HAI ROBOTICS CO., LTD.

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.

A method for robot path planning includes: generating a target path when a target storage location of a target robot is located at an upper level of a rack, where the target path includes a first path from a current position of the target robot to a waiting point and a second path from the waiting point to the target storage location; generating, if a blocking robot exists, an avoidance path for the blocking robot based on a state of the blocking robot; and controlling the target robot to move to the waiting point along the first path, before, during, or after controlling the blocking robot to move along the avoidance path, and controlling the target robot to reach the target storage location along the second path during or after controlling the blocking robot to move along the avoidance path.

A logistics system includes a warehousing apparatus, a picking apparatus, and a carrying apparatus. The warehousing apparatus includes at least one rack, the rack includes a plurality of warehousing layers configured to store material containers, and at least one of the plurality of warehousing layers is a temporary storage layer. The carrying apparatus is configured to transport the material containers between the temporary storage layer and the picking apparatus. The picking apparatus is configured to sort goods in the material containers. The temporary storage layer is located at the bottom portion of the rack. There is a first moving channel under the temporary storage layer for movement of the carrying apparatus. The carrying apparatus is capable of simultaneously bearing and transporting at least two material containers. The at least two material containers carried by the carrying apparatus are stacked in the vertical direction.

A workstation includes a workstation body, a barrier base, and a monitoring assembly. The barrier base is disposed in the workstation body to divide the workstation body into a traveling area and an operation area, the barrier base is provided with an operation window, and the operation window is located above a tote on a logistics transporting device. The monitoring assembly includes a first detector and a controller, the first detector is disposed on a detection section in the traveling area, and the detection section corresponds to the operation window. The first detector is configured to detect identity information of the logistics transporting device entering the detection section, and the controller is configured to control the logistics transporting device to brake when a speed of the logistics transporting device entering the detection section is greater than or equal to a first preset speed.

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.

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.

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 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.

A tote processing method includes: obtaining at least one to-be-processed order corresponding to a target workstation; determining target totes and a carrying sequence of each of the target totes according to an order demand of the at least one to-be-processed order and a processing sequence corresponding to each to-be-processed order; and generating a carrying instruction according to the target totes and the carrying sequence of each of the target totes, to control, based on the carrying instruction, a robot to carry each of the target totes, where the order demand of the to-be-processed order includes a type and a quantity of target items corresponding to the to-be-processed order, and the processing sequence of the to-be-processed order is a processing sequence of each of the target items in the order demand of the to-be-processed order.

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.