WO2023036335A1 - Transport robot and method for retrieving and transporting box - Google Patents

Abstract

A transport robot and a method for retrieving and transporting a box. The transport robot comprises a chassis assembly (100); a gantry assembly (200), the gantry assembly being connected to the chassis assembly; a box retrieval and return assembly (300), the box retrieval and return assembly being constructed to move up and down along the gantry assembly, and the box retrieval and return assembly comprising a telescopic fork mechanism that extends or retracts; and obstacle detection modules (410, 420), the obstacle detection modules being configured to detect whether the extension path of the telescopic fork mechanism is blocked; the telescopic fork mechanism is configured to extend out when the obstacle detection modules detect that the extension path of the telescopic fork mechanism is not blocked. The described transport robot improves the automation, accuracy and safety of the process of box retrieval and return.

Description

A handling robot and method for picking and delivering boxes

This application is required to be submitted to the China Patent Office on September 13, 2021, the application number is 202111071117.5, the title of the invention is "a handling robot and a method for picking up and delivering boxes", and it is submitted to the China Patent Office on September 13, 2021, and the application number is 202122211632.0 , the title of the invention is "a handling robot", submitted to the China Patent Office on September 13, 2021, the application number is 202220680318.9, and the priority of the Chinese patent application titled "handling robot", the entire content of which is incorporated herein by reference Applying.

technical field

The present application relates to the field of warehousing and logistics, in particular to a handling robot; the present application also relates to a method for picking and delivering boxes.

Background technique

Intelligent warehousing is the development trend of logistics. The application of intelligent warehousing needs to ensure the speed and accuracy of data input in all aspects of cargo warehouse management, ensure that enterprises can grasp the real data of inventory in a timely and accurate manner, and maintain and control enterprise inventory reasonably. Through scientific coding, it is also convenient to manage the batches and shelf life of inventory goods. Utilizing the location management function of the SNHGES system, it is possible to grasp the current location of all inventory goods in a timely manner, which is conducive to improving the efficiency of warehouse management.

Handling robots play an important role in intelligent warehousing. Handling robots replace manual handling of goods. Before the current handling robot takes out the material box from the rack, it needs to pre-label the material box, such as QR code, radio frequency identification label, etc. , the handling robot judges the orientation of the material box by identifying the label attached to the material box. However, labeling the bins requires a lot of work, resulting in high production costs.

In addition, due to the installation accuracy of the material rack, the unevenness of the roadway ground, and the offset of the material box when it is placed, it is difficult to ensure that the box components will not be separated from each other during the box picking process only by operating instructions preset in the system. The bins collide, creating a hazard. Therefore, need badly a kind of scheme that solves this problem.

Contents of the invention

In order to solve the problems existing in the prior art, an object of the embodiments of the present application is to provide a handling robot and a method for picking and delivering boxes.

According to the first aspect of the present application, a handling robot is provided, including:

Chassis components;

a door frame assembly, the door frame assembly is connected to the chassis assembly;

a retrieval box assembly, the retrieval box assembly is configured to move up and down along the door frame assembly; the retrieval box assembly includes a telescopic fork mechanism for extending or retracting;

An obstacle detection module, the obstacle detection module is configured to detect whether the extension path of the telescopic fork mechanism is blocked;

The telescopic fork mechanism is configured to protrude when the obstacle detection module detects that the protruding path of the telescopic fork mechanism is unobstructed.

In one embodiment of the present disclosure, the telescopic fork mechanism includes a pair of first telescopic arm and a second telescopic arm arranged in parallel; the obstacle detection module is provided with at least two, respectively arranged on the first telescopic The first obstacle detection module at the front end of the arm, and the second obstacle detection module at the front end of the second telescopic arm.

In one embodiment of the present disclosure, the retrieving and returning box assembly includes a box tray for carrying the box, and the first telescopic arm and the second telescopic arm are arranged on opposite sides of the box tray and configured to When the first obstacle detection module and the second obstacle detection module detect that the corresponding extension paths are not blocked, they extend relative to the bin tray.

In an embodiment of the present disclosure, each set of telescopic arms of the telescopic fork mechanism is a telescopic arm extended at one stage, or a telescopic arm extended at least two stages; the obstacle detection module is arranged on the telescopic fork mechanism The front end position of the end telescopic arm.

In one embodiment of the present disclosure, a control unit is further included, and the control unit sends a stop call in response to the first obstacle detection module and the second obstacle detection module detecting that the corresponding extension paths are blocked. bin command, and report an exception; and,

In response to one of the first obstacle detection module and the second obstacle detection module detecting that the corresponding extension path is blocked, the chassis assembly is controlled to move a corresponding distance to the blocked side.

In one embodiment of the present disclosure, in response to one of the first obstacle detection module and the second obstacle detection module detecting that the corresponding extension path is blocked, the chassis assembly is controlled to the blocked side Move the corresponding distance within the predetermined movement threshold range.

In an embodiment of the present disclosure, before the extension of the telescopic fork mechanism, the control unit responds to one of the first obstacle detection module and the second obstacle detection module detecting that the corresponding extension path is blocked , control the chassis assembly to move a corresponding distance to the shaded side.

In one embodiment of the present disclosure, during the extension process of the telescopic fork mechanism, the control unit responds to at least one electrical signal triggered when the first obstacle detection module and the second obstacle detection module detect in real time , control the telescopic fork mechanism to stop stretching out.

In one embodiment of the present disclosure, the obstacle detection module is a laser sensor or an infrared sensor.

In one embodiment of the present disclosure, it further includes a three-dimensional imaging module arranged on the retrieval box assembly, and the three-dimensional imaging module is configured to obtain three-dimensional position information of the material box.

In one embodiment of the present disclosure, the retrieval box assembly includes a material box tray for carrying material boxes, and a rear baffle located at the rear end of the material box tray; the three-dimensional imaging module is arranged at the center of the rear baffle Location.

In one embodiment of the present disclosure, a control unit is included, the control unit is configured to control the chassis assembly to move a corresponding distance within a predetermined movement threshold range based on the positional deviation from the bin obtained by the three-dimensional imaging module; and/or Or, control the bin tray to rotate at a corresponding angle within a predetermined rotation threshold range.

In one embodiment of the present disclosure, the three-dimensional imaging module includes a depth camera.

In one embodiment of the present disclosure, it further includes a two-dimensional imaging module arranged on the retrieving box assembly, and the two-dimensional imaging module is configured to obtain position information of marks on the material rack.

In one embodiment of the present disclosure, the retrieving box assembly includes a base and a material box tray arranged on the base; the two-dimensional imaging module is arranged at the center of the base, and is used to obtain the material shelf beam Location information for the identity of the central location.

In one embodiment of the present disclosure, a control unit is included, the control unit is configured to control the chassis assembly to move a corresponding distance within a predetermined movement threshold range based on the position deviation from the marker obtained by the two-dimensional imaging module; and/or Or control the lifting and lowering of the retrieving box assembly to a corresponding height.

In one embodiment of the present disclosure, when retrieving the material box, drive the retrieving and returning box assembly to lift to make the bearing surface of the material box tray lower than the bearing surface for placing the material box on the material rack; when feeding the material box, drive the The take-and-return box assembly is lifted to make the load-bearing surface of the material box tray higher than the load-bearing surface for placing the material box on the material rack.

According to a second aspect of the present application, a handling robot is provided, including:

Chassis components;

a door frame assembly, the door frame assembly is connected to the chassis assembly;

a retrieval box assembly, the retrieval box assembly is configured to move up and down along the door frame assembly; the retrieval box assembly includes a telescopic fork mechanism for extending or retracting;

A three-dimensional imaging module is arranged on the retrieving and returning box assembly, and the three-dimensional imaging module is configured to obtain three-dimensional position information of the material box.

In one embodiment of the present disclosure, the handling robot also includes:

A control unit configured to control the chassis assembly to move a corresponding distance within a predetermined movement threshold range based on the distance deviation between the retrieving box assembly and the material box obtained by the three-dimensional imaging module.

In one embodiment of the present disclosure, the control unit is configured to drive the chassis assembly to move to The center of the retrieval box assembly is aligned with the center of the material box.

In an embodiment of the present disclosure, the control unit is further configured to report an abnormality when the distance that the chassis component needs to move exceeds the predetermined movement threshold range.

In an embodiment of the present disclosure, when the control unit is configured as a retrieving box, it controls the lifting of the retrieving and returning box assembly so that the bearing surface of the retrieving and returning box assembly carrying the material box is lower than the material shelf a load-bearing surface for placing the container; and/or,

When the control unit is configured as a feeding box, it controls the lifting of the take-and-return box assembly so that the bearing surface of the take-and-return box assembly for carrying the material box is higher than the bearing surface for placing the material box on the material rack.

In one embodiment of the present disclosure, the handling robot also includes:

A control unit, the control unit is configured to control the retrieval box assembly to rotate by a corresponding angle within a predetermined rotation threshold range based on the angle deviation between the retrieval box assembly and the material box obtained by the 3D imaging module.

In an embodiment of the present disclosure, the control unit is further configured to report an abnormality when the rotation angle of the return bin assembly exceeds the predetermined rotation threshold range.

In one embodiment of the present disclosure, the retrieval box assembly includes a material box tray for carrying material boxes, and a rear baffle located at the rear end of the material box tray; the three-dimensional imaging module is arranged at the center of the rear baffle Location.

In one embodiment of the present disclosure, the retrieval box assembly further includes a base and a rotation mechanism, the bin tray is mounted on the base through the rotation mechanism, and the control unit is configured to control The rotating mechanism drives the bin tray to rotate relative to the base.

In an embodiment of the present disclosure, the three-dimensional imaging module includes a depth camera or a panoramic camera.

In one embodiment of the present disclosure, the handling robot further includes an obstacle detection module, and the telescopic fork mechanism includes a pair of first and second telescopic arms arranged in parallel; the obstacle detection module is set There are at least two, respectively the first obstacle detection module set at the front end of the first telescopic arm, and the second obstacle detection module at the front end of the second telescopic arm.

In one embodiment of the present disclosure, the retrieving and returning box assembly includes a box tray for carrying the box, and the first telescopic arm and the second telescopic arm are arranged on opposite sides of the box tray and configured to When the first obstacle detection module and the second obstacle detection module detect that the corresponding extension paths are not blocked, they extend relative to the bin tray.

In an embodiment of the present disclosure, each set of telescopic arms of the telescopic fork mechanism is a telescopic arm extended at one stage, or a telescopic arm extended at least two stages; the obstacle detection module is arranged on the telescopic fork mechanism The front end position of the end telescopic arm.

