memory 1005, and also perform the following operations:
  • the connecting mechanism between the tines and the vehicle body keeps the tines and the target pallet in a stationary state relative to the ground, and moves the vehicle body to below the target pallet.
  • controller 1001 may call the automatic pallet transportation program stored in the memory 1005, and also perform the following operations:
  • controller 1001 may call the automatic pallet transportation program stored in the memory 1005, and also perform the following operations:
  • the controller controls the vehicle body to move to the cargo position in response to a handling instruction, and locks the target pallet corresponding to the cargo position; controls the prongs to extend and extend into the target In the socket of the pallet; after the tines extend a predetermined length, the target pallet is lifted to a predetermined height, the predetermined height is higher than the height of the vehicle body; keeping the tines and The relative static state between the target pallets, and move the car body to the bottom of the target pallet; lower the tines until the target pallet falls on the car body, and move the car body
  • the target pallet is moved to the target position corresponding to the handling instruction, which can realize the autonomous handling of the pallet without the assistance of manual, forklift or corresponding auxiliary equipment, realizes the unmanned and automation of the entire handling process, reduces the use cost, and reduces
  • the volume is reduced, the weight is lighter, and there is no need for a spacious transportation channel, which improves the utilization rate of the warehouse, and can realize the cluster-type collaborative operation, which
  • Figure 2 is a schematic flow chart of the first embodiment of the automatic pallet transportation method of the present invention.
  • the automatic pallet transportation method is based on a mobile robot, the mobile robot includes a controller, a vehicle body, and tines; the controller and the tines are provided on the vehicle body, and the The automatic pallet transportation method includes the following steps:
  • Step S10 Control the vehicle body to move to the cargo position in response to the handling instruction, and lock the target pallet corresponding to the cargo position.
  • the handling instruction is a pre-set instruction for transporting the target pallet of the target specified goods.
  • the handling instruction may be generated by an instant command sent by the control center, or may be preset inside the mobile robot Instructions within a certain period of time, for example, pre-entry the goods that need to be transported that day in the mobile robot, so that the mobile robot will carry the transport according to the transport instruction; the position of the goods and the corresponding target pallet can be determined by the transport instruction.
  • the mobile robot includes a controller, a vehicle body, and tines. Of course, it can also include more configurations, which is not limited in this embodiment.
  • Step S20 controlling the protruding tines to extend into the socket of the target tray.
  • the tines can be extended into the sockets of the target tray to prepare for the subsequent lifting of the tray.
  • the tines are arranged in the grooves of the tines on the vehicle body that are compatible with the tines; the step S20 specifically includes the following steps:
  • the tines are controlled to protrude from the grooves of the tines and extend into the sockets of the target tray.
  • the position of the socket of the target tray may differ in layout due to different pallet specifications.
  • the mobile robot can be moved by adjusting the fork. The distance and height of the teeth make the tines align with the sockets.
  • the alignment of the tines with the sockets can be confirmed by infrared detection, image recognition and confirmation by micro-cameras, or of course by It is confirmed in other ways that this embodiment does not impose restrictions on this; after the tines are aligned with the socket, the tines can be controlled to extend into the socket, and the tines corresponding to the tines exceed
  • the power can be arranged on the outer ends of the mobile robot, or can be arranged inside the mobile robot, in a telescopic shape, of course, it can also be arranged in other structures, which is not limited in this embodiment.
  • Step S30 Lift the target pallet to a preset height after the fork teeth extend a preset length, and the preset height is higher than the height of the vehicle body.
  • the preset length is the length estimated by the length of the socket of the target tray, which can be detected by infrared, camera, radar or other sensors.
  • the preset length is estimated, of course, the preset length can also be determined by other means, and this embodiment does not impose restrictions on this; the target tray is lifted to a preset height, and the preset height is higher than the preset height.
  • the height of the vehicle body that is, to ensure that the lowest position of the bottom surface of the target pallet is higher than the height of the vehicle body, the preset height is a preset lifting height, and the preset height is generally set higher than that of the vehicle body.
  • the height of the body is convenient for the subsequent mobile robot's body to move and enter.
  • Step S40 Keep the relative static state between the tines and the target pallet, and move the vehicle body below the target pallet.
  • step S40 specifically includes the following steps:
  • the connecting mechanism between the tines and the vehicle body keeps the tines and the target pallet in a stationary state relative to the ground, and moves the vehicle body to below the target pallet.
  • the relative static state of the fork teeth and the target pallet is maintained by the connection mechanism of the fork teeth and the vehicle body self-inspection, so that the vehicle body moves vertically below the target pallet
  • the handling process of the mobile robot may be as shown in FIG. 3, which is a schematic diagram of the transportation process of the automatic pallet transportation method of the present invention. As shown in FIG. 3, the vehicle body 001 first removes the fork teeth 002 from the forks.
  • the pallet 003 is lifted to a preset height; the connecting mechanism 004 makes the tines 002 and the tray 003 stationary relative to the ground DM
  • the car body 001 moves from point A to point B, that is, the car body 001 moves forward and enters under the tray 003.
  • the initial position of the car body 001 is at point A.
  • the position of the tooth 002 and the tray 003 are at point B.
