A system for performing measurements in storage containers for storing items includes a framework structure. The storage containers are stored in an automated storage system. The framework structure forms a three-dimensional storage grid structure for storing the storage containers. The grid structure forms vertical storage columns each having a horizontal area defined by the size of an access opening to the vertical storage columns between rails of a rail system. The rail system is arranged on top of the framework structure. The rail system provides available routes for container handling vehicles handling and transferring the storage containers to and from the storage columns. Each vehicle includes a vehicle controller communicating with a central computer system controlling the operation of the storage system. A container handling platform of a container handling vehicle includes measuring equipment configured to perform measurements in containers and includes a communication unit configured to communicate measurement data to a computer system.

A system is provided. The system includes a conveyor apparatus configured for conveying a material and a water content measurement system positioned about the conveyor apparatus for determining water content in the material. A dimension characteristic measurement system for detecting one or more dimension characteristics of the material is provided and a computer device is configured to manipulate data received from the water content measurement system and the dimension characteristic measurement system to determine a water content of the material.

A storage, retrieval and processing system for processing objects includes: a plurality of bins including objects to be distributed, said plurality of bins being provided on an input conveyance system; a programmable motion device that includes an end effector for grasping and moving any of the objects, a perception system for providing perception data regarding a selected object that is presented to the perception system by the programmable motion device, and a routing conveyance system for receiving the selected object, and for moving the selected object in each of horizontal and vertical directions toward a selected destination container responsive to the perception data, the routing conveyance system including at least one object conveyor for urging the selected object toward the selected destination container in a third direction that is generally orthogonal to the horizontal and vertical directions.

A system performs measurements in storage containers for storing items. The storage containers are stored in an automated storage system including a framework structure forming a three-dimensional storage grid structure for storing the storage containers. The grid structure forms vertical storage columns each having a horizontal area defined by the size of an access opening of the vertical storage columns. A rail system is arranged on the framework structure defining the circumference of each access opening on top of each storage column. The rail system provides available routes for container handling vehicles handling and transferring the storage containers to and from the storage columns. The system further includes a testing station, accessible to a container handling vehicle via the rail system, with measuring equipment for measuring atmospheric conditions and for performing measurements in said storage container. The testing station is configured to communicate measurement data to a computer system. The testing station includes an upper part to which a measuring platform with measuring equipment is attached, a lower part for holding a container, and connector for connecting the upper part and the lower part and the testing station includes a lifting device adapted to raise and lower the measuring platform.

A robot and a robot-based container storage and removal method. The robot comprises: a master control processing unit (110), a pick-and-place mechanism (120) and a marker detection unit (130), wherein according to target storage and removal position information of a target inventory container, the master control processing unit (110) controls a robot body to move to a first horizontal position and controls the pick-and-place mechanism (120) to move to a first height position; when the robot body and the pick-and-place mechanism (120) stop moving, the marker detection unit (130) determines a target pick-and-place marker from a target inventory support to which the target inventory container belongs; and the master control processing unit (110) also calibrates the position of the pick-and-place mechanism (120) according to the position of the target pick-and-place marker, so as to control the calibrated pick-and-place mechanism (120) to perform a storage operation or a removal operation on the target inventory container. By means of the solution, a pick-and-place position of a pick-and-place mechanism (120) of the robot can be precisely positioned and moved, such that the pick-and-place mechanism (120) can quickly and accurately store or remove a target inventory container.

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.

The present disclosure provides a warehouse robot control method and apparatus, a device and a readable storage medium. According to the method of the present disclosure, before a carrying task is executed, image data of a target storage location is acquired through an image acquisition apparatus, whether an execution condition of a carrying task is satisfied is determined according to the image data of the target storage location, and in a case that the execution condition of the carrying task is satisfied, that is, no danger may happen during execution of the carrying task by a carrying apparatus, the carrying apparatus is controlled to execute the carrying task. The occurrence of danger is avoided and the safety of warehouse robots is improved.

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.

Movement is controlled of a plurality of container handling vehicles on a rail system arranged at least partially across a top of a framework structure of an automated storage and retrieval system, on which rail system the plurality of container handling vehicles are operable to raise storage containers from, and lower storage containers into, storage columns arranged in rows between upright members and horizontal members of the framework structure. The storage containers are also transported above the storage columns. The movement control is performed by a central operational controller which is in communication with a local controller in each container handling vehicle. The central operational controller receives data relating to a subsection of the rail system. The data includes a container handling vehicle movement threshold for the subsection. The central operational controller instructs a container handling vehicle to follow a path which takes in at least a part of the subsection. The central operational controller instructs the container handling vehicle to reduce speed and/or acceleration such that the movement of the container handling vehicle within the subsection is below the container handling vehicle movement threshold of the sub section.

A conveyor system includes at least one conveyor table and an awareness flag mechanism. The awareness flag mechanism includes a support rod mounted to the at least one conveyor table and extending outwardly therefrom in a cross-conveying direction. A counterweight assembly includes a support shaft pivotally connected to the support rod. The support shaft has a resiliently flexible portion. Aa counterweight is located at a lower end of the support shaft. Aa flag is located at an opposite, upper end of the support shaft. The counterweight biases the counterweight assembly toward an upright, awareness configuration where the flag is located above a conveying surface of the at least one conveyor table.