This application provides a fleet control method and apparatus, an electronic device, and a storage medium. The fleet control method is used for controlling a robot fleet and includes: determining a planned path of each robot in the robot fleet, where the planned path of each robot is used to indicate a movement path for the robot to move to a corresponding target storage location within a shelving unit region to execute a task; determining a following road segment in the planned path of each following robot based on the planned path of each robot, where the following road segment includes a road segment located on the ground and/or a road segment extending in a vertical direction; and sending the following road segment to a corresponding following robot.
Embodiments of the present disclosure provide a material conveying method and apparatus, a device, a system, and a storage medium, applicable to an intelligent warehousing system. The method includes: determining a first order, where the first order includes a target container and a first workstation; determining a second order, where the second order includes the target container and a second workstation; determining to convey the target container to the second workstation according to a relationship of transferability between the second workstation and the first workstation along a conveying line, where the conveying line is connected to the first workstation and the second workstation; and transmitting first indication information to a warehousing robot, transmitting second indication information to the first workstation, and transmitting third indication information to the second workstation.
This application provides an obstacle avoidance method and apparatus, an electronic device, and a storage medium. The obstacle avoidance method is applicable to a robot. The robot is configured to move along a track in a rack area, and the method includes: detecting whether a suspected obstacle exists in a traveling direction, where the suspected obstacle protrudes beyond an edge of a rack; determining a relative position relationship between the suspected obstacle and a target position that the robot is required to reach along a current traveling direction when the suspected obstacle exists in the traveling direction; determining that the suspected obstacle is an obstacle when the suspected obstacle is located between a current position of the robot and the target position; and replanning a traveling route to avoid the obstacle.
The embodiments of the present application provide a method, apparatus, and device for adjusting a material handling apparatus of a robot. The method includes: acquiring a first detection image through an image acquisition apparatus when the robot moves to a target ground identifier corresponding to a target storage location; determining a pose position relationship between the target storage location and the image acquisition apparatus based on preset key points in the first detection image; and adjusting the material handling apparatus of the robot to be aligned with the target storage location based on the pose position relationship, so that an insert plate of the material handling apparatus is placed between a first supporting portion and a second supporting portion. In this way, the material handling apparatus is calibrated before goods are retrieved or stored, which avoids collisions during goods retrieval and storage and improves operation safety of the robot.
A method for retrieving an inventory item based on a handling robot, where the handling robot includes: a storage frame; and a material handling device installed on the storage frame, and including a telescopic arm and a manipulator installed to the telescopic arm; and the method for retrieving an inventory item includes: driving, by the telescopic arm, the manipulator to extend to a preset position of warehouse shelf along a preset horizontal reference line; loading, by the manipulator that is remained on the reference line, the inventory item located in the preset position; driving, by the telescopic arm, the manipulator loaded with the inventory item to move to the storage frame along the reference line; and unloading, by the manipulator that is remained on the reference line, the inventory item to the storage frame.
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
G06Q 10/08 - Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
Embodiments of the present disclosure provide an order processing method, apparatus, device, system, medium, and product. The method includes: obtaining a target order to be processed and determining a quantity of types of goods in the target order; dividing the target order into a plurality of sub-orders according to the quantity of types of goods and assigning different workstations for the sub-orders; and sending the sub-orders for which the workstations have been assigned to the corresponding workstations for processing.
This application provides a material conveying method and device, applicable to an unloading device including a robot and a conveyor. The robot includes at least one goods taking or placing apparatus and at least two first storage layers, and the conveyor includes a to-be-placed goods conveying layer and a to-be-taken goods conveying layer arranged in parallel from up to down. According to this application, the goods taking or placing apparatus is controlled to move in a direction perpendicular to the to-be-placed goods conveying layer and the to-be-taken goods conveying layer. When a material obtained from the to-be-taken goods conveying layer exists on the goods taking or placing apparatus, the goods taking or placing apparatus is controlled to place the material on an unoccupied storage layer reached by the goods taking or placing apparatus for the first time during the movement.
The present disclosure relates to the field of intelligent warehousing technologies, and provides a shelf and a warehousing system, to resolve a technical problem that it is difficult to control a spacing between adjacent goods on a shelf. The shelf includes a support frame and a first conveyor and a second conveyor arranged on the support frame. The first conveyor and the second conveyor form a goods conveying layer for conveying goods. The first conveyor is hinged with the support frame. The first conveyor is rotatably switched to a first limit position or a second limit position. When the first conveyor is at the first limit position, a second end of the first conveyor protrudes from an upper surface of the second conveyor, so that an end surface of the second end of the first conveyor is configured to block goods on the second conveyor.