  • the car body 001 moves from point A to point B, while the fork teeth 002 and the tray 003 remain stationary at the position of point B and do not move. , To reduce the requirements for the weight of the vehicle body 001, and make the handling process more lightweight.
  • Step S50 Lower the tines until the target pallet falls on the vehicle body, and move the target pallet to the target position corresponding to the transport instruction through the vehicle body.
  • the tines can be controlled to descend, so as to prevent the target pallet from being stolen on the body of the mobile robot, and then start to move the target pallet to Corresponding target position, that is, to the position that needs to be transported.
  • the body of the mobile robot bears the weight of the pallet, which can obtain greater load capacity and more stability, and the fork teeth are in the process of moving the pallet.
  • the medium is free of force, which reduces the pressure and movement impact on the fork-tooth mechanism, and improves the reliability and service life of the mobile robot.
  • the automatic pallet transportation method further includes the following steps:
  • the target pallet is transported to the target position, the target pallet is lifted, the tines and the target pallet are kept in a relatively static state, and the vehicle body is moved until the When the vehicle body is outside the target position, lower the tines until the target pallet lands smoothly on the target position, completing the entire handling process.
  • the automatic pallet transportation method further includes the following steps:
  • shrinking the tines is conducive to the rapid movement of the mobile robot, and the pending area is a fixed parking area for the mobile robot when it does not receive any handling instructions. Wait until the next transport instruction is received, and the pallet will be transported according to the transport instruction.
  • the controller controls the vehicle body to move to the cargo position in response to a handling instruction, and locks the target pallet corresponding to the cargo position; controls the prongs to extend and extend into the target In the socket of the pallet; after the tines extend a predetermined length, the target pallet is lifted to a predetermined height, the predetermined height is higher than the height of the vehicle body; keeping the tines and The relative static state between the target pallets, and move the car body to the bottom of the target pallet; lower the tines until the target pallet falls on the car body, and move the car body
  • the target pallet is moved to the target position corresponding to the handling instruction, which can realize the autonomous handling of the pallet without the assistance of manual, forklift or corresponding auxiliary equipment, realizes the unmanned and automation of the entire handling process, reduces the use cost, and reduces
  • the volume is reduced, the weight is lighter, and there is no need for a spacious transportation channel, which improves the utilization rate of the warehouse, and can realize the cluster-type collaborative operation, which
  • the present invention further provides an automatic pallet transportation system.
  • Fig. 4 is a functional module diagram of the first embodiment of the automatic pallet transportation system of the present invention.
  • the automatic pallet transportation system includes:
  • the locking module 10 is used to move to a cargo position in response to a handling instruction and lock the target pallet corresponding to the cargo position.
  • the handling instruction is a pre-set instruction for transporting the target pallet of the target specified goods.
  • the handling instruction may be generated by an instant command sent by the control center, or may be preset inside the mobile robot Instructions within a certain period of time, for example, pre-entry the goods that need to be transported that day in the mobile robot, so that the mobile robot will carry the transport according to the transport instruction; the position of the goods and the corresponding target pallet can be determined by the transport instruction.
  • the mobile robot includes a controller, a vehicle body, and tines. Of course, it can also include more configurations, which is not limited in this embodiment.
  • the fork module 20 is used to extend the fork teeth of the mobile robot into the socket of the target tray.
  • the tines can be extended into the sockets of the target tray to prepare for the subsequent lifting of the tray.
  • the lifting module 30 is used to lift the target pallet to a preset height after the fork teeth extend a preset length, and the preset height is higher than the height of the vehicle body.
  • the target pallet is lifted to a preset height, and the preset height is higher than the height of the vehicle body, that is, to ensure the target pallet
  • the preset height is a preset lifting height
  • the preset height is generally set to be higher than the height of the vehicle body to facilitate subsequent movement of the vehicle body of the mobile robot enter.
  • the moving module 40 is used to maintain the relative static state between the tines and the target pallet, and to move the vehicle body to below the target pallet.
  • the handling module 50 is used to lower the forks until the target pallet falls on the vehicle body, and move the target pallet to the target position corresponding to the handling instruction through the vehicle body.
  • the tines can be controlled to descend to prevent the target pallet from being stolen on the body of the mobile robot, and then start to move the target pallet to Corresponding target position, that is, to the position that needs to be transported.
  • the body of the mobile robot bears the weight of the pallet, which can obtain greater load capacity and more stability, and the fork teeth are in the process of moving the pallet.
  • the medium is free of force, which reduces the pressure and movement impact on the fork gear mechanism, and improves the reliability and service life of the mobile robot.
  • each functional module of the automatic pallet transportation system can refer to the various embodiments of the automatic pallet transportation method of the present invention, which will not be repeated here.
  • the locking module is used to move to the cargo position in response to the handling instruction, and lock the target pallet corresponding to the cargo position;
  • the fork picking module extends the tines of the mobile robot into the insert of the target pallet.
