CN115352788A - Goods taking method and device - Google Patents

Abstract

The application relates to the technical field of warehouse logistics equipment, and provides a goods taking method and device. According to the goods taking method, the distance measuring unit is arranged at the extending end, facing the target goods position, of the goods fork of the shuttle car, and when the shuttle car runs to the target goods position, whether a barrier exists on the target goods position or not is judged when the goods fork of the shuttle car stretches to take goods; if no obstacle exists, the fork can be used for taking goods from the target goods space through stretching; if the obstacle exists, the position of the shuttle vehicle is adjusted to enable the fork to pick up the goods, or the placing posture of the goods is adjusted through the shuttle vehicle to enable the fork to pick up the goods; therefore, by adjusting the shuttle car and/or adjusting the goods with incorrect posture placed on the target goods position, the shuttle car finishes goods taking from the target goods position, and the goods taking efficiency and accuracy are improved.

Description

Goods taking method and device

Technical Field

The application relates to the technical field of warehouse logistics, in particular to a goods taking method and device.

Background

In the existing stereoscopic warehouse, the shuttle car only detects the existence state of goods on a goods shelf in the goods taking and placing process, the actual placing posture of the goods on a target goods position is not detected, and the shuttle car can stretch and retract to take the goods by taking the ideal placing posture of the goods as the reference after reaching the target goods position. However, when the goods on the target goods space are displaced or inclined, the shuttle vehicle stretches out of the goods fork to pick up the goods, so that the goods and/or the shuttle vehicle are likely to be damaged, the cost is lost, and the goods storage and taking efficiency of the whole stereoscopic warehouse is reduced by repairing the shuttle vehicle.

Disclosure of Invention

Based on this, it is necessary to provide a goods taking method to avoid damaging goods and the shuttle car during the goods taking process, so as to ensure that the shuttle car can normally extend and retract the fork to take goods.

According to one aspect of the application, the goods taking method comprises the steps that goods are picked by a shuttle vehicle through fork forks which extend out of two sides of the goods simultaneously, a distance measuring unit is arranged at an extending end, facing a target goods position, of the fork forks of the shuttle vehicle, and the distance measuring unit is used for judging whether an obstacle exists on the target goods position when the fork forks of the shuttle vehicle stretch to take the goods when the shuttle vehicle runs to the target goods position; if no obstacle exists, the fork can be used for taking goods from the target goods space through stretching; if the obstacle exists, the position of the shuttle car is adjusted to enable the fork to pick up goods, or the placing posture of the goods is adjusted through the shuttle car to enable the fork to pick up the goods.

According to the goods taking method, in some embodiments, if an obstacle exists, the position of the shuttle car is adjusted, and the method includes that if the distance measuring unit of one fork detects that the obstacle exists on the target goods position, the shuttle car is controlled to move to one side of the fork with the obstacle, and within a first preset distance of movement, if the distance measuring units of two forks detect that no obstacle exists on the target goods position, the fork is controlled to take goods from the target goods position through stretching.

According to the goods taking method, in some embodiments, the placing posture of the goods is adjusted through the shuttle car so that the forks can take the goods, and the goods taking method comprises the steps that if the distance measuring unit of one side of the fork detects that an obstacle exists on the target goods position, whether the distance from the extending end of the fork to the obstacle is larger than a first threshold value or not is judged, if the distance is larger than the first threshold value, the fork extends to be close to the obstacle, the shuttle car body is controlled to move towards the direction of the fork on the other side until the distance measuring units of the forks on the two sides cannot detect the obstacle, and the fork is controlled to take the goods from the target goods position through stretching.

According to the goods taking method, in some embodiments, whether the distance from the extending end of the fork to the obstacle is greater than a first threshold value or not is judged, if the distance from the extending end of the fork to the obstacle is not greater than the first threshold value, the shuttle vehicle is controlled to move towards the side, where the obstacle is located, of the fork, and within a first preset moving distance:

if the distance measuring units of the two forks cannot detect the obstacle, controlling the forks to fetch goods from the target goods position through stretching;

if the distance measuring units of the two sides of the fork do not detect the obstacle, and the distance from the extending end of the fork on one side of the obstacle to the obstacle is larger than a first threshold value, the fork is extended to be close to the obstacle, the shuttle car is controlled to move towards the direction of the fork on the other side until the distance measuring units of the two sides of the fork do not detect the obstacle, and the fork is controlled to take goods from the target goods position through stretching.

According to the goods taking method, in some embodiments, if the distance from the extending end of the fork to the obstacle is not greater than a first threshold value, the shuttle vehicle is controlled to move towards the side of the fork with the obstacle, and within a first preset moving distance:

if the distance measuring units of the two side forks do not detect the obstacle, and the distance from the extending end of the fork on one side of the obstacle to the obstacle is not greater than a first threshold value, the shuttle vehicle is controlled to move to one side with the obstacle until the fork on one side with the obstacle does not detect the obstacle on the target cargo space, the fork is controlled to extend out to the position where the two side forks do not touch the obstacle, the shuttle vehicle is controlled to move to the direction of the fork on the other side until the distance measuring units of the two side forks do not detect the obstacle, and the fork is controlled to take the cargo from the target cargo space through stretching.