This application provides a fork collision processing method and apparatus, a robot, a device, a medium, and a product. The method includes: determining a collision type when it is detected that a fork of a robot encounters a collision; determining a fork collision processing strategy according to the collision type; and processing the fork collision according to the fork collision processing strategy. In this application, when it is detected that the fork of the robot encounters a collision, the collision type of the fork collision is first determined, then the fork collision processing strategy is determined according to the determined collision type, and finally the fork collision event is processed according to the determined fork collision processing strategy.
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
G05D 1/00 - Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
G05D 1/02 - Control of position or course in two dimensions
24.
WAREHOUSING MANAGEMENT METHOD AND APPARATUS, DEVICE, MEDIUM, PROGRAM PRODUCT, AND SYSTEM
The present disclosure provides a warehousing management method and apparatus, a device, a medium, a program product, and a system. In the method provided in the present disclosure, before a warehousing management system delivers task information each time, a first operation parameter used for completing a current task can be accurately calculated by learning a historical data record in a historical task, and a target robot configured to perform the current task operates according to the first operation parameter. In this way, the current task may be smoothly completed without error calibration or only through simple calibration, so that efficiency of performing a task is improved, thereby greatly improving goods taking/placing efficiency of an intelligent warehousing system.
A material transferring method includes: controlling a first robot transferring materials to move to a first entrance of the M entrances; and controlling the first robot to place a first quantity of materials at the first entrance, the first quantity being less than or equal to a second quantity. The first entrance is one of the M entrances that is in an idle state. The second quantity is a total quantity of materials to be placed on the conveyor line by the first robot.
A goods loading or unloading control method is applicable to a goods loading or unloading device. The goods loading or unloading device includes a storage unit. The storage unit is provided with a goods outlet and a roller conveyor. The roller conveyor has an outer contour surface configured for rolling contact with goods in the storage unit. The roller conveyor is configured to rotate about a rotation axis thereof. The method includes: receiving a goods loading or unloading instruction; and controlling a rotation state of the roller conveyor according to the goods loading or unloading instruction, so as to convey goods outside the storage unit to outside of the goods outlet through the storage unit.
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
B65G 1/127 - Storage devices mechanical with article supports or holders movable in a closed circuit to facilitate insertion or removal of articles the circuit being confined in a vertical plane
27.
GOODS PROCESSING METHOD AND APPARATUS, DEVICE, SYSTEM, STORAGE MEDIUM, AND PROGRAM PRODUCT
Embodiments of the present disclosure provide a goods processing method and apparatus, a device, a system, a storage medium, and a program product. The method includes: determining, if to-be-stored goods exist, a target shelving unit configured for the goods to be placed according to delivery information corresponding to the goods; transmitting a goods placement instruction, so that a goods transport robot places the goods on the target shelving unit according to the goods placement instruction; and transmitting a goods taking instruction if to-be-retrieved goods exist, so that a shelving unit transport robot transports, to a retrieval point, a shelving unit where the to-be-retrieved goods are located.
Embodiments of the present disclosure provide a warehousing robot control method and apparatus, a device, and a storage medium. In the method in the embodiments of the present disclosure, a preset area is arranged near a workstation, and a throttling condition corresponding to the preset area is set. When the number of the robot in the preset area meets the throttling condition, a scheduling server sends an avoidance instruction to a warehousing robot that meets an avoidance condition, the avoidance instruction being used for indicating an operation of the warehousing robot that meets the avoidance condition stopping entering the preset area. If an avoidance instruction is received, a warehousing robot enters an avoidance state and stops moving toward a preset area of a workstation allocated to the warehousing robot. This can reduce the number of warehousing robots that wait near a workstation, thereby avoiding congestion near the workstation, and improving goods pick-and-place efficiency.
Embodiments of the present disclosure provide an order processing method, apparatus, and device, a c system, and a storage medium. The order processing method includes: in a case that a second order is detected and a priority of the second order is higher than a priority of at least one first order, obtaining a material container of a first order in a buffer area, where each of the at least one first order is an order that is currently being executed and whose execution is not completed, and the material container of the first order is at least one material container of material containers corresponding to the at least one first order; and determining a first transport strategy of the second order according to the material container of the first order and a requirement of the second order, so as to complete the second order according to the first transport strategy.