  • the lifting module lifts the target pallet to a preset height after the fork teeth extend a preset length, the preset height is higher than the height of the vehicle body;
  • the moving module keeps the fork teeth and
  • the target pallets are in a relatively static state, and the vehicle body is moved below the target pallet;
  • the handling module lowers the forks until the target pallet falls on the vehicle body and passes through the vehicle body
  • Moving the target pallet to the target position corresponding to the handling instruction can realize the autonomous handling of the pallet without the assistance of manual, forklift or corresponding auxiliary equipment, realizing the unmanned and automation of the entire handling process, and reducing the cost of use , Reduced volume, more lightweight, does not require spacious transportation channels, improves warehouse utilization, and can achieve cluster-type collaborative operation, which improves handling speed and

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Abstract

一种托盘自动运输方法、系统及设备，该托盘自动运输方法通过控制器（1001）响应于搬运指令控制车体（001）移动到货物位置，并锁定货物位置对应的目标托盘（003）；将叉齿（002）伸出，伸进目标托盘（003）的插孔中；在叉齿（002）完全伸入后，将目标托盘（003）举升至预设高度，预设高度高于车体（001）的高度；保持叉齿（002）与目标托盘（003）处于静止状态，移动车体（001）至目标托盘（003）的垂直下方；下降叉齿（002）直至目标托盘（003）落于车体（001）上，移动到搬运指令对应的目标位置，无需人工、叉车或相应的辅助设备辅助，能够实现托盘（003）搬运的无人化和自动化，减少了使用成本，减少了体积，更加轻量化，不需要宽敞的运输通道，提高了仓库利用率，且能实现集群式协同运作，提高了搬运速度和效率，不限于托盘的类型，能够提升普适率。

Description

托盘自动运输方法、系统及设备 技术领域
本发明涉及货物运输领域，尤其涉及一种托盘自动运输方法、系统及设备。
背景技术
目前现有托盘的搬运流程为叉车移动，将货叉防盗托盘插孔下面，货叉举升起来，托盘离地，叉车将托盘整体搬运；但是这种搬运方式存在以下缺点：叉车体积大、为了防止防盗倾覆需要对叉车进行配重，运行的通道要求宽敞，叉车转弯半径较大，影响仓库的库容，而且危险性较高，叉车安全事故时有发生；另一种托盘搬运流程为将托架放到固定位置，人工开叉车将托盘放到托架上，人工呼叫移动机器人，移动机器人进入托架底部，移动机器人举起托架，将托盘与托架整体搬运，这种搬运方式存在以下缺点：仍然需要人工和叉车协助搬运，需要额外的辅助设备，即托架，库位为托架，占用面积较大，影响仓库的库容，且对地面要求较高，维护困难，运行的通道较窄，叉车取托盘不方便。
发明内容
本发明的主要目的在于提供一种托盘自动运输方法、系统及设备，旨在解决现有技术中需要人工和叉车辅助搬运，减少了参考的库容，对搬运通道空间要求较高，无法实现托盘的自主搬运的技术问题。
为实现上述目的，本发明提供一种托盘自动运输方法，所述托盘自动运输方法包括以下步骤：
所述托盘自动运输方法基于移动机器人，所述移动机器人包括控制器、车体及叉齿，所述控制器和所述叉齿设于所述车体上；
所述控制器响应于搬运指令控制所述车体移动到货物位置，并锁定所述货物位置对应的目标托盘；
控制所述叉齿伸出，伸进所述目标托盘的插孔中；
在所述叉齿伸出预设长度后，将所述目标托盘举升至预设高度，所述预设 高度高于所述车体的高度；
保持所述叉齿与所述目标托盘之间的相对静止状态，并移动所述车体至所述目标托盘的下方；
