Control method for goods retrievement and storage, apparatus, carrying apparatus, and transport robot

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.

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.