According to the goods taking method, in some embodiments, the placing posture of the goods is adjusted through the shuttle car so that the fork can take the goods, the shuttle car body is controlled to move towards the fork on one side firstly and then towards the fork on the other side until the distance measuring unit cannot detect the obstacle, the distance between the extending ends of the forks on the two sides and the obstacle is compared before the obstacles on the two sides of the target goods position disappear, the shuttle car is controlled to move towards the side with a small distance, and in a first preset distance of movement, if the distance measuring unit of the fork on the side cannot detect the obstacle, the shuttle car stops, the fork is controlled to extend out to the fork on the two sides and not touch the obstacle, the shuttle car is controlled to move towards the fork on the other side until the distance measuring units of the forks on the two sides cannot detect the obstacle, and the fork is controlled to take the goods from the target goods position through stretching.

According to the goods taking method, in some embodiments, the goods taking method further comprises at least two distance measuring sensors, the at least two distance measuring sensors are mounted on the shuttle body and distributed on the outer sides of the forks on two sides, the distance measuring sensors face a target goods position, the forks are extended and retracted to take goods from the target goods position, and when no obstacle is detected on the target goods position by the distance measuring sensors on the shuttle body and the distance measuring units on the forks, the forks are controlled to take goods from the target goods position through extension and retraction.

According to the goods taking method, in some embodiments, if no obstacle is detected by the distance measuring units of the two forks, the forks are controlled to take goods from the target goods space through stretching, and when no obstacle is detected by the distance measuring units of the two forks, the shuttle vehicle is controlled to move in the opposite direction for a second preset distance, and then the forks are controlled to take goods from the target goods space through stretching.

According to a goods taking method, in some embodiments, since the telescopic fork of the shuttle vehicle may collide with goods on a goods position adjacent to a target goods position during moving, the first preset distance for the shuttle vehicle to move should satisfy the following condition: in the process that the shuttle car moves a first preset distance to the fork on one side, the distance measuring sensor arranged on the body of the shuttle car and close to the fork on the side cannot detect the barrier.

In some embodiments, the second preset distance moved by the shuttle vehicle satisfies the following condition: after the fork of the shuttle vehicle is controlled to adjust the goods placing posture of the target goods location, the fork is in close contact with the goods, so that the shuttle vehicle moves in the reverse direction for a second preset distance, the second preset distance can be a smaller distance value, the distance value can be set according to actual conditions, and the fork of the shuttle vehicle can be normally stretched to take the goods only after the second preset distance is moved.

According to another aspect of the application, the embodiment of the application provides a goods taking device, and the goods taking device is used for controlling a shuttle car to take goods out of a target goods space; the shuttle comprises a shuttle body and a fork arranged on the shuttle body, wherein the fork is configured to complete goods taking by extending out of or retracting back from the shuttle body; the goods taking device comprises:

the system comprises a detection module, a control module and a display module, wherein the detection module is used for detecting whether an obstacle exists when goods in a target goods position are taken by a fork of a shuttle car when the shuttle car reaches the target goods position;

the adjusting module is used for adjusting the position of the shuttle car and/or adjusting the goods placing posture of the target goods space through the fork of the shuttle car when the obstacle is detected by the detecting module, so that the fork can stretch out and draw back goods.

According to yet another aspect of the present application, an embodiment of the present application provides a computer device, which includes a memory and a processor, where the memory stores a computer program, and the processor implements the steps of the pickup method described in the present application when executing the computer program.

According to yet another aspect of the present application, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the pickup method described above.

According to yet another aspect of the present application, an embodiment of the present application provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the computer program implements the steps of the pickup method described above.

According to the goods taking method, the goods taking device, the computer equipment and the storage medium, whether the forks of the shuttle car can touch the goods in the target goods position and the goods in the adjacent goods position of the goods in the target goods position or not is detected, and the adjusting process can be determined through the detecting process, so that the forks can take the goods when the goods in the target goods position and the goods in the adjacent goods position of the goods in the target goods position cannot be touched, the goods and the shuttle car are prevented from being damaged in the goods taking process, and the goods taking efficiency is improved.

Additional aspects and advantages of embodiments of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of embodiments of the present application.

The beneficial effects of this application are as follows:

according to the goods taking method, the distance measuring unit is arranged at the extending end, facing the target goods position, of the fork of the shuttle car, and when the shuttle car runs to the target goods position, whether the target goods position is provided with an obstacle or not is judged when the fork of the shuttle car stretches to take goods; if no obstacle exists, the fork can be used for taking goods from the target goods space through stretching; if the barrier exists, the position of the shuttle car is adjusted to enable the fork to pick up goods, or the placing posture of the goods is adjusted through the shuttle car to enable the fork to pick up goods; therefore, by adjusting the shuttle car and/or adjusting goods with incorrect posture placed on the target goods position, the shuttle car finishes goods taking from the target goods position, and the goods taking efficiency and accuracy are improved.

Drawings

Fig. 1 is a schematic structural view of a shuttle car from a viewing angle according to an embodiment of the present application;

FIG. 2 is a schematic illustration of another embodiment of the shuttle car according to the present application, wherein the forks are in a retracted position;

FIG. 3 is a schematic structural view of the shuttle car from another perspective in an embodiment of the present application with the forks in an extended position;

FIG. 4 is a schematic flow chart illustrating an exemplary method of picking a product according to the present disclosure;

FIG. 5 is a schematic step-by-step flow chart of a pickup method according to an embodiment of the present application;

FIG. 6 is a schematic step-by-step flow chart of a pickup method according to an embodiment of the present application;

FIG. 7 is a schematic step-by-step flow chart of a pickup method according to an embodiment of the present application;

FIG. 8 is a schematic illustration of an embodiment of the present application showing cargo at a target cargo space in a first state;

FIG. 9 is a schematic view of an embodiment of the present application showing cargo at a target cargo space in a second state;

FIG. 10 is a schematic view of an exemplary embodiment of a shuttle car with a corresponding target cargo space;

FIG. 11 is a schematic view of the safety distance reserved when the forks are extended forward in one embodiment of the present application;

fig. 12 is a schematic view of a shuttle car picking goods at a target cargo space in an embodiment of the present application;

FIG. 13 is a block diagram of a pick device according to an embodiment of the present application;

fig. 14 is an internal structural diagram of a computer device according to an embodiment of the present application.