Provided in this embodiment of the present disclosure are a method and device for storing goods, a robot, a warehousing system and a storage medium. The method for storing goods includes: moving to a target position according to a storage instruction for goods to be stored; detecting a storage space corresponding to the storage instruction, where the storage space for the goods to be stored is determined according to size information of the goods to be stored and a dynamic goods storage space on a rack corresponding to the goods to be stored; determining, according to the detection result, whether the storage space corresponding to the storage instruction includes continuous vacant spaces of preset size; and storing the goods to be stored in the vacant spaces of the preset size of the storage space in response to determining that the storage space corresponding to the storage instruction includes the continuous vacant spaces of the preset size. The storage space is detected before the goods are stored so as to determine that the storage space is enough to store the goods. The safety for goods storage is improved.
Embodiments of the present disclosure provide a space allocation method and apparatus, a goods storage method and apparatus, a robot, and a warehousing system, where the space allocation method includes: determining, according to a space property of an unoccupied space of a goods storage space and a required space of to-be-stored goods, a first storage space adapted to the required space from the unoccupied space; allocating the first storage space to the to-be-stored goods; and sending a first storage instruction to a first robot, where the first storage instruction includes information about the first storage space. In this way, a proper space is dynamically allocated to goods according to a requirement and a space property, space utilization of a warehousing system is improved, and warehousing costs are reduced.
A goods storage method and apparatus, a robot, a warehousing system, and a storage medium are provided. The method includes: moving to a position corresponding to a first target region according to a storage instruction of goods to be stored, where the first target region is a storage region corresponding to the goods to be stored, and the first target region is determined according to size information of the goods to be stored and a dynamic goods storage space on a rack corresponding to the goods to be stored; moving toward a direction of an unoccupied region in the first target region, in a case that the first target region is occupied; and placing the goods to be stored in a second target region, where the second target region is a corresponding storage region after the robot moves.
Embodiments of the present application disclose a method and device for taking out and placing goods, a warehousing robot and a warehousing system. For the warehousing system based on a dynamic storage location storage mechanism, the method includes: moving, according to an operation instruction for target goods, to a target position, where the target position is a position corresponding to a dynamic goods storage space for the target goods; acquiring first state information and second state information, and determining, according to the first state information and the second state information, available spacing between the target goods and adjacent objects, where first state information is used for representing a spatial position feature of the target goods and the second state information is used for representing spatial position features of the adjacent objects; and taking out or storing, according to the available spacing, the target goods.
The application relates to a carrying robot including a fork. The fork includes a telescopic arm and a temporary storage tray. The telescopic arm includes a fixed arm and a movable arm connected to the fixed arm. The movable arm is telescopically movable relative to the fixed arm. The temporary storage tray is mounted to the fixed arm and is configured to temporarily store goods. The temporary storage tray is able to extend relative to the fixed arm. An extending direction of the temporary storage tray is consistent with an extending direction of the movable arm. When the fork pulls in or pushes out the goods, containers can be stably transferred between a stationary rack and the temporary storage tray.
The present disclosure provides a method and apparatus for controlling a warehousing system, a guard door, and a warehousing system. The method includes: obtaining a door-opening-request signal of a guard door, and determining a target region corresponding to the guard door; determining that a state of a first goods-carrying tool in the target region is a non-operating state; and controlling a state of the guard door to be an open state. The safety of the target region where a user enters is ensured. In addition, the state of the goods-carrying tool in the target region corresponding to the guard door is controlled to be a non-operating state and a goods-carrying tool in a non-target region is kept to operate normally, and therefore, when compared with the related art of stopping all goods-carrying tools, the warehousing efficiency is improved and a hardware loss caused to the goods-carrying tool due to repeated starting and stopping is reduced.
The present disclosure provides an order processing method, an outbound method, a device, a system, and a storage medium. A server obtains a slot capacity of each workstation and a preset virtual capacity, determines a to-be-processed order of each workstation according to the slot capacity and the virtual capacity, and generates an outbound instruction according to the to-be-processed order. A transfer device transfers goods in the to-be-processed order from the warehouse according to the outbound instruction.
The application relates to a carrying robot including a fork. The fork includes a telescopic arm and a temporary storage tray. The telescopic arm includes a fixed arm and a movable arm connected to the fixed arm. The movable arm is telescopically movable relative to the fixed arm. The temporary storage tray is mounted to the fixed arm and is configured to temporarily store goods. The temporary storage tray is able to extend relative to the fixed arm. An extending direction of the temporary storage tray is consistent with an extending direction of the movable arm. When the fork pulls in or pushes out the goods, containers can be stably transferred between a stationary rack and the temporary storage tray.