In one embodiment of the present disclosure, a control unit is further included, and the control unit sends a stop call in response to the first obstacle detection module and the second obstacle detection module detecting that the corresponding extension paths are blocked. bin command, and report an exception; and,

In response to one of the first obstacle detection module and the second obstacle detection module detecting that the corresponding extension path is blocked, the chassis assembly is controlled to move a corresponding distance to the blocked side.

According to a third aspect of the present disclosure, there is provided a method for picking up and delivering boxes, which is applied to the above-mentioned handling robot, including a box picking step and a box sending step, and the box picking step and box returning step both include the following steps:

Step S1000, controlling the take-and-return box assembly to be lifted to the target height;

Step S2000, controlling the obstacle detection module to detect whether the extension path of the telescopic fork mechanism is blocked;

Step S3000, in response to the obstacle detection module detecting that the extending path is not blocked, controlling the telescopic fork mechanism to extend.

In one embodiment of the present disclosure, the telescopic fork mechanism includes a first telescopic arm and a second telescopic arm, and the obstacle detection module includes a first obstacle for detecting whether the extending path of the first telescopic arm is blocked An object detection module, and a second obstacle detection module for detecting whether the extending path of the second telescopic arm is blocked;

The step S2000 includes:

Step S2100, controlling the first obstacle detection module and the second obstacle detection module to detect whether the extending paths of the first telescopic arm and the second telescopic arm are blocked;

Step S2200, in response to one of the first obstacle detection module and the second obstacle detection module detecting that the corresponding extension path is blocked, control the handling robot to move to the blocked side until the side is cleared. is obscured; and

Step S2300, when the first obstacle detection module and the second obstacle detection module detect that the corresponding extension paths are blocked, issue a command to stop the retrieving box and report an exception.

In one embodiment of the present disclosure, in the step S3000, during the process of controlling the extension of the telescopic fork mechanism, the obstacle detection module detects in real time whether the extension path of the telescopic fork mechanism is blocked, and when the obstacle detection module When the group detects that the extending path is blocked, it controls the telescopic fork mechanism to stop extending.

In an embodiment of the present disclosure, after the step S1000, further includes:

The two-dimensional imaging module detects the positional deviation from the mark on the beam of the corresponding material rack, and based on the positional deviation, controls the chassis assembly to move a corresponding distance within a predetermined movement threshold; and/or controls the lifting and lowering of the return box assembly to a corresponding height .

In one embodiment of the present disclosure, when retrieving the material box, drive the retrieving and returning box assembly to lift to make the bearing surface of the material box tray lower than the bearing surface for placing the material box on the material rack; when feeding the material box, drive the The take-and-return box assembly is lifted to make the load-bearing surface of the material box tray higher than the load-bearing surface for placing the material box on the material rack.

In one embodiment of the present disclosure, in the box removal step, after the step S1000, further includes:

The three-dimensional imaging module detects the position deviation of the bin on the corresponding rack, and based on the position deviation controls the handling robot to move a corresponding distance within the predetermined movement threshold range; and/or controls the bin tray to rotate within the predetermined rotation threshold range corresponding angle.

According to a fourth aspect of the present disclosure, there is provided a method for retrieving and returning a box, including a step of taking a box and a step of sending a box, applied to a handling robot, the handling robot includes a chassis assembly, a door frame assembly, and a box retrieving assembly, the The gantry assembly is connected to the chassis assembly; the retrieving box assembly is configured to move up and down along the gantry assembly, and the retrieving box assembly includes a bin tray for carrying the bins; it also includes a two-dimensional imaging module, including the following steps:

S1000', controlling the retrieving and returning box assembly to be lifted to the target height according to the height value of the target box position pre-stored in the system;

S2000', based on the position of the target box mark obtained by the two-dimensional imaging module, obtain the height position deviation between the retrieving box component and the mark;

S3000', in the box taking step, based on the obtained height position deviation, control the lifting and returning box assembly so that the bearing surface of the material box tray is lower than the bearing surface for placing the material box on the material rack;

S4000', in the box sending step, drive the take-and-return box assembly to lift to make the bearing surface of the material box tray higher than the bearing surface for placing material boxes on the material rack.

In one embodiment of the present disclosure, at least in the box sending step, based on the position of the target box location mark obtained by the two-dimensional imaging module, the horizontal position deviation between the return box assembly and the mark is obtained; based on the obtained Said horizontal position deviation, control the movement of the chassis assembly to adjust the horizontal displacement of the retrieval box assembly.

In one embodiment of the present disclosure, in the step of taking out the box, it also includes:

Obtain the three-dimensional information of the material box based on the three-dimensional imaging module, and obtain the position deviation between the retrieval box component and the material box;

Controlling the chassis assembly to move a corresponding distance within a predetermined movement threshold range; and/or controlling the bin tray to rotate a corresponding angle within a predetermined rotation threshold range.

According to a fifth aspect of the present disclosure, there is provided a method for removing boxes, comprising the following steps:

Step S1, the handling robot walks to the target position, and controls the take-and-return box assembly to lift to the target height;

Step S2. Obtain the position information marked on the crossbeam of the material rack through the two-dimensional imaging module, and adjust the position of the retrieval box assembly based on the obtained position deviation of the retrieval box assembly;

Step S3, through the obstacle detection module, respectively detect whether the extending paths in front of the first telescopic arm and the second telescopic arm are blocked,

If both sides are blocked, stop picking up boxes and report abnormal information;

If one side is blocked, control the extension path of the chassis assembly to move from the blocked side to both sides without being blocked, and then proceed to step S4;

If there is no occlusion on both sides, proceed to step S4;

Step S4. Obtain the three-dimensional information of the material box based on the three-dimensional imaging module, and obtain the positional deviation between the retrieving and returning box assembly and the material box;

If the positional deviation between the retrieving and returning box assembly and the material box is outside the allowable range, control the chassis assembly to move a corresponding distance within a predetermined movement threshold; and/or control the material box tray to rotate within a predetermined rotation threshold Angle; then execute step S5;

Step S5, controlling the extension of the retrieval box assembly.

In one embodiment of the present disclosure, in step S2, the height of the retrieval bin assembly is adjusted based on the height position deviation of the retrieval bin assembly.

According to a sixth aspect of the present invention, there is provided a box delivery method, comprising the following steps:

Step S1, the handling robot walks to the target position, and controls the take-and-return box assembly to lift to the target height;

Step S2. Obtain the position information marked on the crossbeam of the material rack through the two-dimensional imaging module, and adjust the position of the retrieval box assembly based on the obtained position deviation;

Step S3, through the obstacle detection module, respectively detect whether the extending paths in front of the first telescopic arm and the second telescopic arm are blocked,

If at least one side is blocked, stop delivering boxes and report an abnormality; if both sides are not blocked, proceed to step S4;

Step S4, controlling the extension of the retrieval box assembly.

In one embodiment of the present disclosure, in step S2:

adjusting the height of the retrieval bin assembly based on the height deviation of the retrieval bin assembly;

The horizontal displacement of the retrieval bin assembly is adjusted based on the horizontal deviation of the retrieval bin assembly.

An advantageous effect of the present application is that the handling robot can detect whether the extension path of the telescopic fork mechanism is blocked through the obstacle detection module. Only when it is not blocked, will the telescopic fork mechanism be controlled to extend, remove the material box from the material rack, or push the material box to the material rack for storage. This ensures that the telescopic fork mechanism will not collide with the material box, and ensures that there will be no interference with other material boxes when returning the box, ensuring the regularity of the arrangement of the material box on the material rack, which greatly improves the efficiency of the box retrieval process. Automation, accuracy and security.

Other features of the present application and advantages thereof will become apparent through the following detailed description of exemplary embodiments of the present application with reference to the accompanying drawings.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate the embodiments of the application and together with the description serve to explain the principles of the application.

Fig. 1 is a schematic diagram of the overall structure of a handling robot provided by an embodiment of the present application;

Fig. 2 is a structural schematic diagram of a handling robot retrieving and returning box assembly provided by an embodiment of the present application;

Fig. 3 is a schematic diagram of another structure of the retrieving and returning box assembly of the handling robot provided by an embodiment of the present application;

Fig. 4 is a schematic structural view of the bottom of the retrieving and returning box assembly of the handling robot provided by an embodiment of the present application;

The one-to-one correspondence between the names of the components and the reference numerals in Fig. 1 to Fig. 4 is as follows:

100. Chassis assembly; 200. Mast assembly; 300. Retrieval box assembly; 310. First telescopic arm; 320. Second telescopic arm; 330. Material box tray; 340. Front gear; 350. Rear gear; 360. Base; 370. Rotation mechanism; 410. First obstacle detection module; 420. Second obstacle detection module; 500. Three-dimensional imaging module; 600. Two-dimensional imaging module.

Detailed ways

Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangements of components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application unless specifically stated otherwise.

The following description of at least one exemplary embodiment is merely illustrative in nature and in no way serves as any limitation of the application, its application or uses.

Techniques, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods and devices should be considered part of the description.

In all examples shown and discussed herein, any specific values should be construed as exemplary only, and not as limitations. Therefore, other instances of the exemplary embodiment may have different values.

It should be noted that like numerals and letters denote like items in the following figures, therefore, once an item is defined in one figure, it does not require further discussion in subsequent figures.

The present application provides a handling robot, as shown in FIGS. 1 to 4 , including a chassis assembly 100 , a door frame assembly 200 , a retrieving and returning box assembly 300 and an obstacle detection module. The chassis assembly 100 can walk on the ground, and the mast assembly 200 is erected and connected to the chassis assembly 100 . The retrieval box assembly 300 is connected to the door frame assembly 200 and is configured to move up and down along the door frame assembly 200. The retrieval box assembly 300 also includes a telescopic fork mechanism that can extend or retract in the horizontal direction. And tick or push the material box. The obstacle detection module is configured to detect whether the extension path of the telescopic fork mechanism is blocked, and the telescopic fork mechanism is configured to extend when the obstacle detection module detects that the extension path of the telescopic fork mechanism is not blocked.