Notation of elements for simplicity:

the shuttle car 10, the shuttle car body 11, the pallet fork 12 and the deflector rod 13; a vehicle body ranging unit 20; a fork ranging unit 30; a positioning device 40; goods x1 of the target goods space and goods x2 of the adjacent goods space; a first threshold value R; a safe distance S; a first direction F1, a second direction F2, and a third direction F3.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, specific embodiments of the present application are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of embodiments of the present application. It should be understood that the specific embodiments described herein are merely illustrative of and not restrictive on the broad application. The embodiments of this application can be implemented in many different ways than those described herein and similar modifications can be made by those skilled in the art without departing from the spirit of the invention and therefore the embodiments of this application are not limited to the specific embodiments disclosed below.

At present, the utilization rate of the warehouse area is improved and more goods are stored by using an intensive automatic warehouse system. In such a warehousing system, be provided with the multilayer support body on the goods shelves, can set up a plurality of goods positions on every layer of support body, a plurality of goods positions are matrix arrangement, can save the box that can bear the weight of the goods on the goods position. Shuttle cars are used extensively in the logistics warehousing industry as the core equipment of the warehouse system. When goods are taken by using the shuttle car, the danger of goods collision is easy to occur, thereby damaging the goods and the shuttle car.

The inventor of the application notices that when the shuttle car reaches the target goods location for goods taking, if goods in the target goods location are displaced or inclined, a fork of the shuttle car is easy to collide with the goods in the target goods location and/or the goods in the adjacent goods location in the process of goods taking when stretching out, so that the corresponding goods and/or the shuttle car are damaged, and the cost loss is caused; and, if the later stage needs artifical the restoration shuttle, also reduced whole warehouse system's goods access efficiency.

Based on this, whether the place ahead has the barrier when this application embodiment is got through the fork of detecting the shuttle flexible, come the relative position of the goods of control target goods position and the fork of shuttle and the relative position of the goods of adjacent goods position and the fork of shuttle, avoid taking place the danger of hitting the goods when the fork of shuttle is flexible to get the goods.

The following describes a pickup method provided by the embodiments of the present application with reference to the drawings and the contents of some embodiments.

FIG. 1 shows a schematic view of a shuttle car 10 from one perspective in an embodiment of the present application; FIG. 2 shows a schematic view of the shuttle car 10 from another perspective in an embodiment of the present application, with the forks 12 in a retracted state; fig. 3 shows a schematic view of another embodiment of the shuttle car 10 of the present application from an alternate perspective, wherein the forks 12 are in an extended position. For convenience of explanation, only matters related to the embodiments of the present application are shown.

It will be appreciated that the view of fig. 1 is a forward view of the shuttle car 10, the views of fig. 2 and 3 are top down views of the shuttle car 10, and the forks 12 of the shuttle car 10 of fig. 2 are in a retracted state and the forks 12 of the shuttle car 10 of fig. 3 are in an extended state. It should be noted that the forks 12 can extend and retract to pick up goods in the front-back direction (the second direction F2) of the shuttle car, and the extending length of the forks 12 may be selected according to the actual use situation, which is not specifically limited in the embodiment of the present application.

The goods taking method provided by the embodiment of the application is used for taking out goods of a target goods space through the shuttle car 10. The shuttle car 10 will now be described with reference to fig. 1 to 3. The shuttle 10 includes a shuttle body 11 and a fork 12 disposed on the shuttle body 11, the fork 12 being configured to be extended or retracted from the shuttle body 11 to achieve picking. That is, the forks 12 have an extended state (shown in fig. 3) extending from the shuttle body 11 and a retracted state (shown in fig. 2) retracted in the shuttle body 11 with respect to the shuttle 10. The shuttle body 11 is configured to reciprocate on the track of the shuttle in a first direction F1, and the forks 12 are configured to extend or retract in a second direction F2 to complete pick and place. The height direction of the shuttle 10 is defined as a third direction F3, and the first direction F1, the second direction F2, and the third direction F3 are perpendicular to each other. The end part of the fork 12 is rotatably provided with a shifting lever 13, the shifting lever 13 is in a vertical state at the extending end of the fork 12 in the extending or retracting process of the fork 12, and the shifting lever 13 is rotated to a horizontal state when the fork 12 extends to a target cargo position to start to take the cargo so as to take the cargo out of the target cargo position.

It should be noted that, in some embodiments, the shuttle car 10 may be configured with at least two forks 12, and when a third fork is provided, the shuttle car 10 may be configured to extend any two adjacent forks to pick and place different-sized goods on different-sized target cargo spaces, or to simultaneously pick and place the same or different-sized goods on adjacent target cargo spaces, which may be selected according to practical use situations, and this is not limited in this embodiment. The two forks 12 for taking and putting goods are controlled by the same motor and move synchronously, namely the two forks 12 extend to the same length when in an extending state.