Embodiments of the present disclosure provide a robot control method, apparatus, and system, a control device, and a robot. The method includes: determining a storage position or a temporary storage shelving unit at which a user performs an operation; and controlling an operation of a robot according to the storage position or the temporary storage shelving unit at which the user performs the operation, so that the robot avoids performing an operation at the same storage position simultaneously with the user. According to the robot control method, apparatus, and system, the control device, and the robot provided in the embodiments of the present disclosure, cases that a robot comes into contact with a user can be reduced, thereby reducing injury caused by a robot to a user to some extent, and effectively improving operation safety. In addition, goods sorting/selection efficiency can also be ensured.
This application provides a robot, a goods transferring method, a server, and a warehousing system The robot in this embodiment includes: a movable base, a robot shelving unit, a lifting device, and an object transferring device, where the robot shelving unit is mounted on the movable base; the movable base is configured to move to a first target object position included in a first transferring task and move to a second target object position included in a second transferring task, where one of the first transferring task and the second transferring task is a goods taking task, and the other one is a returning task; and the lifting device and the object transferring device are mounted on the robot shelving unit, and the robot is configured to perform the second carrying task during performance of the first carrying task. Therefore, a transferring policy may be flexibly set, and goods are returned while goods are taken during goods transferring, to effectively improve the goods transferring efficiency.
This application provides a transfer device, a robot, a sorting system, and sorting methods. The transfer device is applied to equipment on which multiple logistics crates are placed in a first direction. There are at least two transfer devices provided in the first direction of the equipment. The transfer device includes a supporting base and a first transmission assembly. The first transmission assembly is located on the supporting base. The first transmission assembly transports a logistics crate. The transfer device provided in this application can improve the work efficiency of the equipment.
The present disclosure provides a goods taking mechanism and a carrying device. The goods taking mechanism includes a fixed member, a first clamping plate, a second clamping plate, and a driving assembly, where the first clamping plate and the second clamping plate are oppositely mounted on the fixed member and are connected to the driving assembly, and the first clamping plate and the second clamping plate are movable relative to the fixed member under the action of the driving assembly, to act on two opposing sides of a to-be-moved object. The goods taking mechanism of the present disclosure can clamp to-be-moved objects of different sizes, which helps reduce the distance between the adjacent to-be-moved objects.
Embodiments of the present disclosure provide a warehouse sorting method and apparatus, a server, a robot, a system, and a storage medium. The method includes: obtaining a type of a warehouse sorting requirement; determining warehouse sorting task information according to the type of the warehouse sorting requirement, the warehouse sorting task information including information about to-be-sorted goods, information about a sorted-out container in which the goods are currently located, and information about a corresponding target container, to move the goods from the sorted-out container to the target container; and outputting the warehouse sorting task information. Therefore, the user and/or the robot may execute the warehouse sorting task information, to sort stored goods in time, thereby performing management on a warehouse more efficiently and improving a use effect of the warehouse.
A goods picking apparatus includes a goods picking assembly, a sensor, and a depth determining module; the sensor is provided on the goods picking assembly and configured to collect a measurement signal when the goods picking assembly extends; the depth determining module is configured to determine a depth of a goods container according to the measurement signal; and the goods picking assembly is configured to pick or place the goods container according to the depth of the goods container, where the depth is a length of the goods container in an extension direction of the goods picking assembly during goods picking.
Embodiments of the present disclosure provide a material inventory counting method and apparatus, a warehousing robot, and a warehousing system. The material inventory counting method is applied to the warehousing robot. The method includes: capturing an inventory counting image of a target box through the warehousing robot; and determining an inventory count of a material in the target box according to the inventory counting image. According to the technical solutions of the embodiments of the present disclosure, an inventory counting image of a target box is captured through a warehousing robot, and a count for a material in the target box is determined through image identification on the inventory counting image, to implement in-situ and automatic inventory counting for the material, without the need for cross-zone movement of the box, such that the efficiency of material inventory counting is greatly improved and the cost of inventory counting is lowered.
A warehousing system including a shelving unit, a goods-container-moving device, and a control terminal. The shelving unit is provided with a plurality of storage spaces configured to place a storage-goods container or a collection-goods container, wherein the storage-goods container is configured to store goods; the control terminal is configured to send a first control instruction to the goods-container-moving device; the goods-container-moving device is configured to move a target storage-goods container storing target goods to a first picking area; the control terminal is further configured to obtain a free storage space on the shelving unit, and send a second control instruction to the goods-container-moving device; and the goods-container-moving device is further configured to temporarily store the collection-goods container that completes the picking of the target goods to the free storage space.