During the process of taking and returning the material box, the handling robot can detect whether the extension path of the telescopic fork mechanism is blocked through the obstacle detection module to judge the relative position of the telescopic fork mechanism and the material box. When the material box blocks the extension path of the telescopic fork mechanism, or there are other obstacles near the material box that block the extension path of the telescopic fork mechanism, the obstacle detection module can identify them to prevent the telescopic fork mechanism from colliding with the material box or Collision with other obstacles. Only when the obstacle detection module detects that the extension path of the telescopic fork mechanism is not blocked, the retrieval box assembly is allowed to extend, so as to hook the material box on the material rack to the handling robot, or to move the handling robot The upper material box is pushed to the material rack for storage. This can prevent the telescopic fork mechanism from colliding with the material box during the stretching process, causing serious misalignment of the material box or other adjacent material boxes, thereby ensuring the safety of the box removal process.

The telescopic fork mechanism of the retrieving and returning box assembly 300 includes a pair of first telescopic arms 310 and second telescopic arms 320 arranged in parallel, during the process of retrieving and returning the box, the first telescopic arms 310 and the second telescopic arms 320 are driven by the same drive unit , allowing it to reach out to opposite sides of the bin simultaneously.

There are at least two obstacle detection modules, namely the first obstacle detection module 410 located at the front end of the first telescopic arm 310 and the second obstacle detection module 420 located at the front end of the second telescopic arm 320 . The detection direction of the first obstacle detection module 410 is the extension direction of the first telescopic arm 310 , and the detection direction of the second obstacle detection module 420 is the extension direction of the second telescopic arm 320 .

The obstacle detection module can be a photoelectric sensor such as a laser sensor or an infrared sensor, which can detect whether there is an obstacle in front within the set detection depth range. For example, a laser sensor can emit a laser beam in the detection direction. When there is an obstacle in front, the emitted laser beam will hit the obstacle. At this time, it can be detected by the laser sensor. At this time, it can also be understood as a laser sensor or an infrared sensor. To be triggered, to emit a triggered electrical signal. When no obstacle is detected within the detection range of the first obstacle detection module 410 and the second obstacle detection module 420, or the detected obstacle exceeds the extension distance of the first telescopic arm 310 and the second telescopic arm 320 , it is considered that the extension path of the telescopic fork mechanism is unobstructed.

The first telescopic arm 310 and the second telescopic arm 320 act simultaneously. When any one of the first obstacle detection module 410 and the second obstacle detection module 420 is triggered, the first telescopic arm 310 and the second telescopic arm 310 Neither arm 320 is extended.

The obstacle detection module is also configured to be able to perform real-time detection during the extension of the telescopic fork mechanism. If during the extension process of the telescopic fork mechanism, due to various factors, the material box is offset or other reasons, as long as there is an obstacle on the extension path of the telescopic fork mechanism, the obstacle detection module can be triggered immediately, and the telescopic fork The mechanism stops the extension motion so as not to hit the obstacle. During this process, the first telescopic arm 310 and the second telescopic arm 320 keep moving synchronously. When any one of the first obstacle detection module 410 and the second obstacle detection module 420 is triggered, the first telescopic arm 310 and the second The two telescopic arms 320 stop extending simultaneously.

The retrieving and returning box assembly 300 includes a box tray 330 for carrying the box, the first telescopic arm 310 and the second telescopic arm 320 are arranged on opposite sides of the box tray 330, and are configured to be used when the first obstacle detection module When the group 410 and the second obstacle detection module 420 are not triggered, they protrude relative to the bin tray 330 .

Both the front ends of the first telescopic arm 310 and the second telescopic arm 320 are provided with front shifting teeth 340 , and the two front shifting teeth 340 can move relative to the first telescopic arm 310 and the second telescopic arm 320 . In the initial state, the two front teeth 340 are located outside the openings of the two telescopic arms, so as to prevent the front teeth 340 from interfering with the material box. For example, the two front shifting teeth 340 can be rotated to be flush with the end face of the telescopic arm, or within the range of the end face of the extended end of the telescopic arm. After the first telescopic arm 310 and the second telescopic arm 320 are stretched out, the material box can enter between the two telescopic arms through the opening. In the process of removing the material box, after the first telescopic arm 310 and the second telescopic arm 320 stretch out into place, the two front shifting teeth 340 move to the opening positions of the two telescopic arms to form a block on the rear end surface of the material box. When the first telescopic arm 310 and the second telescopic arm 320 are retracted, the two front shifting teeth 340 can hook the material box back onto the material box tray 330 .

The rear end position of the first telescopic arm 310 and the second telescopic arm 320 is also provided with a rear shifting tooth 350, and in the process of returning the box, when the first telescopic arm 310 and the second telescopic arm 320 are stretched out, the rear shifting tooth 350 can move the The material box on the material box tray 330 is pushed out, thereby pushing the material box to a designated position.

Each group of telescopic arms of the telescopic fork mechanism can be a telescopic arm structure with one stage of extension, or a telescopic arm structure with at least two stages of extension. Here, the telescopic arm structure with one stage of extension refers to extending one stage of the telescopic arm toward the extending direction. For example, in a specific application, the telescopic arm is slidably connected to the bin tray 330 , and the telescopic arm can extend relative to the bin tray 330 under the control of a corresponding driving mechanism. Wherein, the side wall of the material box tray can be understood as the first-stage telescopic arm, and the telescopic arm for extending can be recorded as the second-stage telescopic arm. During the extending process, the first-stage telescopic arm of the bin tray 330 remains stationary, and the second-stage telescopic arm extends toward the extending direction relative to the first-stage telescopic arm.

For the structure of the two-stage extended telescopic arm, for example, when the side wall of the container tray is recorded as the first-stage telescopic arm, the two-stage extended telescopic arm can be respectively recorded as the second-stage telescopic arm and the third-stage telescopic arm. arm. During the extension process, the first-stage telescopic arm of the bin tray 330 remains stationary, the second-stage telescopic arm stretches out relative to the first-stage telescopic arm, and the third-stage telescopic arm stretches relative to the second-stage telescopic arm. The arm continues to extend in the extended direction. The telescopic arms of the second stage and the telescopic arms of the third stage are stretched out sequentially or simultaneously, thereby the extension length of the telescopic arms can be increased. The telescopic arm adopts several stages of telescopic expansion and can be adjusted according to different situations. For example, when the length of each telescopic arm changes, the corresponding telescopic level can also be adjusted accordingly. When the length of each telescopic arm becomes shorter, three levels can be used. The telescopic arm takes the goods picked up by the secondary telescopic arm (the telescopic arm is longer).

Each group of telescopic arms of telescopic fork mechanism can be adjusted according to different application scenarios. Single-position pick-up, double-deep pick-up. When corresponding to double-deep pick-up, the telescopic fork mechanism usually adopts a two-stage telescopic arm structure, that is, the two-stage telescopic arms are combined together. When working, the two-stage telescopic arms are sequentially or Simultaneously unfold. The obstacle detection module is arranged at the front end of the telescopic arm at the end of the telescopic fork mechanism, and the two front shifting teeth 340 are also respectively arranged at the front end of the telescopic arm at the two ends of the telescopic fork mechanism. This can prevent the detection path of the obstacle detection module from being blocked by some mechanism of the telescopic arm itself.

Of course, for those skilled in the art, when corresponding to a single-deep retrieval box, a telescopic arm structure with one-stage extension or a telescopic arm structure with two-stage extension can be used. For example, when two-stage telescopic arms are used, only one stage of telescopic arms can be controlled to stretch out to complete retrieving and returning boxes at a single deep position.

The retrieval box assembly 300 is provided with a telescopic drive unit, which is used to drive the telescopic fork mechanism to extend or retract, and to drive the two front shifting teeth 340 to move. The telescopic drive unit can use a rotary motor, a linear motor, a gear set, etc., and cooperate with a corresponding transmission mechanism to realize the movement of the telescopic fork mechanism, which can be realized by those skilled in the art based on the prior art.

The handling robot includes a control unit, which can receive the detection signal of the obstacle detection module, and the chassis assembly 100 and the retrieving box assembly 300 are all controlled by the control unit. The control unit can control the chassis assembly 100 to walk to the target position on the ground based on the command to take out the box or the command to return the box, and control the box assembly 300 to move to the height where the box needs to be picked up and returned, and then control the box assembly 300 to take away or Return box.

During the process of picking up the box, when the control unit detects that the corresponding extension paths are blocked in response to the first obstacle detection module 410 and the second obstacle detection module 420, it sends a stop picking to the box assembly 300 Box instructions and report exceptions. In response to one of the first obstacle detection module 410 and the second obstacle detection module 420 detecting that the corresponding extension path is blocked, the control unit controls the chassis assembly 100 to move a corresponding distance to the blocked side , to adjust the position of the retrieving box assembly 300 so that the side that is covered can avoid obstacles or avoid the material box. In this way, it can be adjusted until the extension paths of the first telescopic arm 310 and the second telescopic arm 320 are not blocked. When the first obstacle detection module 410 and the second obstacle detection module 420 detect that the corresponding extension paths are not blocked, the control unit sends an extension command to the retrieval box assembly 300 .

In a specific embodiment of the present disclosure, the first telescopic arm 310 is located on the left side of the telescopic fork mechanism, and the second telescopic arm 320 is located on the right side of the telescopic fork mechanism. When the first obstacle detection module 410 detects that the extension path of the first telescopic arm 310 is blocked, and the second obstacle detection module 420 detects that the extension path of the second telescopic arm 320 is not blocked, the control unit receives After receiving the detection information from the first obstacle detection module 410 and the second obstacle detection module 420, control the chassis assembly to move to the direction where the first telescopic arm is located, that is, to move to the left, so that the first telescopic arm 310 can Avoid obstacles.

Since the control unit only issues an instruction to control the movement of the chassis assembly based on whether the obstacle detection module is triggered, the distance for each movement needs to be preset. After the chassis assembly moves a corresponding distance each time, the first obstacle detection module 410 and the second obstacle detection module 420 detect again until the first obstacle detection module 410 and the second obstacle detection module 420 detect None of the corresponding projection paths are blocked.

For the sake of safety, in the process of controlling the movement of the chassis assembly based on the electrical signal triggered by the obstacle detection module, a predetermined movement threshold, that is, a maximum movement distance, needs to be set. This is because in a specific application scenario, the size of the loading box position on the material rack is larger than the size of the material box, and space is reserved on both sides of the material box for the telescopic fork mechanism of the retrieving and returning box assembly 300 to pass through. Based on the adjustment of the position of the two telescopic arms relative to the material box through the chassis assembly 100, the adjustment range should be limited within the range of the material box position, otherwise it will collide with other material boxes, material racks, or other uncontrollable accidents will occur.

The control unit adjusts the displacement of the two telescopic arms relative to the material box within the range of the maximum moving distance. If it still cannot be adjusted to make the extending paths of the two telescopic arms unobstructed within the range of the maximum moving distance, it is possible to stop retrieving the box and send an abnormal signal to the system. The robot can give up the action of picking up and returning the box and wait for the system to assign other tasks.