下降所述叉齿直至所述目标托盘落于所述车体上，通过所述车体将所述目标托盘移动至所述搬运指令对应的目标位置。
优选地，所述叉齿设于所述车体上与所述叉齿相适应的叉齿槽内；
所述将所述移动机器人的叉齿伸出，伸进所述目标托盘的插孔中，具体包括：
获取所述目标托盘的插孔的插孔位置，根据所述插孔位置移动所述车体，以使所述移动机器人的叉齿对准所述插孔；
控制所述叉齿从所述叉齿槽中伸出，伸进所述目标托盘的插孔中。
优选地，所述移动机器人还包括连接机构；
所述保持所述叉齿与所述目标托盘之间的相对静止状态，并移动所述车体至所述目标托盘的下方，具体包括：
通过所述叉齿与所述车体间的连接机构保持所述叉齿与所述目标托盘相对于地面处于静止状态，并移动所述车体至所述目标托盘的下方。
优选地，所述下降所述叉齿直至所述目标托盘落于所述车体上，通过所述车体将所述目标托盘移动至所述搬运指令对应的目标位置之后，所述托盘自动运输方法还包括：
将所述目标托盘举升至所述预设高度；
保持所述叉齿与所述目标托盘之间的相对静止状态，移动所述车体直至所述目标车体移出所述目标位置；
下降所述叉齿直至所述目标托盘落在所述目标位置上。
优选地，所述下降所述叉齿直至所述目标托盘落在所述目标位置上之后，所述托盘自动运输方法还包括：
收缩所述叉齿至所述移动机器人的叉齿槽内，移动到待定区域，直至接收到下一搬运指令。
此外，为实现上述目的，本发明还提出一种托盘自动运输系统，所述托盘自动运输系统基于移动机器人，所述移动机器人包括控制器、车体及叉齿，所 述控制器和叉齿设于所述车体上；
所述托盘自动运输系统包括：
锁定模块，用于响应于搬运指令移动到货物位置，并锁定所述货物位置对应的目标托盘；
叉取模块，用于控制所述叉齿伸出，伸进所述目标托盘的插孔中；
托举模块，用于在所述叉齿伸出预设长度后，将所述目标托盘举升至预设高度，所述预设高度高于车体的高度；
移动模块，用于保持所述叉齿与所述目标托盘之间的相对静止状态，并移动所述车体至所述目标托盘的下方；
搬运模块，用于下降所述叉齿直至所述目标托盘落于所述车体上，通过所述车体将所述目标托盘移动至所述搬运指令对应的目标位置。
优选地，所述叉取模块包括：
插孔识别模块，用于获取所述目标托盘的插孔的插孔位置，根据所述插孔位置移动所述车体，以使所述移动机器人的叉齿对准所述插孔，所述叉齿设于所述车体上与所述叉齿相适应的叉齿槽内；
叉齿制动模块，用于控制所述叉齿从所述叉齿槽中伸出，伸进所述目标托盘的插孔中。
优选地，所述移动模块包括：
车体移动模块，用于通过所述叉齿与所述车体间的连接机构保持所述叉齿与所述目标托盘相对于地面处于静止状态，并移动所述车体至所述目标托盘的下方。
优选地，所述托盘自动运输系统还包括：
举升模块，用于将所述目标托盘举升至所述预设高度；
移出模块，用于保持所述叉齿与所述目标托盘之间的相对静止状态，移动所述车体直至所述目标车体移出所述目标位置；
下降模块，用于下降所述叉齿直至所述目标托盘落在所述目标位置上。
收缩模块，用于收缩所述叉齿至所述移动机器人的叉齿槽内，移动到待定区域，直至接收到下一搬运指令。
此外，为实现上述目的，本发明还提出一种托盘自动运输设备，所述托盘 自动运输设备包括：车体、叉齿、连接机构、存储器、控制器及存储在所述存储器上并可在所述控制器上运行的托盘自动运输程序，所述托盘自动运输程序配置为实现如上文所述的托盘自动运输方法的步骤。
本发明提出的托盘自动运输方法，通过所述控制器响应于搬运指令控制所述车体移动到货物位置，并锁定所述货物位置对应的目标托盘；控制所述叉齿伸出，伸进所述目标托盘的插孔中；在所述叉齿伸出预设长度后，将所述目标托盘举升至预设高度，所述预设高度高于所述车体的高度；保持所述叉齿与所述目标托盘之间的相对静止状态，并移动所述车体至所述目标托盘的下方；下降所述叉齿直至所述目标托盘落于所述车体上，通过所述车体将所述目标托盘移动至所述搬运指令对应的目标位置，能够实现托盘的自主搬运，无需人工、叉车或相应的辅助设备辅助，实现了整个搬运流程的无人化和自动化，减少了使用成本，减少了体积，更加轻量化，不需要宽敞的运输通道，提高了仓库利用率，且能实现集群式协同运作，提高了搬运速度和效率，不限于托盘的类型，能够提升普适率。
附图说明
图1为本发明实施例方案涉及的硬件运行环境的托盘自动运输设备内部控制结构示意图；
图2为本发明托盘自动运输方法第一实施例的流程示意图；
图3为本发明托盘自动运输方法运输过程示意图；
图4为本发明托盘自动运输系统第一实施例的功能模块图。
本发明目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。
具体实施方式
应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。