An intelligent warehousing system, a material fetching and placing method and a processing terminal thereof, where the intelligent warehousing system includes a first warehousing robot and a second warehousing robot, the first warehousing robot is configured to receive a first scheduling instruction, move to a fixed shelf to fetch and place a material box according to the first scheduling instruction, and handle the material box to a first target position; and the second warehousing robot is configured to receive a second scheduling instruction, move to a portable shelf according to the second scheduling instruction, and handle the portable shelf to a second target position. Through the technical solution of the present application, compatibility of the intelligent warehousing system is improved, which may be applied to a warehouse with different shelves, thus improving the utilization rate of the warehouse.
A photographing method for picking or placing, applied includes: obtaining first multi-dimensional image information of a target position in a target shelf; determining, according to the first multi-dimensional image information, whether there is a first item in the target position; and determining a photographing strategy of the photographing module according to a determining result, wherein the photographing strategy includes one of: the photographing module not moving with the handling apparatus in a telescopic direction for continued photographing, the photographing module moving a preset distance along the telescopic direction with the handling apparatus, and performing an operation of starting a solution; the solution includes at least one of stopping photographing, sending a warning signal, and reporting to a server to which the transport robot belongs.
An embodiment of the disclosure provides a warehouse robot control method and apparatus, a robot, and a warehouse system. The method includes: obtaining a container scheduling instruction of a first target container, where the container scheduling instruction includes a container type of the first target container; determining a container pose recognition algorithm according to the container type of the first target container, and recognizing pose information of the first target container based on the container pose recognition algorithm; and controlling the warehouse robot to pick up the first target container according to the pose information. For different types of containers, using corresponding pose recognition algorithms to determine pose information thereof and automatically picking up different types of the containers based on the pose information improve application range and efficiency of automatic pickup of the warehouse robot.
Embodiments of the disclosure provide a box retrieval method and apparatus, a system, a robot, and a storage medium. The method is applied to a warehouse robot, and includes: acquiring a detection image, where the detection image includes an image of a target box and neighboring objects; determining a box spacing between the target box and each neighboring object according to the detection image; and if the box spacing satisfies retrieval conditions for a warehouse robot, retrieving the target box. Automatic detection of the box spacing is achieved with low detection cost and high detection accuracy, and goods is retrieved only when the spacing satisfies conditions, such that goods retrieval safety is increased, and the probability of goods damage and falling down of shelves during a retrieval process is greatly lowered.
The present disclosure provides a warehouse robot control method and apparatus, a device and a readable storage medium. According to the method of the present disclosure, before a carrying task is executed, image data of a target storage location is acquired through an image acquisition apparatus, whether an execution condition of a carrying task is satisfied is determined according to the image data of the target storage location, and in a case that the execution condition of the carrying task is satisfied, that is, no danger may happen during execution of the carrying task by a carrying apparatus, the carrying apparatus is controlled to execute the carrying task. The occurrence of danger is avoided and the safety of warehouse robots is improved.
The application relates to a carrying robot including a fork. The fork includes a telescopic arm and a temporary storage tray. The telescopic arm includes a fixed arm and a movable arm connected to the fixed arm. The movable arm is telescopically movable relative to the fixed arm. The temporary storage tray is mounted to the fixed arm and is configured to temporarily store goods. The temporary storage tray is able to extend relative to the fixed arm. An extending direction of the temporary storage tray is consistent with an extending direction of the movable arm. When the fork pulls in or pushes out the goods, containers can be stably transferred between a stationary rack and the temporary storage tray.
This application relates to a navigation method and a navigation apparatus. The navigation method is executed by a mobile carrier and includes: moving along a preset guide trajectory body according to obtained target location information; and determining whether a current state of the mobile carrier is out-of-position, and in response to determining that the current state of the mobile carrier is out-of-position, obtaining current initialization location information of the mobile carrier after moving to a preset initialization tag. According to embodiments of the disclosure, reliable operation of the mobile carrier is ensured by re-initializing the mobile carrier in a case that an error occurs in the mobile carrier along the preset guide trajectory body.
The embodiments of this application provide a goods box take-out mechanism, device, and method, and a transport robot, belong to the field of transport robot technologies, and are intended to resolve the problem of wasting part of storage space of the warehouse when the current transport robots are used to carry goods boxes. The goods box take-out device includes a take-out assembly that is connected to a front surface of a to-be-transferred goods box and that can take out the goods box from a warehousing shelving unit. Since the take-out assembly is connected to the front surface of the to-be-transferred goods box, there is no need to reserve space below, above, or on left and right sides of the goods box for insertion and movement of the take-out assembly. Therefore, the storage space of the warehouse is fully utilized, and the storage density of the warehouse is improved.