The goods taking method comprises the steps that a fork 12 extends out of two sides of goods through a shuttle car 10, the goods are taken by a deflector rod 13, a distance measuring unit is arranged at the extending end, facing a target goods position, of the fork 12 of the shuttle car 10, and the distance measuring unit is used for judging whether an obstacle exists on the target goods position when the fork 12 of the shuttle car 10 stretches and draws the goods when the shuttle car 10 runs to the target goods position; if no obstacle exists, the fork 12 can be used for taking goods from the target goods space through stretching; if there is an obstacle, the position of the shuttle car 10 is adjusted so that the forks 12 can pick up the goods, or the posture of the goods is adjusted by the shuttle car 10 so that the forks 12 can pick up the goods.

4-7 illustrate a flow chart of a method of picking in an embodiment of the present application, showing only those relevant to the embodiment of the present application for ease of illustration; for a clearer description of the pickup method in conjunction with the flowchart, fig. 8 shows a placing posture of the cargo x1 on the target cargo space, wherein the fork distance measuring unit 30 on one side detects an obstacle; fig. 9 shows another placing posture of the goods x1 on the target goods position, wherein the fork ranging units 30 on both sides detect obstacles, it should be understood that the placing postures of the goods on the target goods position are not limited to the two placing postures, and the goods taking method provided by the present application is not limited to the two placing postures, and the goods taking method provided by the present application can adjust the shuttle car and/or perform placing posture adjustment and goods taking on the goods in any placing posture on the target goods position according to the ranging units arranged on the forks and the car body.

In some embodiments, the goods taking method includes simultaneously extending forks out of two sides of a goods x1 of a target goods space by a shuttle car 10 and picking up the goods, and as shown in fig. 4, according to step S110, a distance measuring unit is provided at an extending end, facing the target goods space, of a fork 12 of the shuttle car 10, where the distance measuring unit is a fork distance measuring unit 30 and is used for judging whether an obstacle exists on the target goods space when the fork 12 of the shuttle car 10 stretches to take the goods when the shuttle car 10 runs to the target goods space; according to step S120, if there is no obstacle, the fork 12 picks up the goods from the target cargo space by telescoping; according to step S130, if there is an obstacle, the position of the shuttle car 10 is adjusted so that the forks 12 can pick up the goods, or the placing posture of the goods on the target cargo space is adjusted by the shuttle car 10 so that the forks 12 can stretch and pick up the goods.

In some embodiments, the goods taking method determines whether the fork collides with goods when the fork stretches and draws goods by detecting a front obstacle through the distance measuring sensors at the extending ends of the fork, if the fork distance measuring sensors 30 arranged at the extending ends of the forks 12 at two sides cannot detect the obstacle, the shuttle car 10 can normally stretch the forks 12 to take the goods from a target goods space, and at this time, it can also be determined that the goods at the target goods space are placed correctly, and the shuttle car 10 cannot be damaged when the forks 12 stretch and draw the goods; if the fork ranging units 30 on any side detect a barrier or the fork ranging units 30 on both sides detect a barrier, it can be determined that the cargo placing posture of the target cargo space is incorrect, that is, the cargo x1 is inclined, and the telescopic cargo taking of the fork 12 can collide with the cargo.

In some embodiments, referring to fig. 5, if there is an obstacle, adjusting the position of the shuttle car 10 to enable the forks 12 to pick up goods according to step S140 includes, if the fork distance measuring unit 30 on one side detects an obstacle on the target cargo space, as shown in fig. 8, controlling the shuttle car 10 to move to the side of the fork 12 where the obstacle is detected, and if the fork distance measuring units 30 on both sides detect no obstacle on the target cargo space within a first preset distance of the movement, controlling the forks 12 to pick up goods from the target cargo space by stretching.

According to one goods taking method of the present application, in some embodiments, as shown in fig. 6, according to step S150, the placing posture of the goods is adjusted by the shuttle car 10 to enable the forks 12 to take goods, including, if the fork distance measuring unit 30 on one side detects an obstacle on the target goods position, as shown in fig. 8, determining whether a distance S1 from an extending end of the fork on the side to the obstacle is greater than a first threshold value R, where the distance S1 is a distance value fed back when the fork distance measuring unit 30 detects an obstacle, if S1 > R, extending the forks 12 to approach the obstacle, and controlling the shuttle car body 11 to move along a track of the shuttle car 10 in a first direction F1 toward the forks on the other side, that is, toward the forks on the side where the obstacle is not detected, until the fork distance measuring units 30 on both sides detect no obstacle, and controlling the forks 12 to take goods from the target goods position by stretching and contracting.

In some embodiments, the fork ranging unit may be configured as a photoelectric sensor, fig. 10 shows the photoelectric sensor of the shuttle car 10 and the corresponding target cargo space, and as shown in fig. 10, the first threshold R is defined as the length of the photoelectric emitting point of the fork ranging sensor 30 at the extending end of the fork 12 from the target cargo space 1/2 in the second direction F2.

According to a goods taking method described in the present application, in some embodiments, the fork 12 of the shuttle car 10 is controlled to extend to approach an obstacle, wherein the specific extension length of the fork 12 can be controlled according to the obstacle distance S1 fed back by the distance measuring unit, and a certain safety distance S is reserved, as shown in fig. 11, so as to avoid the direct collision between the fork 12 and the inclined goods x 1.