The first obstacle detection module 410 and the second obstacle detection module 420 include two working stages, one is before the telescopic fork mechanism is extended, and it is still in the adjustment stage, allowing the chassis assembly 100 to adjust its position. The second is during the extension process of the telescopic fork mechanism. At this time, it is in the stage of extending the retrieval box, and the chassis assembly 100 is no longer allowed to adjust its position.

In one embodiment of the present disclosure, before the extension of the telescopic fork mechanism, the control unit controls the chassis assembly 100 in response to an electrical signal that one of the first obstacle detection module 410 and the second obstacle detection module 420 is triggered. Move the corresponding distance to the triggered side to adjust the telescopic fork mechanism to a suitable position.

In one embodiment of the present disclosure, during the extending process of the telescopic fork mechanism, the control unit controls The telescopic fork mechanism stops stretching out, and does not carry out the box-taking action any more. That is, during the extension process of the telescopic fork mechanism, the first obstacle detection module 410 and the second obstacle detection module 420 detect in real time. If the first obstacle detection module 410 and the second obstacle detection module 420 detect that the extending path of the telescopic arm on a certain side is blocked, the control unit controls the telescopic fork mechanism to stop extending.

After the telescopic fork mechanism stops extending, the control unit can control the retraction of the telescopic fork unit, and then adjust the position of the chassis assembly 100 based on the detection signal of the obstacle detection module, or give up the operation of picking up and returning the box, report to the business system, and wait The system assigns other tasks.

In one embodiment of the present disclosure, in order to further adjust the position of the take-and-return box assembly 300 relative to the loading box on the rack, a three-dimensional imaging module 500 is provided on the take-and-return box assembly 300, and the three-dimensional imaging module 500 is configured for Obtain the three-dimensional position information of the material box.

The three-dimensional imaging module 500 can be a depth camera or a panoramic camera, or a combination of multiple cameras, as long as it can obtain the three-dimensional imaging information of the material box. The 3D imaging module 500 can send the acquired 3D position information to the control unit.

After the three-dimensional imaging module 500 obtains the three-dimensional position of the material box in front of it, it can obtain the three-dimensional deviation between the material box and the three-dimensional imaging module 500 or the retrieval box assembly 300, which includes horizontal deviation and angular deviation. The offset and angular offset adjust the position of the retrieval bin assembly 300 . Therefore, in a specific installation structure, the rear end of the bin tray 330 of the retrieving and returning box assembly 300 is provided with a rear baffle, and the three-dimensional imaging module 500 can be arranged at the center of the rear baffle, facing the extension of the telescopic fork mechanism. out direction. The three-dimensional imaging module 500 is arranged at the center of the tailgate, which is for the convenience of being aligned with the center of the material box.

Referring to FIG. 3 and FIG. 4 , the retrieval box assembly 300 includes a base 360 and a rotation mechanism 370 , and the bin tray 330 is mounted on the base 360 through the rotation mechanism 370 so that the bin tray 330 can rotate relative to the base 360 . The rotation mechanism 370 may include a rotation driving unit, a slewing bearing connecting the base 360 and the bin tray 330 , and the rotation driving unit receives a corresponding control command from the control unit to drive the bin tray to rotate. The rotary drive unit includes but is not limited to a rotary motor, a gear set, etc., and those skilled in the art can realize based on the existing technology. It should be noted that the base 360 can also be called a lifting assembly, that is, the base 360 can be guided and fitted on the door frame assembly, and the lifting of the base 360 on the door frame assembly is controlled by a corresponding driving mechanism. No more specific instructions.

In one embodiment of the present disclosure, the control unit is configured to control the chassis assembly 100 to move a corresponding distance within a predetermined movement threshold range based on the position deviation of the bin obtained by the three-dimensional imaging module 500; and/or, control the bin tray 330 rotates by a corresponding angle within a predetermined rotation threshold.

The 3D imaging module 500 can, for example, use a depth camera. Through the depth camera, for example, the position of the material box in the three-dimensional space can be obtained. Based on this information, the horizontal offset, height offset, and angle between the material box and the return box assembly can be obtained. offset information. For example, the distance information of several points on the front side of the material box can be calculated, and the deflection angle of the material box can be judged according to the distance information. For another example, after the depth camera obtains the image of the material box, it can analyze the deviation between the center of the material box and the center of the return box assembly, and use it as the distance of the level and height of the material box. The technology of obtaining the image of the material box through the depth camera and judging the position deviation of the material box belongs to the common knowledge of those skilled in the art, and will not be described in detail here.

In one embodiment of the present disclosure, the control unit controls the chassis assembly 100 to move a corresponding distance in a predetermined direction based on the obtained horizontal deviation between the material box and the retrieving box assembly. Since the 3D imaging module 500 obtains the 3D position information of the container, it can obtain the horizontal offset distance of the container, and the control unit can directly drive the chassis assembly 100 to move a corresponding distance in a predetermined direction based on the horizontal offset.

For safety considerations, the control unit drives the chassis assembly 100 to move a corresponding distance within a predetermined movement threshold range. The predetermined moving threshold is the maximum moving distance. If the distance to be moved exceeds the predetermined movement threshold, the box will be stopped and an exception will be reported. The robot can give up the action of picking up and returning the box and wait for the system to assign other tasks.

In one embodiment of the present disclosure, the control unit controls the bin tray 330 to rotate by a corresponding angle relative to the base based on the obtained angle deviation between the bin and the retrieving bin assembly. Since the three-dimensional imaging module 500 obtains the three-dimensional position information of the material box, the specific offset angle of the material box can be obtained, and the control unit can directly drive the material box tray 330 to rotate the corresponding angle in a predetermined direction based on the offset angle. .

For safety considerations, the control unit drives the bin tray 330 to rotate by a corresponding angle within a predetermined rotation threshold range. The predetermined rotation threshold is the maximum angle of rotation. If the predetermined movement threshold is exceeded, the box will be stopped and an exception will be reported. The robot can give up the action of picking up and returning the box and wait for the system to assign other tasks.

When adjusting the position of the retrieving and returning box assembly relative to the material box based on the three-dimensional imaging module, the chassis assembly can be controlled to adjust the horizontal offset first, or the material box tray can be controlled to adjust the angle offset first, and there is no limitation here. Through the three-dimensional imaging module, the center of the retrieving and returning box assembly can be aligned with the center of the material box. Compared with the traditional method, labeling on the material box can be avoided, the alignment accuracy is improved, and the cost is reduced.

In the actual storage environment, there are factors such as uneven ground or installation errors of the material rack. In order to accurately locate each material box position, each material box position of the material The center position of the front beam of the box position. A two-dimensional imaging module 600 is correspondingly arranged on the take-and-return box assembly 300, and the two-dimensional imaging module 600 is configured to obtain the position information of the mark on the rack.

In one embodiment of the present disclosure, the two-dimensional imaging module 600 may be a camera or the like, as long as it can obtain the position information marked on the rack. The two-dimensional imaging module 600 can be arranged at the center of the front end of the base 360 of the retrieval box assembly 300 . This facilitates the two-dimensional imaging module 600 to read the position information of the mark on the beam in front of it.

After the two-dimensional imaging module 600 obtains the position information marked on the beam, it can obtain the height deviation and/or horizontal deviation of the retrieval box assembly relative to the position of the material box.

Specifically, after the control unit obtains the position of the mark based on the two-dimensional imaging module 600, it compares and analyzes the position deviation between the return box assembly 300 and the mark, including the deviation in the horizontal direction and the vertical direction. The control unit is configured to control the chassis assembly 100 to move a corresponding distance within a predetermined movement threshold range based on the positional deviation from the marker obtained by the two-dimensional imaging module 600; and/or control the return box assembly 300 to lift a corresponding height.

If the return box assembly 300 deviates from the mark in the horizontal direction, the control unit controls the chassis assembly 100 to move a corresponding distance, so that the return box assembly 300 faces the position of the mark in the horizontal direction. Based on the deviation of the return box assembly in the height direction, the control unit controls the return box assembly to move up and down a corresponding distance to adjust the height of the return box assembly 300, so that the return box assembly 300 is facing the position of the mark in the vertical direction . Due to the limitations of obstacles such as material racks around the material box, it is necessary to set the maximum value of the movement of the chassis assembly 100, that is, to drive the chassis assembly 100 to move a corresponding displacement within the predetermined movement threshold range, so as to avoid excessive adjustment and cause the extension of the telescopic fork mechanism. Collide with obstacles such as surrounding material racks.

The two-dimensional imaging module of the present disclosure can be used in conjunction with the above-mentioned three-dimensional imaging module, or can be used independently. When used in conjunction with the above-mentioned three-dimensional imaging module, the three-dimensional imaging module can be relied on to realize the position angle deviation between the retrieving and returning box assembly and the material box, as well as the alignment of the center. The two-dimensional imaging module can only be used to realize the highly accurate positioning of the take-and-return box components, so as to compensate for the height deviation caused by factors such as uneven ground and rack installation. When the 3D imaging module cannot be used, for example, during the box delivery operation, the 3D imaging module will be blocked because the material box is located in the material box tray, resulting in the 3D imaging module being unusable. At this time, the two-dimensional imaging module and the mark on the crossbeam can be used to obtain the horizontal deviation and height deviation between the return box assembly and the mark center, and the control unit adjusts the horizontal offset and height of the return box assembly based on the horizontal deviation and height deviation offset.

There is a difference between the box picking step and the box delivery step. This is because the handling robot relies on the telescopic fork mechanism to hook the material box onto the material box pallet, and push the material box on the material box pallet to the corresponding material box position on the material rack. . Therefore, when retrieving the material box, the control unit adjusts the lifting of the retrieving and returning box assembly 300 to make the bearing surface of the material box tray 330 lower than the bearing surface for placing the material box on the material rack based on the obtained identification position, so that the material rack is positioned The upper bins can be smoothly moved to the lower bin tray 330. When feeding the box, the control unit should drive the take-and-return box assembly 300 up and down based on the obtained identification position to make the bearing surface of the material box tray 330 higher than the bearing surface for placing the material box on the material rack, so that the loading surface of the material box tray 330 The material box can be smoothly moved to the lower position of the material box.