A handling robot used in a field of warehouse logistics comprises a mobile chassis, and a storage shelf. The storage shelf is mounted to the mobile chassis and comprises a plurality of layered plate components distributed at different heights. The handling robot further comprises a handling device configured to transport a material to a layered plate of the plurality of layered plate components, and a lift component configured to drive the handling device to lift relative to the storage shelf.
B66F 9/12 - Platforms; Forks; Other load-supporting or load-gripping members
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
67.
LOADING OR UNLOADING APPARATUS, SYSTEM, AND METHOD
A loading or unloading apparatus configured to convey goods to a transport robot or unload goods on the transport robot. The loading or unloading apparatus includes an upright frame, a plurality of goods loading or unloading assemblies and a second driving structure. The upright frame is extending along a vertical direction. The plurality of goods loading or unloading assemblies are arranged on the upright frame at intervals along the vertical direction and capable of separately conveying, at different heights, the goods to the transport robot or unloading the goods on the transport robot. The second driving structure is configured to drive the upright frame to approach or move away from the transport robot along a loading or unloading direction, such that the plurality of goods loading or unloading assemblies convey the goods to the transport robot or unload the goods on the transport robot.
A warehousing system includes a control terminal and a robot. The control terminal is configured to send a first control instruction including running path information to the robot. The robot is configured to carry a first material, move in a running path according to the running path information, and transport the first material to a conveyor line. The conveyor line includes at least one conveyor line inlet and at least one conveyor line outlet. The robot is configured to dock with the conveyor line and place the first material on the conveyor line at the at least one conveyor line inlet. The running path includes a first path section passes through the at least one conveyor line inlet, a second path section passes through the at least one conveyor line outlet and a third path section connected between the first path section and the second path section.
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
B65G 47/68 - Devices for transferring articles or materials between conveyors, i.e. discharging or feeding devices adapted to receive articles arriving in one layer from one conveyor and to transfer them in individual layers to more than one conveyor, or vice versa, e.g. combining the flows of articles conveyed by more than one conveyor
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control (DNC), flexible manufacturing systems (FMS), integrated manufacturing systems (IMS), computer integrated manufacturing (CIM)
G05D 1/02 - Control of position or course in two dimensions
A handling robot used in a field of warehouse logistics comprises a mobile chassis, and a storage shelf. The storage shelf is mounted to the mobile chassis and comprises a plurality of layered plate components distributed at different heights. The handling robot further comprises a handling device configured to transport a material to a layered plate of the plurality of layered plate components, and a lift component configured to drive the handling device to lift relative to the storage shelf.
A method for retrieving an inventory item based on a handling robot, where the handling robot includes: a storage frame; and a material handling device installed on the storage frame, and including a telescopic arm and a manipulator installed to the telescopic arm; and the method for retrieving an inventory item includes: driving, by the telescopic arm, the manipulator to extend to a preset position of warehouse shelf along a preset horizontal reference line; loading, by the manipulator that is remained on the reference line, the inventory item located in the preset position; driving, by the telescopic arm, the manipulator loaded with the inventory item to move to the storage frame along the reference line; and unloading, by the manipulator that is remained on the reference line, the inventory item to the storage frame.
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
G06Q 10/08 - Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
A method for retrieving an inventory item based on a handling robot, where the handling robot includes: a storage frame; and a material handling device installed on the storage frame, and including a telescopic arm and a manipulator installed to the telescopic arm; and the method for retrieving an inventory item includes: driving, by the telescopic arm, the manipulator to extend to a preset position of warehouse shelf along a preset horizontal reference line; loading, by the manipulator that is remained on the reference line, the inventory item located in the preset position; driving, by the telescopic arm, the manipulator loaded with the inventory item to move to the storage frame along the reference line; and unloading, by the manipulator that is remained on the reference line, the inventory item to the storage frame.
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
G06Q 10/08 - Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
A vertical support for a transport robot includes a column assembly and a driving assembly. The vertical support includes a fixed column frame and a movable column frame movably arranged on the fixed column frame. The driving assembly includes a traction assembly and a retractable assembly connected to the traction assembly. The traction assembly is connected to the carrying device and configured to drive a carrying device of the transport robot to move relative to the movable column frame. The traction assembly includes two sets of traction assemblies located at two opposed sides of the carrying device respectively, the retractable assembly is configured to drive the two sets of the traction assemblies to synchronously drive the carrying device to ascend or descend.