According to a goods taking method of the present application, in some embodiments, according to step S160, if the one fork distance measuring unit 30 detects that there is an obstacle on the target cargo space, it is determined whether a distance S1 from the extending end of the fork to the obstacle is greater than a first threshold R, and if the distance S1 from the extending end of the fork to the obstacle is not greater than the first threshold R, the shuttle car 10 is controlled to move to the side of the fork where the obstacle is detected, within a first preset distance of the movement: if the distance measuring units 30 on the two sides can not detect the obstacles, controlling the forks 12 to take goods from the target goods space through stretching; according to the step S170, if no obstacle is detected by the fork distance measuring units 30 on both sides, and the distance S1 from the fork extending end on one side of the obstacle to the obstacle is greater than the first threshold value R, the fork 12 is extended to approach the obstacle, the shuttle car 10 is controlled to move towards the fork direction on the other side until no obstacle is detected by the fork distance measuring units 30 on both sides, and the fork 12 is controlled to pick up goods from the target cargo space through stretching.

According to a goods taking method of the present application, in some embodiments, according to step S180, if the distance S1 from the extending end of the fork to the obstacle is not greater than the first threshold R, the shuttle car 10 is controlled to move to the side of the fork with the obstacle, and within the first preset distance of movement:

if no obstacle can be detected by the fork ranging units 30 on the two sides, and the distance S1 from the extending end of the fork on the side without the obstacle to the obstacle is larger than a first threshold value R, the shuttle car 10 is controlled to move to the side with the obstacle until the fork ranging unit 30 on the side with the obstacle can not detect the obstacle on the target cargo space, the forks 12 are controlled to extend to the two sides and do not touch the obstacle, the shuttle car 10 is controlled to move towards the direction of the fork on the other side until the fork ranging units 30 on the two sides can not detect the obstacle, and the forks 12 are controlled to fetch goods from the target cargo space through extension and retraction.

According to a goods taking method described in the present application, in some embodiments, if the fork distance measuring units 30 on both sides detect that there is an obstacle on the target cargo space, as shown in fig. 9, the distances from the extending ends of the forks on both sides to the obstacle, that is, the distance values S1 and S2 fed back by the fork distance measuring units 30 on both sides are compared, and the shuttle vehicle is controlled to move towards the fork on the side with the smaller distance value along the first direction F1 within the first preset distance of the movement:

if the fork ranging units 30 on the side can not detect the obstacle, the shuttle car 10 stops, the fork 12 is controlled to extend out to be close to the obstacle, the shuttle car 10 is controlled to continue to move to the fork on the other side until the fork ranging units 30 on the two sides can not detect the obstacle, and the fork 12 is controlled to take goods from the target goods space through stretching;

if no obstacle can be detected by the fork ranging unit 30 on the side, the shuttle car 10 does not adjust the goods placing posture of the target goods position, sends an alarm signal to the upper position system, and adjusts the goods of the goods position manually.

According to a goods taking method described in the present application, in some embodiments, as shown in fig. 7, according to step S230, the placing posture of the goods is adjusted by the shuttle car 10 so that the forks 12 can take the goods, including controlling the shuttle car body 11 to move in the fork direction of one side in the first direction F1 and then move in the fork direction of the other side until the fork distance measuring unit 30 detects no obstacle, comparing the distances between the extending ends of the forks and the obstacles before the obstacles on both sides of the target goods disappear, namely comparing the distance values recorded by the fork distance measuring units 30 (i.e. the maximum values that can be theoretically obtained by S1 and S2) before the fork distance measuring units 30 on both sides detect the obstacle disappear, controlling the shuttle car 10 to move to the forks with the smaller distance value, controlling the shuttle car 10 to move to the first preset distance if the fork distance measuring unit 30 on the side detects no obstacle when the forks on the first preset distance, controlling the forks 12 to extend out of the obstacle, controlling the forks 10 to touch the obstacle, controlling the forks not to move to the target goods in the fork distance measuring unit F1 on the first preset distance until the fork distance measuring unit does not detect the target goods, and the forks do not move to the target goods on the first preset distance measuring unit, and then the fork side until the fork distance measuring unit does not detect the target goods.

According to the goods taking method of the present application, in some embodiments, in the process of controlling the shuttle car 10 to move to the fork on the side with the small distance value, within the first preset distance, if no obstacle is detected by the fork distance measuring unit 30 on the side, the shuttle car 10 does not adjust the goods placing posture of the target goods location any more, and sends an alarm signal to the upper location system, so that the goods in the goods location are adjusted manually.

According to a goods taking method, in some embodiments, the goods taking method further comprises at least two distance measuring sensors, the at least two distance measuring sensors are arranged on the shuttle car body 11 and distributed on the outer sides of the two forks, namely the car body distance measuring unit 20 shown in fig. 1-3, the car body distance measuring unit 20 faces a target goods position, the forks take goods from the target goods position through stretching and retracting, and when the car body distance measuring unit 20 arranged on the shuttle car body 11 and the fork distance measuring unit 30 arranged on the forks cannot detect obstacles on the target goods position, the forks 12 are controlled to take goods from the target goods position through stretching and retracting.

According to the goods taking method, in some embodiments, if the distance measuring units up to the two forks cannot detect the obstacle, the forks are controlled to take goods from the target goods space through stretching, and the steps of controlling the shuttle car 10 to move in the opposite direction for a second preset distance when the distance measuring units 30 moving to the two forks cannot detect the obstacle, and then controlling the forks 12 to take goods from the target goods space through stretching are included.

According to a goods taking method described in the present application, in some embodiments, since the telescopic fork 12 may collide with the goods x2 on the adjacent goods yard of the target goods yard during the process of moving the shuttle car 10 to adjust the goods placing posture of the target goods yard, the first preset distance moved by the shuttle car 10 should satisfy the following condition: in the process that the shuttle car 10 moves a first preset distance to a fork on one side, the distance measuring sensor arranged on the body of the shuttle car and close to the fork on the side cannot detect the obstacle.