The present application also provides a box picking method based on the above-mentioned handling robot, including a box picking step and a box sending step. Both the step of picking up the box and the step of returning the box include the following steps:

Step S1000, controlling the retrieval box assembly 300 to be lifted to the target height;

The business system sends instructions to the handling robot to pick up or deliver boxes. After receiving the business order, the handling robot moves to the target (X, Y) position based on its navigation system, and according to the position information of the material box contained in the business order, Lift the return bin assembly to the target height h. These coordinate information are pre-stored in the business system or in the handling robot, and the handling robot can make corresponding operations based on the position information.

S2000, controlling the obstacle detection module to detect whether the extension path of the telescopic fork mechanism is blocked;

Before the extension of the telescopic fork mechanism, the obstacle detection module first detects whether the extension path of the telescopic fork mechanism is blocked. For example, the laser sensor can emit a laser light along the extension path of the telescopic fork mechanism. If the laser light is blocked in its detection range, the laser sensor will be triggered, so that it can be assumed that the extension path of the telescopic fork mechanism is blocked. If the telescopic fork mechanism is stretched out at this time, it will collide with the obstacle in front of it.

Combined with a specific application scenario, the telescopic fork mechanism of the handling robot includes a first telescopic arm 310 and a second telescopic arm 320, and the obstacle detection module includes a first telescopic arm 310 for detecting whether the extending path is blocked. An obstacle detection module 410, and a second obstacle detection module 420 for detecting whether the extending path of the second telescopic arm 320 is blocked;

Step S2000 includes:

S2100, controlling the first obstacle detection module 410 and the second obstacle detection module 420 to detect whether the extending paths of the first telescopic arm 310 and the second telescopic arm 320 are blocked;

The first obstacle detection module 410 is used to detect whether the extension path of the first telescopic arm is blocked, and the second obstacle detection module 420 is used to detect whether the extension path of the second telescopic arm is blocked.

S2200, in response to one of the first obstacle detection module 410 and the second obstacle detection module 420 detecting that the corresponding extension path is blocked, control the handling robot to move to the blocked side until the side is not closed blocked

The control unit receives signals from the first obstacle detection module 410 and the second obstacle detection module 420, and if it detects that the extension path of one of the telescopic arms is blocked, the control unit sends a control command to drive the chassis assembly of the transport robot Move towards the blocked side until the side telescoping arm moves clear of the obstruction. It should be noted here that when the chassis assembly is controlled to move, the two telescopic arms move synchronously. Therefore, when the chassis assembly is controlled to move, it is ultimately necessary to ensure that the extension paths of the telescopic arms on both sides are not blocked. This can be achieved through multiple detections by two obstacle detection modules, which will not be described in detail here.

In addition, in order to ensure the safe operation of the handling robot, it is necessary to set the maximum moving distance, that is, the displacement adjustment range. If the extension path of the telescopic arm on one side is still blocked within the maximum moving distance range, the robot will stop moving and report to the system. abnormal.

S2300, in response to the first obstacle detection module 410 and the second obstacle detection module 420 detecting that the corresponding extension paths are blocked, issue a command to stop the retrieving box, and report an exception.

When the two obstacle detection modules detect that the extension paths of their respective telescopic arms are blocked, they can no longer be adjusted by moving. At this time, an instruction to stop the retrieving box can be issued and the abnormality can be reported to the business system.

In this embodiment of the present disclosure, if one of the first obstacle detection module 410 and the second obstacle detection module 420 detects that the corresponding extension path is blocked, it may be that the telescopic fork mechanism and the material box Due to position deviation, by adjusting the position of the telescopic fork mechanism, the problem that the corresponding extension path is blocked can be eliminated. If the first obstacle detection module 410 and the second obstacle detection module 420 detect that the corresponding extension path is blocked, it may be that there are other obstacles near the material box or the material box is seriously offset. Adjusting the position of the telescopic fork mechanism is difficult to eliminate the problem that the corresponding extension path is blocked, so the robot should issue a command to stop the retrieving box and report an exception.

S3000, in response to the obstacle detection module detecting that the extending path is not blocked, controlling the telescopic fork mechanism to extend.

When the obstacle detection module does not detect that the extension path of the telescopic fork mechanism is blocked, it can control the extension of the telescopic fork mechanism. Applied to the above scenario, that is, when the first obstacle detection module 410 and the second obstacle detection module 420 detect that the extension paths on the corresponding sides are not blocked, the first telescopic arm and the second telescopic arm can be controlled Stretch out to realize the retrieving box or the material returning box.

In one embodiment of the present disclosure, the above step S2000, and steps S2100, S2200, and S2300 are performed before the first telescopic arm and the second telescopic arm of the telescopic fork mechanism are not stretched out. After step S3000, the telescopic fork mechanism controls the first obstacle detection module 410 and the second obstacle detection module 420 to detect in real time during the extension process. If it is blocked, the telescopic fork mechanism is controlled to stop extending forward, and an abnormality is reported. The robot can give up the step of picking up and delivering boxes, and wait for the system to assign other tasks.

During the extension process of the telescopic fork mechanism, an obstacle may suddenly appear on the extension path of the telescopic fork mechanism, for example, the obstacle detection module fails to detect the obstacle before the telescopic fork mechanism is extended, or The material box suddenly moves when the telescopic fork mechanism is extended. In this method, the obstacle detection module detects in real time whether the extension path of the telescopic fork mechanism is blocked, and when it detects that the extension path is blocked, the control unit controls the telescopic fork mechanism to stop in time, which can further ensure security.

In one embodiment of the delivery box of the present disclosure, after step S1000, it also includes:

The two-dimensional imaging module 600 detects the positional deviation of the mark on the beam corresponding to the shelf, and based on the positional deviation, controls the handling robot to move a corresponding distance within a predetermined movement threshold; and/or controls the retrieving and returning box assembly 300 to rise and fall to a corresponding height .

The two-dimensional imaging module 600 of the handling robot determines the exact position of the bin position through the marking on the material rack, and based on the detected relative position deviation from the marking, controls the chassis assembly 100 to move a corresponding distance within a predetermined movement threshold range , adjust the position in the horizontal direction, and control the lifting assembly to move up and down, adjust the vertical position of the retrieving and returning box assembly 300, thereby improving the position accuracy of the retrieving and returning box assembly 300 relative to the position of the material box.

Use the two-dimensional imaging module 600 to detect the positional deviation between the retrieval box assembly and the mark on the rack beam, and use this to adjust the relative position of the retrieval box assembly, which can compensate for uneven ground, low installation accuracy of the material rack, or other factors resulting positional deviation.

When retrieving the material box, in order to enable the material box on the material rack to move smoothly to the lower material box tray 330, the control unit drives the retrieving and returning box assembly 300 to lift to make the bearing surface of the material box tray 330 lower than the material shelf The load-bearing surface for placing the container. When feeding boxes, in order to enable the boxes on the box tray 330 to move smoothly to a lower shelf position, the control unit drives the retrieval box assembly 300 to lift to make the bearing surface of the box tray 330 higher than the shelf The load-bearing surface for placing the container.

In the box-taking step, after step S1000, it also includes:

The three-dimensional imaging module 500 detects the position deviation of the bin on the corresponding rack, and based on the position deviation controls the handling robot to move a corresponding distance within a predetermined movement threshold range; and/or controls the bin tray 330 within a predetermined rotation threshold range Rotate the corresponding angle.

Since the three-dimensional imaging module 500 can detect the three-dimensional position information of the material box, it can adjust the alignment between the center of the retrieval box assembly and the center of the material box based on the three-dimensional position deviation. This adjustment includes horizontal movement, vertical movement and rotation angle, etc. Of course, when the three-dimensional imaging module 500 is used in conjunction with the two-dimensional imaging module 600, the height offset of the retrieving and returning box assembly can be adjusted through the two-dimensional imaging module 600 in advance, and the horizontal offset and angle can be adjusted through the three-dimensional imaging module 500 offset. This is because what the 2D imaging module 600 detects is the mark on the crossbeam of the rack, while the object detected by the 3D imaging module 500 is the bin on the bin position.

After the handling robot adjusts the position based on the position deviation of the mark detected by the two-dimensional imaging module 600, the position accuracy of the retrieving and returning box assembly 300 relative to the position of the material box can be improved, but it still cannot guarantee that the retrieving and returning box assembly 300 can be aligned with the material box. Therefore, it is also necessary to use the 3D imaging module 500 to detect the relative position between the retrieving and returning box assembly 300 and the material box, including whether there is a horizontal offset between the position of the material box and the retrieving and returning box assembly, and whether there is an angle between the material box and the telescopic fork mechanism offset.

In the above method for picking up and delivering boxes, the handling robot accurately positions the box through the two-dimensional imaging module, the obstacle detection module, and the three-dimensional imaging module 500, and determines the position of the box assembly 300 according to the position of the box. Adjustments have been made to improve the accuracy of box picking, and at the same time greatly improve the automation and safety of the box picking process.

The present application provides a method for retrieving and returning boxes in the following embodiments, which can be applied to a handling robot, including the following steps:

S1000', controlling the retrieving and returning box assembly to lift to the target height according to the height value of the target box position prestored in the system.

The business system sends instructions to the handling robot to pick up or deliver boxes. After receiving the business order, the handling robot moves to the target (X, Y) position based on its navigation system, and according to the height of the target box contained in the business order Position information, lift the return box assembly to the target height h. These coordinate information are pre-stored in the business system, and the carrier robot can make corresponding operations based on the position information.

S2000', based on the position of the target box mark obtained by the two-dimensional imaging module, obtain the height position deviation between the retrieving box component and the mark;

There is a two-dimensional mark on the beam in front of each box position on the material rack, and the two-dimensional mark can be used to accurately locate the position of the handling robot. After the return box component is lifted to the target height according to the parameters prestored in the system, the position information of the mark on the beam corresponding to the target box position can be obtained through the two-dimensional imaging module. Based on the position information of the mark, the return box component and the The height position deviation of the marking position, the height position deviation indicates, for example, a specific difference between the heights of the return box assembly relative to the marking.

S3000', in the box taking step, based on the obtained height position deviation, control the take-and-return box assembly to lift so that the bearing surface of the material box tray is lower than the bearing surface for placing material boxes on the material rack.

In the box retrieval step, usually the first telescopic arm and the second telescopic arm in the box retrieval assembly extend to the position of the target box position on the material shelf, and directly hook the material box located on the target box position to the retrieval box components on the bin pallet. Therefore, in this step, based on the obtained height position deviation, control the lifting of the retrieving box assembly to make the bearing surface of the material box tray lower than the bearing surface for placing the material box on the material rack, so that the material box can be placed Smooth movement from higher target bins to lower bin pallets.