本发明实施例的解决方案主要是：本发明通过所述控制器响应于搬运指令控制所述车体移动到货物位置，并锁定所述货物位置对应的目标托盘；控制所 述叉齿伸出，伸进所述目标托盘的插孔中；在所述叉齿伸出预设长度后，将所述目标托盘举升至预设高度，所述预设高度高于所述车体的高度；保持所述叉齿与所述目标托盘之间的相对静止状态，并移动所述车体至所述目标托盘的下方；下降所述叉齿直至所述目标托盘落于所述车体上，通过所述车体将所述目标托盘移动至所述搬运指令对应的目标位置，能够实现托盘的自主搬运，无需人工、叉车或相应的辅助设备辅助，实现了整个搬运流程的无人化和自动化，减少了使用成本，减少了体积，更加轻量化，不需要宽敞的运输通道，提高了仓库利用率，且能实现集群式协同运作，提高了搬运速度和效率，不限于托盘的类型，能够提升普适率，解决了现有技术中需要人工和叉车辅助搬运，减少了参考的库容，对搬运通道空间要求较高，无法实现托盘的自主搬运的技术问题。
参照图1，图1为本发明实施例方案涉及的硬件运行环境的托盘自动运输设备内部控制结构示意图。
如图1所示，该托盘自动运输设备可以包括：车体、叉齿、连接机构、所述连接机构和所述叉齿分别与所述车体连接，所述控制器和存储器位于所述车体的内部，所述托盘自动运输设备内部控制结果包括控制器1001，例如中央处理器(Central Processing Unit，CPU)，通信总线1002、用户接口1003，网络接口1004，存储器1005。其中，通信总线1002用于实现这些组件之间的连接通信。用户接口1003可以包括标准的有线接口、无线接口。网络接口1004可选的可以包括标准的有线接口、无线接口(如无线保真(Wireless-Fidelity，Wi-Fi)接口)。存储器1005可以是高速的随机存取存储器(Random Access Memory，RAM)存储器，也可以是稳定的存储器(Non-volatile Memory，NVM)，例如磁盘存储器。存储器1005可选的还可以是独立于前述控制器1001的存储装置。
本领域技术人员可以理解，图1中示出的托盘自动运输设备结构并不构成对该托盘自动运输设备的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件布置。
如图1所示，作为一种存储介质的存储器1005中可以包括操作系统、网络通信模块、用户端接口模块以及托盘自动运输程序。
本发明托盘自动运输设备通过控制器1001调用存储器1005中存储的托盘自动运输程序，并执行以下操作：
响应于搬运指令控制车体移动到货物位置，并锁定所述货物位置对应的目标托盘；
控制所述叉齿伸出，伸进所述目标托盘的插孔中；
在所述叉齿伸出预设长度后，将所述目标托盘举升至预设高度，所述预设高度高于所述车体的高度；
保持所述叉齿与所述目标托盘之间的相对静止状态，并移动所述车体至所述目标托盘的下方；
下降所述叉齿直至所述目标托盘落于所述车体上，通过所述车体将所述目标托盘移动至所述搬运指令对应的目标位置。
进一步地，控制器1001可以调用存储器1005中存储的托盘自动运输程序，还执行以下操作：
获取所述目标托盘的插孔的插孔位置，根据所述插孔位置移动所述车体，以使所述移动机器人的叉齿对准所述插孔；
控制所述叉齿从所述叉齿槽中伸出，伸进所述目标托盘的插孔中。
进一步地，控制器1001可以调用存储器1005中存储的托盘自动运输程序，还执行以下操作：
通过所述叉齿与所述车体间的连接机构保持所述叉齿与所述目标托盘相对于地面处于静止状态，并移动所述车体至所述目标托盘的下方。
进一步地，控制器1001可以调用存储器1005中存储的托盘自动运输程序，还执行以下操作：
将所述目标托盘举升至所述预设高度；
保持所述叉齿与所述目标托盘之间的相对静止状态，移动所述车体直至所述目标车体移出所述目标位置；
下降所述叉齿直至所述目标托盘落在所述目标位置上。
进一步地，控制器1001可以调用存储器1005中存储的托盘自动运输程序，还执行以下操作：
收缩所述叉齿至所述移动机器人的叉齿槽内，移动到待定区域，直至接收到下一搬运指令。
本实施例通过上述方案，通过所述控制器响应于搬运指令控制所述车体移动到货物位置，并锁定所述货物位置对应的目标托盘；控制所述叉齿伸出，伸进所述目标托盘的插孔中；在所述叉齿伸出预设长度后，将所述目标托盘举升至预设高度，所述预设高度高于所述车体的高度；保持所述叉齿与所述目标托盘之间的相对静止状态，并移动所述车体至所述目标托盘的下方；下降所述叉齿直至所述目标托盘落于所述车体上，通过所述车体将所述目标托盘移动至所述搬运指令对应的目标位置，能够实现托盘的自主搬运，无需人工、叉车或相应的辅助设备辅助，实现了整个搬运流程的无人化和自动化，减少了使用成本，减少了体积，更加轻量化，不需要宽敞的运输通道，提高了仓库利用率，且能实现集群式协同运作，提高了搬运速度和效率，不限于托盘的类型，能够提升普适率。
基于上述硬件结构，提出本发明托盘自动运输方法实施例。
参照图2，图2为本发明托盘自动运输方法第一实施例的流程示意图。
在第一实施例中，所述托盘自动运输方法基于移动机器人，所述移动机器人包括控制器、车体及叉齿；所述控制器和所述叉齿设于所述车体上，所述托盘自动运输方法包括以下步骤：
步骤S10、响应于搬运指令控制车体移动到货物位置，并锁定所述货物位置对应的目标托盘。