In some embodiments, the second preset distance moved by the shuttle vehicle satisfies the following condition: after the fork of the shuttle vehicle is controlled to adjust the goods placing posture of the target goods location, the fork is in close contact with the goods, so that the shuttle vehicle moves in the reverse direction for a second preset distance, and the second preset distance can be a smaller distance value.

In some embodiments, the body ranging unit 20 and the fork ranging unit 30 may be provided as obstacle avoidance photosensors. For example, the body ranging unit 20 and the fork ranging unit 30 may be laser sensors that measure the target distance by recording and processing the time elapsed from the light pulse being emitted to the return being received. Of course, the first distance measuring unit 20 and the second distance measuring unit 30 may also be other types of obstacle avoidance photoelectric sensors, which may be selected according to actual use requirements, and the embodiment of the present application does not specifically limit this. It is understood that the vehicle body ranging unit 20 and the fork ranging unit 30 may emit photoelectric in the second direction F2, thereby detecting whether there is an obstacle in the target cargo space in the second direction F2 and feeding back a distance value of the obstacle.

In some embodiments, the two forks 12 may be configured to extend or retract from top to bottom or from bottom to top in the second direction F2 as illustrated in fig. 2-3. That is, each fork 12 has two protruding ends. The shuttle car 10 may effect pickup at a target cargo space located fore and aft of the shuttle car 10 in the second direction F2.

According to the goods taking method, the obstacle can be goods in the target goods space, goods in the adjacent goods space, other goods and the like aiming at the placing posture of the goods in the target goods space. When the obstacle is the goods of the target goods space, the pose of the goods of the target goods space is incorrect, and when the fork 12 of the shuttle car 10 stretches to fetch the goods, the fork 12 collides with the goods of the target goods space. When the obstacle is the goods in the adjacent goods space, it indicates that the forks 12 will collide with the goods in the adjacent goods space when the forks 12 take the goods. In the pickup method of the present application, the following conditions may be set: in the process that the goods placing posture of the target goods position is judged through the fork ranging unit and the vehicle body ranging unit of the shuttle vehicle, whether an obstacle is detected through the vehicle body ranging unit or not, namely whether goods exist in the adjacent goods position or not is limited through whether the vehicle body ranging unit detects the obstacle, and therefore the first preset distance that the shuttle vehicle moves left and right along the first direction F1 is limited, and therefore the fact that the shuttle vehicle 10 does not collide with the goods in the adjacent goods position when the goods are adjusted in the goods placing posture of the target goods position and/or the goods are taken from the target goods position is guaranteed.

According to the goods taking method, other goods can be goods on the goods positions in the front row and the back row of the target goods position, and when the barrier is other goods, the goods taking process of the target goods position cannot be influenced, so that the goods taking method can further set the following conditions: the goods taking method of the shuttle car is characterized in that the goods in the front row and the back row of the target goods position are placed in the default posture, namely the posture of the other goods in the front row and the back row of the target goods position is correct, so that in the process that the goods in the target goods position are placed in the default posture, the goods in the target goods position are judged through the fork ranging unit and the car body ranging unit of the shuttle car, and the goods except the target goods position cannot influence the detection of the fork ranging unit on the goods in the target goods position.

Consequently, judge the flexible process of getting the goods of whether can meet the goods of adjacent goods position and the goods of target goods position of fork 12 through the aforesaid, and whether there is the detection of barrier when getting the goods through the range unit is flexible to the fork, can adjust the process of getting the goods of shuttle 10, set up different adjustment process according to the gesture of the goods of target goods position in the adjustment process, not only can make fork 12 get the goods when the goods of target goods position and the goods of the adjacent goods position of target goods position can not met, avoided damaging goods and shuttle 10 at the in-process of getting the goods, can also improve simultaneously and get goods efficiency.

It should be understood that, although the steps in the flowcharts related to the embodiments are shown in sequence as indicated by the arrows, the steps are not necessarily executed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a part of the steps in the flowcharts related to the above embodiments may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least a part of the steps or stages in other steps.

Based on the same inventive concept, the embodiment of the application also provides a goods taking device for realizing the goods taking method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the method, so the specific limitations in one or more embodiments of the pickup device provided below can be referred to the limitations on the pickup method in the foregoing, and details are not described herein again.

FIG. 13 is a block diagram of a pick device according to an embodiment of the present application; for convenience of explanation, only portions related to the embodiments of the present application are shown.

In some embodiments, as shown in fig. 13, the present application provides a pickup device for controlling the shuttle car 10 to pick up goods at a target cargo space; the shuttle 10 includes a shuttle body 11 and at least two forks 12 disposed on the shuttle body 11, the forks 12 being configured to be extended or retracted from the shuttle body 11 to achieve picking. The goods taking device comprises a detection module 1101 and an adjustment module 1102. Wherein:

the detecting module 1101 is configured to detect whether there is an obstacle when the shuttle 10 reaches a target cargo space and the cargo x1 at the target cargo space is picked up by the forks 12 of the shuttle 10; specifically, the detecting module 1101 is further configured to detect whether the fork 12 of the shuttle car 10 collides with the goods x1 in the target cargo space and/or the goods x2 in the adjacent cargo space when the shuttle car 10 reaches the target cargo space and picks up the goods x1, and detect whether the fork 12 collides with the goods x1 in the target cargo space when the fork 12 does not collide with the goods x2 in the adjacent cargo space;

an adjusting module 1102, configured to adjust a cargo placing posture of the target cargo space by adjusting a position of the shuttle car 10 and/or by using the forks 12 of the shuttle car 10 when the detecting module 1101 detects an obstacle, so that the forks can stretch and retract to pick up the cargo. The adjusting module 1102 is further configured to adjust the placing posture of the goods in the target cargo space through the fork 12 when the fork 12 stretches and retracts to pick up the goods in the target cargo space, so that the fork 12 does not hit the goods in the target cargo space when picking up the goods in the target cargo space.