B65G 1/127 - Storage devices mechanical with article supports or holders movable in a closed circuit to facilitate insertion or removal of articles the circuit being confined in a vertical plane
B65G 17/12 - Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface comprising a series of individual load-carriers fixed, or normally fixed, relative to traction element
A method for retrieving an inventory item based on a handling robot, where the handling robot includes: a storage frame; and a material handling device installed on the storage frame, and including a telescopic arm and a manipulator installed to the telescopic arm; and the method for retrieving an inventory item includes: driving, by the telescopic arm, the manipulator to extend to a preset position of warehouse shelf along a preset horizontal reference line; loading, by the manipulator that is remained on the reference line, the inventory item located in the preset position; driving, by the telescopic arm, the manipulator loaded with the inventory item to move to the storage frame along the reference line; and unloading, by the manipulator that is remained on the reference line, the inventory item to the storage frame.
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
G06Q 10/08 - Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
A method for retrieving an inventory item based on a handling robot, where the handling robot includes: a storage frame; and a material handling device installed on the storage frame, and including a telescopic arm and a manipulator installed to the telescopic arm; and the method for retrieving an inventory item includes: driving, by the telescopic arm, the manipulator to extend to a preset position of warehouse shelf along a preset horizontal reference line; loading, by the manipulator that is remained on the reference line, the inventory item located in the preset position; driving, by the telescopic arm, the manipulator loaded with the inventory item to move to the storage frame along the reference line; and unloading, by the manipulator that is remained on the reference line, the inventory item to the storage frame.
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
G06Q 10/08 - Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
This application relates to a replenishment method and apparatus, a computer device, and a storage medium. The method includes: obtaining a replenishment order, and determining a mapping relationship between goods information of replenishment goods in the replenishment order and a storage space of a put wall, where the mapping relationship is used for instructing to correspondingly place target replenishment goods into a target storage space of the put wall; and determining a target inventory box corresponding to the target replenishment goods placed in the target storage space of the put wall, where the target inventory box is used for loading the target replenishment goods. The use of the method improves the replenishment efficiency.
This application provides a carrying device, a transport robot, an inventory method, and an inventory system. The transport robot includes a carrying device. The carrying device includes: a bracket; a tray, mounted to the bracket and configured to place goods; a weight detection device, configured to detect a weight of the goods placed on the tray; and a retractable arm assembly, configured to push the goods placed on the tray out of the tray or pull the goods to the tray. Compared with the prior art, the weight detection device is arranged on the tray of the carrying device to detect the weight of the goods placed on the tray. The quantity of the goods may be determined according to the weight of the goods. Therefore, the low goods carrying efficiency due to manual goods inventory is avoided.
This application relates to the field of intelligent warehousing, and discloses a carrying device and a transport robot having the carrying device. The carrying device includes: a bracket; a tray, mounted on the bracket, and configured to hold goods; a detection device, connected to the tray, and configured to detect the goods placed on the tray; and a telescopic arm, mounted on the bracket, and extensible in a direction parallel to the tray, to move the goods placed on the tray. In the carrying device, the detection device is mounted on the tray, and the detection device detects the goods placed on the tray, avoiding the manual detection of the goods, and providing higher efficiency.
The present disclosure provides a control method for goods retrievement and storage, a control apparatus, and a transport robot. The control method for goods retrievement includes: receiving a retrievement instruction, and acquiring locating information of target goods according to the retrievement instruction; moving a transport robot to a target position according to the locating information; obtaining status information of the target goods and/or position relationship information between a carrying apparatus and the target goods; and adjusting a position and posture of the carrying apparatus according to the status information and/or the position relationship information, and causing the carrying apparatus to take out the target goods. According to the present disclosure, the position of the target goods can be accurately determined by obtaining status information of the target goods and/or position relationship information between the carrying apparatus and the target goods, so that the target goods can be accurately retrieved.
The application relates to a carrying robot including a fork. The fork includes a telescopic arm and a temporary storage tray. The telescopic arm includes a fixed arm and a movable arm connected to the fixed arm. The movable arm is telescopically movable relative to the fixed arm. The temporary storage tray is mounted to the fixed arm and is configured to temporarily store goods. The temporary storage tray is able to extend relative to the fixed arm. An extending direction of the temporary storage tray is consistent with an extending direction of the movable arm. When the fork pulls in or pushes out the goods, containers can be stably transferred between a stationary rack and the temporary storage tray.
The present invention relates to a sorting robot and a sorting method. The sorting method is applicable to the foregoing sorting robot, where the sorting robot is configured to deliver specific goods to be sorted to a specific sorting position, and a sorting mechanism carrying the specific goods to be sorted corresponds to the specific sorting position. The sorting method includes: S130: the sorting mechanism receiving goods to be sorted; S140: the sorting mechanism being raised or lowered to a height corresponding to the sorting position under drive of a lifting mechanism; and S160: the sorting mechanism performing an action to deliver the goods to be sorted that is placed on the sorting mechanism to the corresponding sorting position.