S4000', in the box sending step, drive the take-and-return box assembly to lift to make the bearing surface of the material box tray higher than the bearing surface for placing material boxes on the material rack.

In the box delivery step, usually the first telescopic arm and the second telescopic arm in the box assembly push the box on the box tray to the target box position on the shelf. Therefore, in this step, based on the obtained height position deviation, control the lifting of the retrieving box assembly to make the bearing surface of the material box tray higher than the bearing surface for placing the material box on the material rack, so that the material box can be placed Move smoothly from higher bin pallets to lower destination bins.

In the above embodiments, the transport robot may include a chassis assembly, a door frame assembly, and a retrieving box assembly, or it may be a transport robot using the above-mentioned obstacle detection module. Therefore, in this embodiment, it can also be adapted to the above-mentioned steps related to the obstacle detection module, which will not be described in detail here.

In one embodiment of the present application, at least in the box sending step, based on the position of the target box location mark obtained by the two-dimensional imaging module, the horizontal position deviation between the return box assembly and the mark is obtained; based on the obtained The horizontal position deviation controls the movement of the chassis assembly to adjust the horizontal displacement of the retrieval box assembly.

In the box delivery step, since the boxes are placed on the box tray, it is difficult to install other detection modules on the box tray to detect the position deviation between the handling robot and the target box position, so the two-dimensional imaging module can The group obtains the position information of the mark on the crossbeam corresponding to the target box location, and based on the position information of the mark, the horizontal position deviation between the return box component and the position of the mark can be obtained. The horizontal difference between the locations.

Based on the obtained horizontal position deviation, the chassis assembly can be controlled to move a corresponding displacement to adjust the horizontal position of the return box assembly, for example, it can be adjusted to align the center of the return box assembly with the center position of the mark.

In this embodiment, the height position deviation and the horizontal position deviation between the retrieval box assembly and the sign can be simultaneously obtained based on the sign position acquired by the two-dimensional imaging module. It is also possible to first obtain the height position deviation and adjust the height position of the return box assembly, then identify the marking position again, and adjust the horizontal position of the return box assembly based on the recognized horizontal position deviation, and vice versa, which is not done here Be specific.

In one embodiment of the present application, in the step of taking out the box, it also includes:

Obtain the three-dimensional information of the material box based on the three-dimensional imaging module, and obtain the position deviation between the retrieval box component and the material box;

Controlling the chassis assembly to move a corresponding distance within a predetermined movement threshold range; and/or controlling the bin tray to rotate a corresponding angle within a predetermined rotation threshold range. The 3D imaging module can be a depth camera or a panoramic camera, or a combination of multiple cameras, as long as it can obtain the 3D imaging information of the material box. The 3D imaging module can send the acquired 3D position information to the control unit.

In this step, the three-dimensional information of the bins at the target bin location is obtained through the three-dimensional imaging module, and the relative angular deviation and/or horizontal position deviation between the retrieving bin assembly and the bins is obtained based on the three-dimensional information of the bins.

Therefore, the relative angle between the retrieval box assembly and the material box can be adjusted based on the relative angular deviation and/or horizontal displacement deviation between the retrieval box assembly and the material box, for example, adjusted so that the two telescopic arms of the retrieval box assembly are aligned with the material box. The side walls on opposite sides of the box are parallel. And/or, control the horizontal movement of the chassis assembly to achieve the problem of adjusting the horizontal position deviation of the return box assembly.

The present application provides a specific method for taking out boxes in the following embodiments, including the following steps:

Step S1, the transport robot walks to the target position, and controls the take-and-return box assembly 300 to lift to the target height;

The business system sends an order to the handling robot to pick up the material box. After the handling robot receives the business order, it moves to the target (X, Y) position based on its navigation system, and according to the position information of the material box contained in the business order, it will pick up and return The box assembly is lifted to the target height h. These coordinate information are pre-stored in the business system or in the handling robot, and the handling robot can make corresponding operations based on the position information.

Step S2: Obtain the position information marked on the crossbeam of the rack through the two-dimensional imaging module, and adjust the position of the retrieval box assembly 300 based on the obtained position deviation of the retrieval box assembly 300;

In step S2, the height of the take-and-return box assembly 300 is adjusted based on the height position deviation of the take-and-return box assembly 300, and the height of the take-and-return box assembly 300 is precisely positioned to compensate for uneven ground, low rack installation accuracy or other The height error caused by the cause. In this embodiment, the position of the retrieving and returning box assembly is adjusted so that the bearing surface of the material box tray 330 is lower than the bearing surface for placing material boxes on the material shelf.

Step S3, through the obstacle detection module, respectively detect whether the extending paths in front of the first telescopic arm 310 and the second telescopic arm 320 are blocked,

If it is detected that the extension paths of the first telescopic arm 310 and the second telescopic arm 320 are blocked, then stop picking up boxes and report abnormal information. The robot can stop the box picking task and wait for the system to assign the task;

If one side is blocked, then control the handling robot to adjust its position to the blocked side until the stretching paths on both sides are not blocked, and then proceed to step S4; in this step, set the maximum adjustment threshold, so as to avoid Bump into adjacent cargo boxes or shelf columns;

If there is no occlusion on both sides, proceed to step S4;

Step S4, based on the three-dimensional imaging module 500, obtain the three-dimensional information of the material box, and obtain the positional deviation between the retrieving and returning box assembly 300 and the material box;

If there is a deviation between the positions of the retrieval box assembly 300 and the material box, it should be determined that the position of the retrieval box assembly 300 needs to be adjusted. Control the handling robot to move a corresponding distance within a predetermined movement threshold; and/or control the bin tray 330 to rotate a corresponding angle within a predetermined rotation threshold; then execute step S5;

In this step, based on the relative angular deviation between the retrieval box assembly and the material box identified by the 3D imaging module 500, the material box tray is driven to rotate to make it consistent with the material box. The lateral or horizontal offset between the retrieval box assembly and the material box identified by the three-dimensional imaging module 500 drives the chassis assembly to move to align the center of the retrieval box assembly with the center of the material box.

In this embodiment, if the deviation between the retrieval box assembly 300 and the material box is within the allowable range, no adjustment is required, and step S5 can be directly performed. If the deviation between the retrieving bin assembly 300 and the material bin is outside the allowable range, it should be determined that the position of the retrieving bin assembly 300 needs to be adjusted at this time.

Alternatively, if the deviation between the retrieval box assembly 300 and the material box is within the allowable range, step S5 is directly performed after adjusting the telescopic arms on both sides of the retrieval box assembly 300 to be parallel to the side walls of the material box. If the deviation between the retrieval box assembly 300 and the material box is outside the allowable range, adjust the telescopic arms on both sides of the retrieval box assembly 300 to be parallel to the side walls of the material box, and then perform step S4 to check.

Step S5, controlling the retrieval box assembly 300 to extend out.

When the first telescopic arm and the second telescopic arm of the retrieval box assembly 300 are extended, the first obstacle detection module 410 and the second obstacle detection module 420 detect in real time whether the front of the corresponding side is blocked. When reaching an obstacle, the telescopic arm is controlled to stop moving.

The present application also provides a box picking method in the following embodiments, which is applied to a handling robot, which includes the following steps:

Step S100, controlling the take-and-return box assembly to be lifted to the target height;

The business system sends instructions to the handling robot to pick up or deliver boxes. After receiving the business order, the handling robot moves to the target (X, Y) position based on its navigation system, and according to the height of the target box contained in the business order Position information, lift the return box assembly to the target height h. These coordinate information are pre-stored in the business system, and the carrier robot can make corresponding operations based on the position information.

In step S200, the three-dimensional information of the material box is obtained based on the three-dimensional imaging module, and the positional deviation between the retrieving and returning box assembly and the material box is obtained.

The 3D imaging module can be a depth camera or a panoramic camera, or a combination of multiple cameras, as long as it can obtain the 3D imaging information of the material box. The 3D imaging module can send the acquired 3D position information to the control unit.

After the 3D imaging module obtains the 3D position of the material box in front of it, it can obtain the 3D deviation between the material box and the 3D imaging module or the retrieval box assembly, which includes displacement deviation and angle deviation. For example, the distance information of several points on the front side of the material box can be calculated, and the deflection angle of the material box can be judged according to the distance information. For another example, after the depth camera obtains the image of the material box, it can analyze the deviation between the center of the material box and the center of the return box assembly, and use it as the distance of the level and height of the material box. The technology of obtaining the image of the material box through the depth camera and judging the position deviation of the material box belongs to the common knowledge of those skilled in the art, and will not be described in detail here.

Step S300, controlling the chassis assembly to move a corresponding distance; and/or controlling the bin tray to rotate a corresponding angle.

In one embodiment of the present disclosure, the control unit controls the chassis assembly to move a corresponding distance in a predetermined direction based on the obtained horizontal deviation between the material box and the retrieval box assembly. Since the three-dimensional imaging module obtains the three-dimensional position information of the material box, it can obtain the horizontal offset distance between it and the material box, and the control unit can directly drive the chassis assembly to move a corresponding distance in a predetermined direction based on the horizontal offset , to eliminate the deviation of the horizontal displacement between the retrieval box assembly and the material box.

In one embodiment of the present disclosure, the control unit controls the lifting of the retrieving bin assembly to a proper position based on the obtained height deviation between the material bin and the retrieving bin assembly. Since the 3D imaging module obtains the 3D position information of the material box, it can obtain the height offset distance between it and the material box. Based on the height offset, the control unit can drive the retrieving box assembly to move the corresponding distance to eliminate the deviation in the height direction between the retrieval box assembly and the material box.

In this embodiment, for example, the take-and-return box assembly can be controlled to lift to make the bearing surface of the material box tray lower than the bearing surface for placing the material box on the material rack, so that the material box can be lifted from a higher target box position. Moves smoothly onto the lower bin pallet.

In one embodiment of the present disclosure, the control unit controls the retrieving box assembly to rotate by a corresponding angle based on the obtained angle deviation between the material box and the retrieving box assembly. Since the three-dimensional imaging module obtains the three-dimensional position information of the material box, the specific offset angle of the material box can be obtained, and the control unit can directly drive the material box pallet in the retrieval box assembly to a predetermined direction based on the offset angle Rotate the corresponding angle.

In the embodiments described above, the corresponding adjustment function based on horizontal offset, height offset, and angle offset can be arbitrary, such as only adjusting based on horizontal offset, or only adjusting based on height offset , or only realize the adjustment based on the angle offset; it can also be any combination, such as adjusting the horizontal position and the angle position based on the horizontal offset and the angle offset, or others, which will not be described in detail here.