In some embodiments, the detection module 1101 is further configured to obtain the distance measured by the body ranging unit 20 of each of the two forks 12; if the two vehicle body ranging units cannot detect the obstacle, the shuttle car 10 cannot collide with the goods x2 on the goods position adjacent to the target goods position when telescopic goods taking is performed.

In some embodiments, the respective extending ends of the two forks 12 are provided with a fork ranging unit 30, and the fork ranging unit 30 is used for measuring the distance between the extending top ends of the forks 12 and an obstacle located in front of the extending ends of the forks 12. The detection module 1101 is further configured to obtain the obstacle distance measured by the fork ranging unit 30 of each of the two forks 12.

In some embodiments, the adjusting module 1102 is further configured to, when the detecting module 1101 detects an obstacle, adjust a position of the shuttle car 10 to enable the forks 12 to pick up goods or adjust a posture of the goods by the shuttle car 10 and the forks 12 to enable the forks 12 to pick up goods according to a detection result of the detecting module and the acquired obstacle distance.

In some embodiments, the pick device further includes a selecting module 1103. The selecting module 1103 is configured to, when the detecting module 1101 detects that there is no obstacle, or adjust through the adjusting module 1102, so that the forks 12 can pick up goods from the target goods space through expansion, obtain information of the goods in the target goods space, and upload the information of the goods in the target goods space to the upper system after the goods are successfully picked up.

The modules in the above-mentioned picking device can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

Based on the same inventive concept, in some embodiments, the present application provides a computer device, which may be a server, and the internal structure diagram of the computer device may be as shown in fig. 14. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer equipment is used for storing warehousing and ex-warehousing data. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a pick device method.

Those skilled in the art will appreciate that the architecture shown in fig. 14 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

In some embodiments, there is further provided a computer device comprising a memory and a processor, the memory having stored therein a computer program, the processor implementing the steps of the above method embodiments when executing the computer program.

In some embodiments, a computer-readable storage medium is provided, in which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the above-mentioned method embodiments.

In some embodiments, a computer program product or computer program is provided that includes computer instructions stored in a computer-readable storage medium. The computer instructions are read by a processor of a computer device from a computer-readable storage medium, and the computer instructions are executed by the processor to cause the computer device to perform the steps in the above-mentioned method embodiments.

Those skilled in the art will appreciate that all or part of the processes in the method according to the above embodiments may be implemented by a computer program, which may be stored in a non-volatile computer-readable storage medium, for example, as shown in fig. 14. The computer program, when executed, may comprise the flows of embodiments of the methods described above. Any reference to memory, databases, or other media used in the embodiments provided herein can include at least one of non-volatile and volatile memory. The nonvolatile Memory may include a Read-Only Memory (ROM), a magnetic tape, a floppy disk, a flash Memory, an optical Memory, a high-density embedded nonvolatile Memory, a resistive Random Access Memory (ReRAM), a Magnetic Random Access Memory (MRAM), a Ferroelectric Random Access Memory (FRAM), a Phase Change Memory (PCM), a graphene Memory, and the like. Volatile Memory can include Random Access Memory (RAM), external cache Memory, and the like. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), for example. The databases referred to in various embodiments provided herein may include at least one of relational and non-relational databases. The non-relational database may include, but is not limited to, a block chain based distributed database, and the like. The processors referred to in the various embodiments provided herein may be, without limitation, general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, or the like. All possible combinations of the technical features in the above embodiments may not be described for the sake of brevity, but should be considered as being within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.

In summary, in the goods taking method, the device, the computer device and the storage medium provided in the embodiment of the present application, in the whole process of extending the forks 12 of the shuttle car 10, the car body distance measuring unit 20 disposed on the shuttle car body 11 and located outside the forks 12 can monitor the state of the goods in the adjacent cargo space, and it is ensured that the extending process of the forks 12 does not collide with the goods in the adjacent cargo space. Through the fork ranging unit 30 that is located the top that stretches out of fork 12 real-time supervision fork 12 and the distance of the goods terminal surface of target goods position, guarantee that fork 12 stretches out the in-process not collide with the box that waits to get. Meanwhile, after the goods in the target goods position are placed incorrectly in the goods taking process of the shuttle car 10, the placing posture of the goods in the target goods position can be automatically corrected, the goods in the target goods position can be normally taken back, the problem that the shuttle car 10 cannot monitor the relative position of the goods in the target goods position on the goods shelf and the relative position of the forks 12 in real time in the goods taking and placing process is solved, and the forks 12 are prevented from colliding with the box body in the extending process. When the placing posture of the goods of the target goods position on the goods shelf and the goods of the adjacent goods position can be monitored, the placing posture of the goods of the target goods position can be adjusted and corrected, personnel are prevented from entering the goods shelf to be manually adjusted, and the goods storing and taking efficiency is improved.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, and these are all within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. A goods taking method is characterized in that:

the goods taking method comprises the steps that goods are taken by extending the fork out of the shuttle car to two sides of the goods simultaneously,

the ranging unit is used for judging whether an obstacle exists on the target goods position when the fork of the shuttle car stretches to take goods when the shuttle car runs to the target goods position;

if no obstacle exists, the fork can be used for taking goods from the target goods space through expansion and contraction;

if the obstacle exists, the position of the shuttle car is adjusted to enable the fork to pick up goods, or the placing posture of the goods is adjusted through the shuttle car to enable the fork to pick up the goods.