A handling robot used in a field of warehouse logistics comprises a mobile chassis, and a storage shelf. The storage shelf is mounted to the mobile chassis and comprises a plurality of layered plate components distributed at different heights. The handling robot further comprises a handling device configured to transport a material to a layered plate of the plurality of layered plate components, and a lift component configured to drive the handling device to lift relative to the storage shelf.
B66F 9/12 - Platforms; Forks; Other load-supporting or load-gripping members
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
A handling robot used in a field of warehouse logistics comprises a mobile chassis, and a storage shelf. The storage shelf is mounted to the mobile chassis and comprises a plurality of layered plate components distributed at different heights. The handling robot further comprises a handling device configured to transport a material to a layered plate of the plurality of layered plate components, and a lift component configured to drive the handling device to lift relative to the storage shelf.
A method for retrieving an inventory item based on a handling robot, where the handling robot includes: a storage frame; and a material handling device installed on the storage frame, and including a telescopic arm and a manipulator installed to the telescopic arm; and the method for retrieving an inventory item includes: driving, by the telescopic arm, the manipulator to extend to a preset position of warehouse shelf along a preset horizontal reference line; loading, by the manipulator that is remained on the reference line, the inventory item located in the preset position; driving, by the telescopic arm, the manipulator loaded with the inventory item to move to the storage frame along the reference line; and unloading, by the manipulator that is remained on the reference line, the inventory item to the storage frame.
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
G06Q 10/08 - Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
A method for retrieving an inventory item based on a handling robot, where the handling robot includes: a storage frame; and a material handling device installed on the storage frame, and including a telescopic arm and a manipulator installed to the telescopic arm; and the method for retrieving an inventory item includes: driving, by the telescopic arm, the manipulator to extend to a preset position of warehouse shelf along a preset horizontal reference line; loading, by the manipulator that is remained on the reference line, the inventory item located in the preset position; driving, by the telescopic arm, the manipulator loaded with the inventory item to move to the storage frame along the reference line; and unloading, by the manipulator that is remained on the reference line, the inventory item to the storage frame.
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
G06Q 10/08 - Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
The disclosure relates to a method for controlling a warehouse robot to store and fetch inventory materials. The method includes: instructing a material handling device to fetch a second inventory material located in the front row, and placing the second inventory material on a first tray; instructing the material handling device to fetch a first inventory material located in the back row, and placing the first inventory material on a second tray; and instructing the material handling device to return the second inventory material to the front row. By instructing the material handling device to fetch the inventory materials and storing the inventory materials in the trays, the inventory materials can be extracted from a designated shelf and stored in a warehouse, navigation is realized in a crowded warehouse filled with obstacles, and the inventory materials whose positions have been transferred can be processed.
This application relates to the technical field of intelligent logistics, and discloses an intelligent sorting system and method, a warehouse robot, and a processing terminal. The system includes a warehouse robot. The warehouse robot includes a box storage unit and a handling assembly. The warehouse robot may receive a box replacement instruction, where the box replacement instruction includes information of a to-be-replaced first box, and instruct, according to the box replacement instruction, the handling assembly to replace the first box with a second box stored in the box storage unit. Therefore, box replacement is realized by a robot. In this way, the efficiency of cargo sorting is enhanced.
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
The embodiments of the present disclosure provide an order processing method, apparatus, device, system and storage medium, where the method includes: acquiring an original order to be processed; searching for unsorted target orders, where the target orders are obtained by combining a plurality of original orders; decomposing at least part of the searched target orders into original orders; combining the original orders obtained by decomposition and the original order to be processed to regenerate one or more target orders. The order processing method, apparatus, device, system and storage medium provided by the embodiments of the present disclosure can realize dynamic roll-back combining, so that the newly arrived original order is combined with the currently unsorted target orders, and the out-of-warehouse efficiency is effectively improved.
The present invention relates to the field of intelligent warehousing, and discloses a navigation method, a moving carrier, and a navigation system. The navigation method is applied to the moving carrier capable of traveling in a preset space including a roadway formed by at least two rows of shelving units opposite to each other. The navigation method includes: acquiring deviated position information of the moving carrier in a non-traveling direction relative to the shelving units in the roadway, and navigating the moving carrier according to the deviated position information. The moving carrier is prevented from hitting the shelving units, and, besides, can be reliably navigated in the roadway.
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