US 12,365,540 B2
Control method for goods retrievement and storage, apparatus, carrying apparatus, and transport robot
Ruiqun Zheng, Shenzhen (CN); Zhe Kong, Shenzhen (CN); Ying Zhao, Shenzhen (CN); Jiawei He, Shenzhen (CN); and Qingxin Zhan, Shenzhen (CN)
Assigned to HAI ROBOTICS CO., LTD., Shenzhen (CN)
Filed by HAI ROBOTICS CO., LTD., Shenzhen (CN)
Filed on Mar. 29, 2022, as Appl. No. 17/707,135.
Application 17/707,135 is a continuation of application No. PCT/CN2020/119651, filed on Sep. 30, 2020.
Claims priority of application No. 201921662771.1 (CN), filed on Sep. 30, 2019; application No. 202010068990.8 (CN), filed on Jan. 21, 2020; application No. 202010069012.5 (CN), filed on Jan. 21, 2020; application No. 202020141209.0 (CN), filed on Jan. 21, 2020; and application No. 202020142100.9 (CN), filed on Jan. 21, 2020.
Prior Publication US 2022/0219902 A1, Jul. 14, 2022
Int. Cl. B65G 1/137 (2006.01); B65G 1/04 (2006.01); G05D 1/00 (2024.01); G06T 7/60 (2017.01); G06T 7/70 (2017.01)
CPC B65G 1/137 (2013.01) [B65G 1/0492 (2013.01); G05D 1/0212 (2013.01); G05D 1/0246 (2013.01); G06T 7/60 (2013.01); G06T 7/70 (2017.01); B65G 2203/0233 (2013.01); B65G 2203/0283 (2013.01); B65G 2203/041 (2013.01); G06T 2207/30252 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A control method for goods retrievement, applicable to a transport robot, wherein the transport robot is provided with a first camera, a second camera, and a carrying apparatus configured to take out goods, and the method comprises:
receiving a retrievement instruction, and acquiring locating information of target goods according to the retrievement instruction;
moving the transport robot to a target position according to the locating information;
obtaining status information of the target goods and relative position information between the carrying apparatus and the target goods, wherein the status information of the target goods comprises posture information of the target goods; and
adjusting a position and posture of the carrying apparatus according to the status information and the relative position information, and causing the carrying apparatus to take out the target goods,
wherein the obtaining status information of the target goods and relative position information between the carrying apparatus and the target goods comprises: causing the first camera to attempt to read a preset identifier to obtain a position relationship between the transport robot and the preset identifier, wherein the preset identifier is a shelving unit identifier of a shelving unit where the target goods is stored;
determining, based on the position relationship between the transport robot and the preset identifier, whether the carrying apparatus could directly reach the position of the target goods from a current position of the transport robot if the first camera successfully reads the preset identifier; and
shooting the target goods by using the second camera to obtain the posture information of the target goods and the relative position information of the target goods and the carrying apparatus, if it is determined that the carrying apparatus could directly reach the target goods from the current position of the transport robot;
and-wherein the adjusting a position and posture of the carrying apparatus according to the status information and the relative position information, and causing the carrying apparatus to take out the target goods comprises:—adjusting the position and posture of the carrying apparatus according to the relative position information and the posture information, and causing the carrying apparatus to take out the target goods in the adjusted position and posture.
 
13. A control method for goods retrievement, applicable to a transport robot, wherein the transport robot is provided with a carrying apparatus configured to take out goods, and the method comprises:
receiving a retrievement instruction, and acquiring locating information of target goods according to the retrievement instruction;
moving the transport robot to a target position according to the locating information;
obtaining status information of the target goods and relative position information between the carrying apparatus and the target goods, wherein the status information of the target goods comprises posture information of the target goods; and
adjusting a position and posture of the carrying apparatus according to the status information and the relative position information, and causing the carrying apparatus to take out the target goods; wherein the obtaining status information of the target goods and relative position information between the carrying apparatus and the target goods comprises:
acquiring, by the transport robot, three-dimensional imaging information of the target goods; and
acquiring the posture information of the target goods and the relative position information between the carrying apparatus and the target goods according to the three-dimensional imaging information; and
wherein the adjusting a position and posture of the carrying apparatus according to the status information and the relative position information, and causing the carrying apparatus to take out the target goods comprises:
adjusting the position and posture of the carrying apparatus according to the relative position information and the posture information, and causing the carrying apparatus to take out the target goods in the adjusted position and posture; wherein the carrying apparatus has a telescopic arm, and the causing the carrying apparatus to take out the target goods in the adjusted position and posture comprises:
determining an extension depth of the carrying apparatus; and
causing the telescopic arm to extend out by the extension depth in the adjusted position and posture, wherein the extension depth is equal to a sum of the relative distance between the carrying apparatus and the target goods in the taken-out direction of the carrying apparatus and a predetermined percentage of a largest one of sizes of all to-be-retrieved goods in the taken-out direction.
 
14. A control method for goods retrievement, applicable to a transport robot, wherein the transport robot is provided with a carrying apparatus configured to take out goods, and the method comprises:
receiving a retrievement instruction, and acquiring locating information of target goods according to the retrievement instruction;
moving the transport robot to a target position according to the locating information;
obtaining status information of the target goods and relative position information between the carrying apparatus and the target goods, wherein the status information of the target goods comprises posture information of the target goods; and
adjusting a position and posture of the carrying apparatus according to the status information and the relative position information, and causing the carrying apparatus to take out the target goods;
wherein the obtaining status information of the target goods and relative position information between the carrying apparatus and the target goods comprises:
acquiring, by the transport robot, three-dimensional imaging information of the target goods; and
acquiring the posture information of the target goods and the relative position information between the carrying apparatus and the target goods according to the three-dimensional imaging information; and
wherein the adjusting a position and posture of the carrying apparatus according to the status information and the relative position information, and causing the carrying apparatus to take out the target goods comprises:
adjusting the position and posture of the carrying apparatus according to the relative position information and the posture information, and causing the carrying apparatus to take out the target goods in the adjusted position and posture;
wherein before the causing the carrying apparatus to take out the target goods in the adjusted position and posture, the method comprises:
determining whether the carrying apparatus will collide with a shelving unit when retrieving the goods;
when it is determined that the carrying apparatus will collide with the shelving unit after being extended out, readjusting the position and posture of the carrying apparatus; and
when it is determined that the carrying apparatus will not collide with the shelving unit after being extended out, causing the carrying apparatus to take out the target goods in the adjusted position and posture.