2. A method of picking up goods according to claim 1,

and if the obstacle exists, adjusting the position of the shuttle car, including controlling the shuttle car to move to one side of the fork with the obstacle if the distance measuring unit of the fork at one side detects that the obstacle exists on the target cargo space, and controlling the fork to take the goods from the target cargo space through stretching if the distance measuring units of the forks at two sides detect that no obstacle exists on the target cargo space within a first preset distance of movement.

3. A method of picking up goods according to claim 1,

the goods placing posture is adjusted through the shuttle car so that the fork can take the goods, and the goods placing posture adjusting method comprises the steps that if the distance measuring unit of the fork on one side detects that a barrier is arranged on the target goods position, whether the distance from the extending end of the fork to the barrier is larger than a first threshold value or not is judged, if the distance is larger than the first threshold value, the fork is extended to be close to the barrier, the shuttle car body is controlled to move towards the direction of the fork on the other side, and the fork is controlled to take the goods from the target goods position through stretching until the distance measuring units of the forks on the two sides cannot detect the barrier.

4. A method of picking up goods according to claim 3,

judging whether the distance from the extending end of the pallet fork to the obstacle is larger than a first threshold value or not, if the distance from the extending end of the pallet fork to the obstacle is not larger than the first threshold value, controlling the shuttle car to move towards one side of the pallet fork with the obstacle, and within a first preset moving distance,

if the distance measuring units of the two forks cannot detect the obstacle, controlling the forks to fetch goods from the target goods space through extension and retraction;

if the distance measuring units of the two sides of the fork do not detect the obstacle, and the distance from the extending end of the fork on one side of the obstacle to the obstacle is larger than a first threshold value, the fork is extended to be close to the obstacle, the shuttle car is controlled to move towards the direction of the fork on the other side until the distance measuring units of the two sides of the fork do not detect the obstacle, and the fork is controlled to take goods from the target goods position through stretching.

5. A method of picking up goods according to claim 4,

if the distance from the extending end of the pallet fork to the obstacle is not larger than a first threshold value, the shuttle vehicle is controlled to move towards one side of the pallet fork with the obstacle, within a first preset moving distance,

if the distance measuring units of the forks on the two sides can not detect the obstacle and the distance from the extending end of the fork on the side without the obstacle to the obstacle is larger than a first threshold value,

and controlling the shuttle car to move towards one side with the obstacle until the fork on one side with the obstacle cannot detect the obstacle on the target cargo space, controlling the fork to extend out to the fork on the two sides and not touch the obstacle, controlling the shuttle car to move towards the fork on the other side until the distance measuring units on the fork on the two sides cannot detect the obstacle, and controlling the fork to take the cargo from the target cargo space through stretching.

6. A method of picking up goods according to claim 1,

the arrangement posture of the goods is adjusted through the shuttle vehicle so that the fork can take the goods, comprising,

the shuttle car body is controlled to move towards the direction of the fork on one side firstly and then towards the direction of the fork on the other side until the distance measuring unit cannot detect the obstacle, and before the obstacle on the two sides of the target cargo space disappears, the distance between the extending ends of the forks on the two sides and the obstacle is compared, the shuttle car is controlled to move towards the fork on one side with a small distance.

7. A method of picking up goods according to any of claims 1 to 6,

the goods taking method further comprises at least two distance measuring sensors, the at least two distance measuring sensors are installed on the shuttle car body and distributed on the outer sides of the forks on the two sides, the distance measuring sensors face a target goods position, the forks are configured to take goods from the target goods position through stretching, when the distance measuring sensors on the shuttle car body and the distance measuring units on the forks cannot detect obstacles on the target goods position, the forks are controlled to take goods from the target goods position through stretching.

8. A method as claimed in any one of claims 3 to 6, wherein the control of the forks to retrieve goods from the target position by telescoping when no obstacle is detected by the ranging units up to either side of the forks comprises controlling the shuttle to move in the opposite direction for a second predetermined distance when no obstacle is detected by the ranging units moving to either side of the forks, and then controlling the forks to retrieve goods from the target position by telescoping.

9. A method as claimed in any one of claims 2, 4, 5 or 6, further comprising at least two ranging sensors mounted on the shuttle body and distributed on the outer sides of the side forks, the ranging sensors facing the target cargo space,

the first preset distance for the shuttle to move meets the following conditions: in the process that the shuttle car moves a first preset distance to the fork on one side, the distance measuring sensor arranged on the body of the shuttle car and close to the fork on the side cannot detect the barrier.

10. The goods taking device is characterized in that the goods taking device is used for controlling the shuttle car to take goods out of a target goods space; the shuttle comprises a shuttle body and a fork arranged on the shuttle body, wherein the fork is configured to complete goods taking by extending out of or retracting back from the shuttle body; the goods taking device comprises:

the system comprises a detection module, a control module and a display module, wherein the detection module is used for detecting whether an obstacle exists when goods in a target goods position are taken by a fork of a shuttle car when the shuttle car reaches the target goods position;

and the adjusting module is used for adjusting the position of the shuttle car and/or adjusting the goods placing posture of the target goods space through the fork of the shuttle car when the obstacle is detected by the detecting module, so that the fork can stretch out and draw back the goods.

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