When adjusting the position of the retrieving and returning box component relative to the material box based on the three-dimensional imaging module, the offset of the adjustment displacement of the chassis component can be controlled first, and the angle offset of the adjustment of the material box tray can also be controlled first, which is not limited here. Through the three-dimensional imaging module, the center of the retrieving and returning box assembly can be aligned with the center of the material box. Compared with the traditional method, labeling on the material box can be avoided, the alignment accuracy is improved, and the cost is reduced.

In this embodiment, the position adjustment of the handling robot when picking up the box is realized through the three-dimensional imaging module, and the above method can be implemented by the handling robot. The handling robot may include a chassis component, a door frame component, a retrieval box component, and a three-dimensional imaging module. On the basis of the above-mentioned three-dimensional imaging module, a two-dimensional imaging module can be set on the return box component, and the two-dimensional imaging module can identify the identification code on the shelf layer, obtain the position of the target box position identification, and obtain the return box The horizontal position deviation between the component and the logo; based on the horizontal position deviation obtained, the movement of the chassis component is controlled to adjust the horizontal displacement of the take-and-return box component, and then the three-dimensional imaging module is combined to align the take-and-return box component with the material box Make unboxing. The steps of cooperating between the 2D imaging module and the 3D imaging module may be the same as those in other embodiments above, and will not be described in detail here. It can also be the above-mentioned handling robot including the obstacle detection module. Therefore, in this embodiment, it can also be adapted to the above-mentioned steps related to the obstacle detection module, which will not be described in detail here.

In one embodiment of the present disclosure, by rationally configuring the installation position of the three-dimensional imaging module on the handling robot, the method disclosed above is also applicable to the step of putting boxes. The module adjusts the horizontal offset and/or height offset and/or angular offset of the retrieving and returning box assembly relative to the target box position on the rack. It should be noted that when adjusting the height offset, the take-and-return box assembly can be driven up and down to make the bearing surface of the material box tray higher than the bearing surface for placing the material box on the material rack, so that the material box can be placed from a higher The material box pallet moves smoothly to the lower target box position.

The present application provides a box delivery method in the following embodiments, including the following steps:

Step S1, the transport robot walks to the target position, and controls the take-and-return box assembly 300 to lift to the target height;

The business system sends an instruction to the handling robot to send the material box. After receiving the business order, the handling robot moves to the target (X, Y) position based on its navigation system, and returns the box according to the position information of the material box included in the business order. The component is lifted to the target height h. These coordinate information are pre-stored in the business system or in the handling robot, and the handling robot can make corresponding operations based on the position information.

Step S2: Obtain the position information marked on the crossbeam of the material rack through the two-dimensional imaging module, and adjust the position of the retrieval box assembly 300 based on the obtained position deviation;

Since the material box is located in the material box tray at this time, the three-dimensional detection module is blocked by the material box and cannot work. Therefore, in this step, the two-dimensional imaging module is used to adjust the height of the take-and-return box assembly 300 based on the height position deviation of the take-and-return box assembly 300, and to accurately position the take-and-return box assembly 300 to compensate for the unevenness of the ground. The height error caused by low rack installation accuracy or other reasons. In this embodiment, the position of the retrieving and returning box assembly is adjusted so that the bearing surface of the material box tray 330 is higher than the bearing surface for placing material boxes on the material shelf.

And based on the lateral (horizontal) offset detected by the two-dimensional imaging module and the mark on the beam of the material rack, the chassis assembly can be controlled to move so that the center of the return box assembly is aligned with the center of the mark on the beam.

Step S3, through the obstacle detection module, respectively detect whether the extending paths in front of the first telescopic arm 310 and the second telescopic arm 320 are blocked,

If at least one side is blocked, stop delivering boxes and report an exception. That is, as long as one side is blocked, the telescopic arm is directly controlled to stop extending and an abnormality is reported. At this time, the robot can give up the box delivery task and wait for the system to assign the task.

If there is no occlusion on both sides, proceed to step S4;

Step S4, controlling the extension of the retrieval box assembly 300 .

During the above box return process, if the obstacle detection module detects that the extending paths in front of the first telescopic arm 310 and the second telescopic arm 320 are not blocked, then the box retrieval and return assembly 300 can be controlled to perform box return action. If it is detected that at least one of the front extension paths of the first telescopic arm 310 and the second telescopic arm 320 is blocked, it may be that other material boxes occupy part of the target material box positions. If the handling robot adjusts its position, the material box released by it may deviate from the target material box position, or even occupy other material box positions, resulting in the failure of the next material box position to return the box smoothly, resulting in a chain of material box offsets. Therefore, if one side is blocked during the box return process, the box return will stop and an exception will be reported. The robot can also give up this task and wait for the system to assign other tasks, such as informing the robot to return the box to another box location.

In the box pick-up method disclosed in the present disclosure, if the purpose of adjustment cannot be achieved by changing the position, the action is stopped and an abnormality is reported to the business system. After the business system receives the corresponding exception, it can assign different tasks to the robot according to the type of exception.

In an embodiment of the present disclosure, when the system receives an abnormal signal, it can notify a human to handle it, for example, after the human being manually arranges the bin, the robot can continue to perform the operation. It may also be that the system assigns the robot the task of picking up and returning the box at the box location again.

In one embodiment of the present disclosure, if the purpose of adjustment cannot be achieved by changing the position, the robot may give up the task of picking up and delivering the box. When the system receives the abnormal signal, it can assign the robot to pick up and deliver the boxes in other boxes, and notify the manual to deal with the abnormal boxes. Having described various embodiments of the present application above, the foregoing description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and alterations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principle of each embodiment, practical application or technical improvement in the market, or to enable other ordinary skilled in the art to understand each embodiment disclosed herein. The scope of the application is defined by the appended claims.

Claims (44)

1. A handling robot is characterized in that it comprises:

   Chassis components;

   a door frame assembly, the door frame assembly is connected to the chassis assembly;

   a retrieval box assembly, the retrieval box assembly is configured to move up and down along the door frame assembly; the retrieval box assembly includes a telescopic fork mechanism for extending or retracting;

   An obstacle detection module, the obstacle detection module is configured to detect whether the extension path of the telescopic fork mechanism is blocked;

   The telescopic fork mechanism is configured to protrude when the obstacle detection module detects that the protruding path of the telescopic fork mechanism is unobstructed.
2. The handling robot according to claim 1, wherein the telescopic fork mechanism includes a pair of first and second telescopic arms arranged in parallel; at least two of the obstacle detection modules are provided, respectively The first obstacle detection module is arranged at the front end of the first telescopic arm, and the second obstacle detection module is arranged at the front end of the second telescopic arm.
3. The handling robot according to claim 2, wherein the retrieving and returning box assembly includes a box tray for carrying the box, and the first telescopic arm and the second telescopic arm are arranged on opposite sides of the box tray. side, and is configured to protrude relative to the bin tray when the first obstacle detection module and the second obstacle detection module detect that the corresponding protruding path is not blocked.
4. The handling robot according to claim 3, characterized in that, each set of telescopic arms of the telescopic fork mechanism is a telescopic arm extended at one stage, or at least two stages extended at the telescopic arm; the obstacle detection module It is arranged at the front end of the telescopic arm at the end of the telescopic fork mechanism.
5. The handling robot according to claim 3, further comprising a control unit, the control unit responds to the first obstacle detection module and the second obstacle detection module detecting that the corresponding extension paths are blocked , issue a command to stop the retrieving box and report an exception; and,

   In response to one of the first obstacle detection module and the second obstacle detection module detecting that the corresponding extension path is blocked, the chassis assembly is controlled to move a corresponding distance to the blocked side.
6. The handling robot according to claim 5, characterized in that, in response to one of the first obstacle detection module and the second obstacle detection module detecting that the corresponding extension path is blocked, the chassis assembly is controlled to the The shaded side moves a corresponding distance within a predetermined movement threshold.
7. The handling robot according to claim 5, wherein before the extension of the telescopic fork mechanism, the control unit responds to one of the first obstacle detection module and the second obstacle detection module detecting the corresponding When the extending path is blocked, the control chassis assembly moves a corresponding distance to the blocked side.
8. The handling robot according to claim 5, characterized in that, during the extension process of the telescopic fork mechanism, the control unit is triggered in response to the real-time detection of the first obstacle detection module and the second obstacle detection module When at least one electrical signal is received, the telescopic fork mechanism is controlled to stop extending.
9. The handling robot according to claim 1, wherein the obstacle detection module is a laser sensor or an infrared sensor.
10. The handling robot according to claim 1, further comprising a three-dimensional imaging module arranged on the retrieving and returning box assembly, and the three-dimensional imaging module is configured to obtain three-dimensional position information of the material box.
11. The handling robot according to claim 10, wherein the retrieving and returning box assembly includes a box tray for carrying the box, and a tailgate positioned at the rear end of the box tray; the three-dimensional imaging module is arranged on Center of the tailgate.
12. The handling robot according to claim 10, characterized by comprising a control unit, the control unit is configured to control the chassis assembly at a predetermined movement threshold based on the positional deviation between the retrieval box assembly and the material box obtained by the three-dimensional imaging module and/or control the bin tray to rotate by a corresponding angle within a predetermined rotation threshold range.
13. The handling robot according to claim 10, wherein the three-dimensional imaging module includes a depth camera.
14. The handling robot according to claim 1, further comprising a two-dimensional imaging module arranged on the retrieving box assembly, the two-dimensional imaging module is configured to obtain the position information of the mark on the rack .
15. The handling robot according to claim 14, wherein the retrieving and returning box assembly includes a base and a material box tray arranged on the base; the two-dimensional imaging module is arranged at the center of the base, for It is used to obtain the position information of the mark of the center position of the rack beam.
16. The handling robot according to claim 15, characterized by comprising a control unit configured to control the chassis assembly to move correspondingly within a predetermined movement threshold range based on the position deviation from the mark obtained by the two-dimensional imaging module. and/or control the corresponding height of lifting and lowering the retrieving box assembly.
17. The handling robot according to claim 16, wherein when retrieving the material box, drive the retrieving and returning box assembly to lift to make the bearing surface of the material box tray lower than the bearing surface for placing the material box on the material rack; When picking up and returning the box, drive the take-and-return box assembly up and down to make the bearing surface of the material box tray higher than the bearing surface for placing the material box on the material rack.
18. A handling robot is characterized in that it comprises:

    Chassis components;

    a door frame assembly, the door frame assembly is connected to the chassis assembly;

    a retrieval box assembly, the retrieval box assembly is configured to move up and down along the door frame assembly; the retrieval box assembly includes a telescopic fork mechanism for extending or retracting;

    A three-dimensional imaging module is arranged on the retrieving and returning box assembly, and the three-dimensional imaging module is configured to obtain three-dimensional position information of the material box.
19. The handling robot according to claim 18, wherein the handling robot further comprises:

    A control unit configured to control the chassis assembly to move a corresponding distance within a predetermined movement threshold range based on the distance deviation between the retrieving box assembly and the material box obtained by the three-dimensional imaging module.
20. The handling robot according to claim 19, wherein the control unit is configured to drive the The chassis assembly is moved to align the center of the retrieval bin assembly with the center of the bin.
21. The handling robot according to claim 19, wherein the control unit is further configured to report an abnormality when the distance that the chassis assembly needs to move exceeds the predetermined moving threshold range.
22. The handling robot according to claim 19, wherein the control unit is further configured to control the take-and-return box assembly to lift to the load-bearing surface of the take-and-return box assembly when retrieving the material box lower than the load-bearing surface on the rack for the bins; and/or,

    When the control unit is configured as a feeding box, it controls the lifting of the take-and-return box assembly so that the bearing surface of the take-and-return box assembly for carrying the material box is higher than the bearing surface for placing the material box on the material shelf.
23. The handling robot according to any one of claims 18 to 22, wherein the handling robot further comprises:

    A control unit, the control unit is configured to control the retrieval box assembly to rotate by a corresponding angle within a predetermined rotation threshold range based on the angle deviation between the retrieval box assembly and the material box obtained by the 3D imaging module.
24. The transfer robot according to claim 23, wherein the control unit is further configured to report an abnormality when the rotation angle of the retrieval box assembly exceeds the predetermined rotation threshold range.
25. The handling robot according to claim 23, wherein the retrieving and returning box assembly includes a box tray for carrying the box, and a rear baffle located at the rear end of the box tray; the three-dimensional imaging module is arranged on Center of the tailgate.
26. The handling robot according to claim 25, wherein the retrieving and returning box assembly further includes a base and a rotating mechanism, the bin tray is mounted on the base through the rotating mechanism, and the control unit It is configured to drive the bin tray to rotate relative to the base by controlling the rotating mechanism.
27. The handling robot according to claim 23, wherein the three-dimensional imaging module includes a depth camera or a panoramic camera.
28. The handling robot according to claim 23, characterized in that, the handling robot also includes an obstacle detection module, and the telescopic fork mechanism includes a pair of first and second telescopic arms arranged in parallel; the obstacle There are at least two object detection modules, namely a first obstacle detection module located at the front end of the first telescopic arm, and a second obstacle detection module located at the front end of the second telescopic arm.
29. The handling robot according to claim 28, wherein the retrieving and returning box assembly includes a material box tray for carrying the material box, and the first telescopic arm and the second telescopic arm are arranged on opposite sides of the material box tray. side, and is configured to protrude relative to the bin tray when the first obstacle detection module and the second obstacle detection module detect that the corresponding protruding path is not blocked.
30. The handling robot according to claim 29, characterized in that, each group of telescopic arms of the telescopic fork mechanism is a telescopic arm extended at one stage, or at least two stages extended at the telescopic arm; the obstacle detection module It is arranged at the front end of the telescopic arm at the end of the telescopic fork mechanism.
31. The handling robot according to claim 30, further comprising a control unit, the control unit responds to the first obstacle detection module and the second obstacle detection module detecting that the corresponding extension paths are blocked , issue a command to stop the retrieving box and report an exception; and,

    In response to one of the first obstacle detection module and the second obstacle detection module detecting that the corresponding extension path is blocked, the chassis assembly is controlled to move a corresponding distance to the blocked side.
32. A method for picking up and delivering boxes, applied to the handling robot described in any one of claims 1 to 17, comprising a box picking step and a box delivery step, characterized in that the box taking step and the box returning step both include the following step:

    Step S1000, controlling the take-and-return box assembly to be lifted to the target height;

    Step S2000, controlling the obstacle detection module to detect whether the extension path of the telescopic fork mechanism is blocked;

    Step S3000, in response to the obstacle detection module detecting that the extending path is not blocked, controlling the telescopic fork mechanism to extend.
33. The method for picking and delivering boxes according to claim 32, wherein the telescopic fork mechanism includes a first telescopic arm and a second telescopic arm, and the obstacle detection module includes a Whether the first obstacle detection module is blocked, and the second obstacle detection module used to detect whether the extending path of the second telescopic arm is blocked;

    The step S2000 includes:

    Step S2100, controlling the first obstacle detection module and the second obstacle detection module to detect whether the extending paths of the first telescopic arm and the second telescopic arm are blocked;

    Step S2200, in response to one of the first obstacle detection module and the second obstacle detection module detecting that the corresponding extension path is blocked, control the handling robot to move to the blocked side until the side is cleared. is obscured; and

    Step S2300, when the first obstacle detection module and the second obstacle detection module detect that the corresponding extension paths are blocked, issue a command to stop the retrieving box and report an exception.
34. The method for picking and delivering boxes according to claim 32, characterized in that, in the step S3000, during the process of controlling the extension of the telescopic fork mechanism, the obstacle detection module detects in real time whether the extension path of the telescopic fork mechanism is blocked , and when the obstacle detection module detects that the extending path is blocked, it controls the telescopic fork mechanism to stop extending.
35. The method for picking and delivering boxes according to claim 32, characterized in that, after the step S1000, further comprising:

    The two-dimensional imaging module detects the positional deviation from the mark on the beam of the corresponding material rack, and based on the positional deviation, controls the chassis assembly to move a corresponding distance within a predetermined movement threshold; and/or controls the lifting and lowering of the return box assembly to a corresponding height .
36. The method for retrieving and delivering boxes according to claim 35, characterized in that, when retrieving the material box, drive the retrieving and returning box assembly to lift to make the bearing surface of the material box tray lower than the bearing surface for placing the material box on the material rack ; when feeding the box, drive the take-back box assembly up and down to make the bearing surface of the material box tray higher than the bearing surface for placing the material box on the material rack.
37. The box picking method according to claim 32, characterized in that, in the box picking step, after the step S1000, further comprising:

    The three-dimensional imaging module detects the position deviation of the bin on the corresponding rack, and based on the position deviation controls the handling robot to move a corresponding distance within the predetermined movement threshold range; and/or controls the bin tray to rotate within the predetermined rotation threshold range corresponding angle.
38. A method for taking and returning boxes, comprising a box taking step and a box sending step, applied to a handling robot, the handling robot includes a chassis assembly, a door frame assembly, and a box retrieval and return assembly, and the door frame assembly is connected to the chassis assembly The retrieving and returning box assembly is configured to move up and down along the door frame assembly, and the retrieving and returning box assembly includes a material box tray for carrying material boxes; it also includes a two-dimensional imaging module, characterized in that it includes the following steps :

    S1000', controlling the retrieving and returning box assembly to be lifted to the target height according to the height value of the target box position pre-stored in the system;

    S2000', based on the position of the target box mark obtained by the two-dimensional imaging module, obtain the height position deviation between the retrieving box component and the mark;

    S3000', in the box taking step, based on the obtained height position deviation, control the lifting and returning box assembly so that the bearing surface of the material box tray is lower than the bearing surface for placing the material box on the material rack;

    S4000', in the box sending step, drive the take-and-return box assembly to lift to make the bearing surface of the material box tray higher than the bearing surface for placing material boxes on the material rack.
39. The method for retrieving and returning boxes according to claim 38, characterized in that: at least in the box sending step, the distance between the retrieving and returning box assembly and the label is also obtained based on the position of the target box location mark obtained by the two-dimensional imaging module. The horizontal position deviation; based on the obtained horizontal position deviation, control the movement of the chassis assembly to adjust the horizontal displacement of the return box assembly.
40. The method for taking and returning boxes according to claim 38, characterized in that: in the step of taking boxes, further comprising:

    Obtain the three-dimensional information of the material box based on the three-dimensional imaging module, and obtain the position deviation between the retrieval box component and the material box;

    Controlling the chassis assembly to move a corresponding distance within a predetermined movement threshold range; and/or controlling the bin tray to rotate a corresponding angle within a predetermined rotation threshold range.
41. A method for taking out boxes is characterized in that it comprises the following steps:

    Step S1, the handling robot walks to the target position, and controls the take-and-return box assembly to lift to the target height;

    Step S2. Obtain the position information marked on the crossbeam of the material rack through the two-dimensional imaging module, and adjust the position of the retrieval box assembly based on the obtained position deviation of the retrieval box assembly;

    Step S3, through the obstacle detection module, respectively detect whether the extending paths in front of the first telescopic arm and the second telescopic arm are blocked,

    If both sides are blocked, stop taking the box and report abnormal information; if one side is blocked, control the chassis assembly to move to the blocked side until the protruding paths of both sides are not blocked, and then go to step S4; if If there is no occlusion on both sides, go to step S4;

    Step S4. Obtain the three-dimensional information of the material box based on the three-dimensional imaging module, and obtain the positional deviation between the retrieving and returning box assembly and the material box;

    If the positional deviation between the retrieving and returning box assembly and the material box is outside the allowable range, control the chassis assembly to move a corresponding distance within a predetermined movement threshold; and/or control the material box tray to rotate within a predetermined rotation threshold Angle; then execute step S5;

    Step S5, controlling the extension of the retrieval box assembly.
42. The box retrieval method according to claim 41, wherein in step S2, the height of the retrieval box assembly is adjusted based on the height position deviation of the retrieval box assembly.
43. A box delivery method is characterized in that it comprises the following steps:

    Step S1, the handling robot walks to the target position, and controls the take-and-return box assembly to lift to the target height;

    Step S2. Obtain the position information marked on the crossbeam of the material rack through the two-dimensional imaging module, and adjust the position of the retrieval box assembly based on the obtained position deviation;

    Step S3, through the obstacle detection module, respectively detect whether the extending paths in front of the first telescopic arm and the second telescopic arm are blocked,

    If at least one side is blocked, stop delivering boxes and report an abnormality; if both sides are not blocked, proceed to step S4;

    Step S4, controlling the extension of the retrieval box assembly.
44. The box sending method according to claim 43, characterized in that, in step S2:

    adjusting the height of the retrieval bin assembly based on the height deviation of the retrieval bin assembly;

    The horizontal displacement of the retrieval bin assembly is adjusted based on the horizontal deviation of the retrieval bin assembly.

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