需要说明的是，所述搬运指令为预先设置的用对目标指定货物的目标托盘进行搬运的指令，所述搬运指令可以是通过控制中心发送的即时命令生成，也可以是预先设置在移动机器人内部的一定周期内的指令，例如将当天需要进行搬运的货物预先录入在移动机器人内，使所述移动机器人根据搬运指令进行搬运；通过所述搬运指令可以确定货物位置以及对应的目标托盘，所述移动机器人包括控制器、车体和叉齿，当然还可以包括更多的配置，本实施例对此不加以限制。
步骤S20、控制所述叉齿伸出，伸进所述目标托盘的插孔中。
可以理解的是，在确定了所述目标托盘的位置后，可以将所述叉齿伸进所述目标托盘的插孔中，为后续托起托盘做准备。
进一步地，所述叉齿设于所述车体上与所述叉齿相适应的叉齿槽内；所述步骤S20具体包括以下步骤：
获取所述目标托盘的插孔的插孔位置，根据所述插孔位置移动所述车体，以使所述移动机器人的叉齿对准所述插孔；
控制所述叉齿从所述叉齿槽中伸出，伸进所述目标托盘的插孔中。
应当理解的是，所述目标托盘的插孔的插孔位置由于不同的托盘规格会存在布置上的不同，此时通过确定所述目标托盘的插孔位置后可以移动所述移动机器人通过调节叉齿的距离和高度使所述叉齿对准所述插孔，所述叉齿对准所述插孔可以利用红外线探测的方式确认、也可以通过微型摄像头进行图像识别确认，当然还可以是通过其他方式确认，本实施例对此不加以限制；在所述叉齿对准了所述插孔后，可以控制所述叉齿伸进所述插孔中，所述叉齿对应的叉齿超威可以设置在所述移动机器人的外部两端，也可以设置在所述移动机器人的内部，呈伸缩状，当然也可以为其他结构设置，本实施例对此不加以限制。
步骤S30、在所述叉齿伸出预设长度后，将所述目标托盘举升至预设高度，所述预设高度高于所述车体的高度。
应当理解的是，在所述叉齿伸出预设长度后，所述预设长度为通过所述目标托盘的插孔长度预估的长度，可以通过红外、摄像、雷达或其他传感器的检测方式预估所述预设长度，当然也可以是通过其他方式确定预设长度，本实施例对此不加以限制；将所述目标托盘举升至预设高度，所述预设高度高于所述车体的高度，即保证所述目标托盘的底面最低位置比所述车体的高度高，所述预设高度为预先设置的托举高度，所述预设高度一般设置为高于所述车体的高度，方便后续移动机器人的车体移动进入。
步骤S40、保持所述叉齿与所述目标托盘之间的相对静止状态，并移动所述车体至所述目标托盘的下方。
可以理解的是，保持所述叉齿与所述目标托盘之间的相对静止状态可以使托盘的举升变成一个静载荷，减少了对叉臂机构和回收驱动力的要求，可以通过并移动所述车体至所述目标托盘的下方，通过所述移动机器人的车体相对运 动，可以保证叉齿举升，不发生运动，减少对移动机器人本体配重的要求，更加轻量化。
进一步地，所述步骤S40具体包括以下步骤：
通过所述叉齿与所述车体间的连接机构保持所述叉齿与所述目标托盘相对于地面处于静止状态，并移动所述车体至所述目标托盘的下方。
在具体实现中，通过所述叉齿与所述车体自检的连接机构保持所述叉齿与所述目标托盘的相对静止状态，进而使得所述车体移动至所述目标托盘的垂直下方，所述移动机器人的搬运过程可以如图3所示，图3为本发明托盘自动运输方法运输过程示意图，如图3所示，所述车体001首先将所述叉齿002从所述叉齿槽中伸出，将所述叉齿002插入所述托盘003后，将所述托盘003托举至预设高度；再通过连接机构004使得所述叉齿002和托盘003相对于地面DM静止不动，车体001从A点移动至B点，即车体001向前运动进入到托盘003底下，车体001的初始位置在A点，将所述托盘003托举至预设高度之后，插齿002和托盘003的位置在B点，整过过程，所述车体001由A点向B点运动，而叉齿002和托盘003则保持在B点的位置静止不动，不发生运动，减少对所述车体001配重的要求，使搬运过程更加轻量化。
步骤S50、下降所述叉齿直至所述目标托盘落于所述车体上，通过所述车体将所述目标托盘移动至所述搬运指令对应的目标位置。
应当理解的是，在所述车体进入所述目标托盘的底下后，可以控制所述叉齿下降，进而将所述目标托盘防盗所述移动机器人的本体上，进而开始移动所述目标托盘至对应的目标位置，即送达到需要搬运到的位置，在整个搬运过程中，所述移动机器人的本体承受托盘的重量，可以得到更大的负载能力，更加稳定，且叉齿在移动托盘的过程中不受力，减少了对叉齿机构的压力和运动冲击，提高了移动机器人的可靠性和使用寿命。
进一步地，所述步骤S50之后，所述托盘自动运输方法还包括以下步骤：
将所述目标托盘举升至所述预设高度；
保持所述叉齿与所述目标托盘之间的相对静止状态，移动所述车体直至所述目标车体移出所述目标位置；
下降所述叉齿直至所述目标托盘落在所述目标位置上。
可以理解的是，在将所述目标托盘搬运到目标位置后，将所述目标托盘举 升，保持所述叉齿与所述目标托盘之间的相对静止状态，移动所述车体直至所述车体在所述目标位置之外，下降所述叉齿直至所述目标托盘在所述目标位置上平稳落地，完成整个搬运过程。
进一步地，所述步骤下降所述叉齿直至所述目标托盘落在所述目标位置上之后，所述托盘自动运输方法还包括以下步骤：
