The embodiment of the invention provides a goods placing method, device and equipment, a mobile robot system and a storage medium, and relates to the technical field of mobile robots, and the mobile robots are provided with sensors. The method comprises the following steps: receiving a waiting point issued by a scheduling platform and a target point in a goods storage layer in a target goods shelf; after moving to a waiting point, detecting a neighborhood range of the target point by using a sensor to obtain an idle goods placing space in the target goods shelf; based on the target point and the size of the target goods, determining an initial goods placing space for storing the target goods in a goods storage layer on the target goods shelf; based on the relative position relation between the goods placing space and the initial goods placing space, whether an obstacle exists in the initial goods placing space or not is detected; if the obstacle exists in the initial goods placing space, determining a target goods placing space which does not collide with the obstacle and meets the size of the target goods from the goods placing spaces; and the target goods are stored in the target goods placing space, so that the safety of industrial production can be improved.
本申请实施例提供了一种放货方法、装置、设备、移动机器人系统及存储介质,涉及移动机器人技术领域,移动机器人上安装有传感器。方法包括:接收调度平台下发的等待点和目标货架中的货物存放层中的目标点;移动至等待点后,利用传感器对目标点的邻域范围进行探测,得到目标货架中空闲的可放货空间;基于目标点和目标货物的尺寸,在目标货架上货物存放层中确定用于存放目标货物的初始放货空间;基于可放货空间和初始放货空间的相对位置关系,检测初始放货空间内是否存在障碍物;若初始放货空间内存在障碍物,从可放货空间中确定与障碍物不发生碰撞且满足目标货物的尺寸的目标放货空间;将目标货物存放至目标放货空间,可以提高工业生产的安全性。
Goods placing method, device and equipment, mobile robot system and storage medium
一种放货方法、装置、设备、移动机器人系统及存储介质
03.01.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | G01S RADIO DIRECTION-FINDING , Funkpeilung / B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last |
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