收缩所述叉齿至所述移动机器人的叉齿槽内，移动到待定区域，直至接收到下一搬运指令。
应当理解的是，将所述叉齿收缩后有利于所述移动机器人的快速移动，所述待定区域为所述移动机器人在未接收到任何搬运指令时的固定停放区域，在所述待定区域进行等待，直至接收到下一搬运指令后，根据搬运指令进行托盘的搬运。
本实施例通过上述方案，通过所述控制器响应于搬运指令控制所述车体移动到货物位置，并锁定所述货物位置对应的目标托盘；控制所述叉齿伸出，伸进所述目标托盘的插孔中；在所述叉齿伸出预设长度后，将所述目标托盘举升至预设高度，所述预设高度高于所述车体的高度；保持所述叉齿与所述目标托盘之间的相对静止状态，并移动所述车体至所述目标托盘的下方；下降所述叉齿直至所述目标托盘落于所述车体上，通过所述车体将所述目标托盘移动至所述搬运指令对应的目标位置，能够实现托盘的自主搬运，无需人工、叉车或相应的辅助设备辅助，实现了整个搬运流程的无人化和自动化，减少了使用成本，减少了体积，更加轻量化，不需要宽敞的运输通道，提高了仓库利用率，且能实现集群式协同运作，提高了搬运速度和效率，不限于托盘的类型，能够提升普适率。
基于上述托盘自动运输方法的实施例，本发明进一步提供一种托盘自动运输系统。
参照图4，图4为本发明托盘自动运输系统第一实施例的功能模块图。
本发明托盘自动运输系统第一实施例中，该托盘自动运输系统包括：
锁定模块10，用于响应于搬运指令移动到货物位置，并锁定所述货物位置对应的目标托盘。
需要说明的是，所述搬运指令为预先设置的用对目标指定货物的目标托盘 进行搬运的指令，所述搬运指令可以是通过控制中心发送的即时命令生成，也可以是预先设置在移动机器人内部的一定周期内的指令，例如将当天需要进行搬运的货物预先录入在移动机器人内，使所述移动机器人根据搬运指令进行搬运；通过所述搬运指令可以确定货物位置以及对应的目标托盘，所述移动机器人包括控制器、车体和叉齿，当然还可以包括更多的配置，本实施例对此不加以限制。
叉取模块20，用于将移动机器人的叉齿伸出，伸进所述目标托盘的插孔中。
可以理解的是，在确定了所述目标托盘的位置后，可以将所述叉齿伸进所述目标托盘的插孔中，为后续托起托盘做准备。
托举模块30，用于在所述叉齿伸出预设长度后，将所述目标托盘举升至预设高度，所述预设高度高于车体的高度。
应当理解的是，在所述叉齿伸出预设长度后，将所述目标托盘举升至预设高度，所述预设高度高于所述车体的高度，即保证所述目标托盘的底面最低位置比所述车体的高度高，所述预设高度为预先设置的托举高度，所述预设高度一般设置为高于所述车体的高度，方便后续移动机器人的车体移动进入。
移动模块40，用于保持所述叉齿与所述目标托盘之间的相对静止状态，并移动所述车体至所述目标托盘的下方。
可以理解的是，保持所述叉齿与所述目标托盘之间的相对静止状态可以使托盘的举升变成一个静载荷，减少了对叉臂机构和回收驱动力的要求，可以通过并移动所述车体至所述目标托盘的下方，通过所述移动机器人的车体相对运动，可以保证叉齿举升，不发生运动，减少对移动机器人本体配重的要求，更加轻量化。
搬运模块50，用于下降所述叉齿直至所述目标托盘落于所述车体上，通过所述车体将所述目标托盘移动至所述搬运指令对应的目标位置。
应当理解的是，在所述车体进入所述目标托盘的底下后，可以控制所述叉齿下降，进而将所述目标托盘防盗所述移动机器人的本体上，进而开始移动所述目标托盘至对应的目标位置，即送达到需要搬运到的位置，在整个搬运过程中，所述移动机器人的本体承受托盘的重量，可以得到更大的负载能力，更加稳定，且叉齿在移动托盘的过程中不受力，减少了对叉齿机构的压力和运动冲 击，提高了移动机器人的可靠性和使用寿命。
其中，托盘自动运输系统的各个功能模块实现的步骤可参照本发明托盘自动运输方法的各个实施例，此处不再赘述。
本实施例通过上述方案，通过锁定模块响应于搬运指令移动到货物位置，并锁定所述货物位置对应的目标托盘；叉取模块将移动机器人的叉齿伸出，伸进所述目标托盘的插孔中；托举模块在所述叉齿伸出预设长度后，将所述目标托盘举升至预设高度，所述预设高度高于车体的高度；移动模块保持所述叉齿与所述目标托盘之间的相对静止状态，并移动所述车体至所述目标托盘的下方；搬运模块下降所述叉齿直至所述目标托盘落于所述车体上，通过所述车体将所述目标托盘移动至所述搬运指令对应的目标位置，能够实现托盘的自主搬运，无需人工、叉车或相应的辅助设备辅助，实现了整个搬运流程的无人化和自动化，减少了使用成本，减少了体积，更加轻量化，不需要宽敞的运输通道，提高了仓库利用率，且能实现集群式协同运作，提高了搬运速度和效率，不限于托盘的类型，能够提升普适率。
需要说明的是，在本文中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者装置不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者装置所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者装置中还存在另外的相同要素。
上述本发明实施例序号仅仅为了描述，不代表实施例的优劣。
以上仅为本发明的优选实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。

Claims (10)

  1. 一种托盘自动运输方法，其特征在于，所述托盘自动运输方法基于移动机器人，所述移动机器人包括控制器、车体及叉齿，所述控制器和所述叉齿设于所述车体上，所述托盘自动运输方法包括：
    所述控制器响应于搬运指令控制所述车体移动到货物位置，并锁定所述货物位置对应的目标托盘；
    控制所述叉齿伸出，伸进所述目标托盘的插孔中；
    在所述叉齿伸出预设长度后，将所述目标托盘举升至预设高度，所述预设高度高于所述车体的高度；
    保持所述叉齿与所述目标托盘之间的相对静止状态，并移动所述车体至所述目标托盘的下方；
    下降所述叉齿直至所述目标托盘落于所述车体上，通过所述车体将所述目标托盘移动至所述搬运指令对应的目标位置。
  2. 如权利要求1所述的托盘自动运输方法，其特征在于，所述叉齿设于所述车体上与所述叉齿相适应的叉齿槽内；
    所述将所述移动机器人的叉齿伸出，伸进所述目标托盘的插孔中，具体包括：
    获取所述目标托盘的插孔的插孔位置，根据所述插孔位置移动所述车体，以使所述移动机器人的叉齿对准所述插孔；
    控制所述叉齿从所述叉齿槽中伸出，伸进所述目标托盘的插孔中。
  3. 如权利要求2所述的托盘自动运输方法，其特征在于，所述移动机器人还包括连接机构；
    所述保持所述叉齿与所述目标托盘之间的相对静止状态，并移动所述车体至所述目标托盘的下方，具体包括：
    通过所述叉齿与所述车体间的连接机构保持所述叉齿与所述目标托盘相对于地面处于静止状态，并移动所述车体至所述目标托盘的下方。
  4. 如权利要求1所述的托盘自动运输方法，其特征在于，所述下降所述叉齿直至所述目标托盘落于所述车体上，通过所述车体将所述目标托盘移动至所述搬运指令对应的目标位置之后，所述托盘自动运输方法还包括：
    将所述目标托盘举升至所述预设高度；
    保持所述叉齿与所述目标托盘之间的相对静止状态，移动所述车体直至所述目标车体移出所述目标位置；
    下降所述叉齿直至所述目标托盘落在所述目标位置上。
  5. 如权利要求2所述的托盘自动运输方法，其特征在于，所述下降所述叉齿直至所述目标托盘落在所述目标位置上之后，所述托盘自动运输方法还包括：
    收缩所述叉齿至所述移动机器人的叉齿槽内，移动到待定区域，直至接收到下一搬运指令。
  6. 一种托盘自动运输系统，其特征在于，所述托盘自动运输系统基于移动机器人，所述移动机器人包括控制器、车体及叉齿，所述控制器和叉齿设于所述车体上；
    所述托盘自动运输系统包括：
    锁定模块，用于响应于搬运指令移动到货物位置，并锁定所述货物位置对应的目标托盘；
    叉取模块，用于控制所述叉齿伸出，伸进所述目标托盘的插孔中；
    托举模块，用于在所述叉齿伸出预设长度后，将所述目标托盘举升至预设高度，所述预设高度高于车体的高度；
    移动模块，用于保持所述叉齿与所述目标托盘之间的相对静止状态，并移动所述车体至所述目标托盘的下方；
    搬运模块，用于下降所述叉齿直至所述目标托盘落于所述车体上，通过所述车体将所述目标托盘移动至所述搬运指令对应的目标位置。
  7. 如权利要求7所述的托盘自动运输系统，其特征在于，所述叉取模块包括：
    插孔识别模块，用于获取所述目标托盘的插孔的插孔位置，根据所述插孔位置移动所述车体，以使所述移动机器人的叉齿对准所述插孔，所述叉齿设于所述车体上与所述叉齿相适应的叉齿槽内；
    叉齿制动模块，用于控制所述叉齿从所述叉齿槽中伸出，伸进所述目标托盘的插孔中。
  8. 如权利要求7所述的托盘自动运输系统，其特征在于，所述移动模块包括：
    车体移动模块，用于通过所述叉齿与所述车体间的连接机构保持所述叉齿与所述目标托盘相对于地面处于静止状态，并移动所述车体至所述目标托盘的下方。
  9. 如权利要求6所述的托盘自动运输系统，其特征在于，所述托盘自动运输系统还包括：
    举升模块，用于将所述目标托盘举升至所述预设高度；
    移出模块，用于保持所述叉齿与所述目标托盘之间的相对静止状态，移动所述车体直至所述目标车体移出所述目标位置；
    下降模块，用于下降所述叉齿直至所述目标托盘落在所述目标位置上。
    收缩模块，用于收缩所述叉齿至所述移动机器人的叉齿槽内，移动到待定区域，直至接收到下一搬运指令。
  10. 一种托盘自动运输设备，其特征在于，所述托盘自动运输设备包括：车体、叉齿、连接机构、存储器、控制器及存储在所述存储器上并可在所述控制器上运行的托盘自动运输程序，所述托盘自动运输程序配置为实现如权利要求1至5中任一项所述的托盘自动运输方法的步骤。
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