CN116692320A - An intelligent shelf sorting robot and control method - Google Patents

Abstract

The application relates to an intelligent goods shelf arranging robot and a control method, wherein the robot comprises a moving module, a container carrying module and a detecting module, wherein the container carrying module is fixed on the moving module, a rotating shaft and a rotating motor are arranged between the detecting module and the container carrying module, the rotating motor is in driving connection with the rotating shaft, one end of the rotating shaft is connected with the detecting module, and the other end of the rotating shaft is connected with the container carrying module. Compared with the prior art, the application has the advantages of simple operation, flexible movement and the like.

Description

An intelligent shelf sorting robot and control method

technical field

The invention relates to the technical field of shelf sorting devices, in particular to an intelligent shelf sorting robot and a control method.

Background technique

Shelves are an important tool for modern warehouses to improve efficiency. They not only drive the development of the local economy, but also bring new management concepts and management technologies. Because of the increase in production and expansion of enterprises, the standardization and efficiency of enterprise warehouses are also increasingly valued. During the use of shelves The use of intelligent shelf finishing robots can greatly save manpower and material resources, and reduce the operating costs of enterprises to a certain extent.

In the prior art, some shelf-organizing robots are provided, but most of them run on fixed tracks and lack autonomous navigation capabilities. There are gaps, resulting in uneven placement, which not only reduces work efficiency but also affects the sense of user experience.

For example, Chinese patent CN212265851U discloses a shelf finishing robot with autonomous navigation function. Its structure includes a body, a power cord, a universal wheel, a control switch, a first load plate and a camera. Auxiliary finishing parts are set in the middle of the right end of the body, The motor is started by controlling the switch, the motor drives the drive mechanism to move, the drive mechanism drives the push rod to move, the push rod drives the push plate to move, the push plate pushes the container on the shelf, so that the gap between the container disappears, and passes through the shell A driving mechanism is arranged in the inner middle part, and the motor drives the rotating shaft to rotate, and the rotating shaft drives the movable block to rotate, and the movable block drives the slider to slide on one side of the chute, so that the slider drives the movable plate to move, and the movable plate drives the push rod to move.

However, in the prior art, when planning the path of the robot through the camera components, only the area directly in front of the robot can be detected, and other areas need to be detected by the overall rotation of the robot, which is not conducive to the detection of the cargo compartment area by the robot, which is not conducive to the intelligent planning of the moving path by the robot. It will increase the energy consumption of the robot and shorten the battery life of the robot; on the other hand, in the prior art, the intelligent robot can only place the container on the shelf of a specific height, and the existing shelf generally includes multiple partitions of different heights. Narrow and not very practical.

Contents of the invention

The purpose of the present invention is to overcome the defects of the above-mentioned prior art that when planning the path of the robot through the camera component, it can only detect the area directly in front of the robot, which is not conducive to the detection of the cargo compartment area by the robot, and is not conducive to the intelligent planning of the moving path of the robot. An intelligent shelf sorting robot and a control method.

The purpose of the present invention can be achieved through the following technical solutions:

An intelligent shelf sorting robot includes a mobile module, a container handling module and a detection module, the container handling module is fixed on the mobile module, a rotating shaft and a rotating motor are arranged between the detection module and the container handling module, The rotating motor is driven and connected to a rotating shaft, one end of the rotating shaft is connected to the detection module, and the other end is connected to the container handling module.

Preferably, the container handling module comprises a backbone component, a first gripping arm, a second gripping arm, a first carrying plate and a second carrying plate;

The first bearing plate and the second bearing plate are vertically fixed on one side of the backbone component, the backbone component is vertically fixed at one end of the mobile module, the first bearing plate is attached to the upper surface of the mobile module, and the second A clamping arm and a second clamping arm are symmetrically fixed on both sides of the trunk part and located above the second bearing plate.

Preferably, the trunk part includes a first torso member, a telescoping shaft and a second torso member connected in sequence;

One end of the first trunk member is fixed on the mobile module, the other end is connected to the lower end of the telescopic shaft, the second trunk member is connected to the upper end of the telescopic shaft, the second carrying plate, the first clamping arm and the second clamping arm are The arms are each secured to the second torso member.

Preferably, both the first clamping arm and the second clamping arm are swing arm structures, and the swing arm structure includes a first swing arm, a second swing arm, a splint and a connecting rod;

The connecting rod is fixed on the trunk part, one end of the first swing arm is rotatably connected to the connecting rod, and the other end is rotatably connected to the second swing arm, and the second swing arm is rotatably connected to the splint.

Preferably, the first swing arm is hinged to the second swing arm, the second swing arm is hinged to the splint, and a rubber pad is connected to one side of the splint.

Preferably, the cargo box handling module further includes auxiliary sorting components, and the auxiliary sorting components include a push shaft motor, a push shaft, a push plate and a pressure sensor;

The push shaft motor is fixed on the main component, the push shaft motor is driven and connected to the push shaft, the push plate is fixed on one end of the push shaft, and the pressure sensor is fixed on the front surface of the push shaft.

Preferably, the detection module includes a box body, the box body is fixed on the upper end of the rotating shaft, and the front end of the box body is provided with a camera fixing hole, and a high-definition camera and an infrared camera are fixed in the camera fixing hole.

Preferably, the mobile module includes a chassis, a driving wheel, a driven wheel, a driving motor, a control module, and a power supply compartment for powering the device, the driving wheel is rotatably fixed at the rear end of the chassis, and the driving motor drives and connects the driving wheel, The control module is connected to the drive motor, the driven wheel is fixed on the front end of the chassis, and the driven wheel is a universal wheel.

Preferably, the mobile module further includes a monocular camera, a depth camera and an ultrasonic sensor;

The monocular camera, the depth camera and the ultrasonic sensor are all fixed on the front end of the chassis, and are all connected to the control module, and the number of the ultrasonic sensor is multiple.

Preferably, the front end of the mobile module is further provided with an infrared sensor, and the infrared sensor is connected to the control module.

This solution also provides a control method for an intelligent shelf sorting robot, including the following steps:

S1: The robot moves in the area, and obtains the area information in real time through the high-definition camera, sets the area where the container exists as the target area, and executes step S2;

S2: Obtain the image data of the monocular camera and the depth camera at this time, locate the target area, and move the robot to the target area;

S3: Control the first clamping arm and the second clamping arm to approach and clamp the container through the control module, and then place the container on the first loading plate or the second loading plate, and perform step S4;

S4: Acquire the image data of the monocular camera and the depth camera at this time again, locate the area where the target shelf is located, move the robot to the front of the shelf, and execute step S5;

S5: Place the container on the first loading plate or the second loading plate on the shelf through the splint, the first swing arm and the second swing arm, push the container through the auxiliary finishing parts, eliminate the gap between the container, and complete Organize shelves.

Compared with the prior art, the present invention has the following advantages:

1. In this solution, the rotating motor drives the rotating shaft to rotate, and then drives the detection module above the rotating shaft to rotate, so that the detection module can detect and shoot the surrounding area of the robot without moving the robot, and the robot's action path after planning, The mobile module drives the robot to move, and the container is placed on the corresponding shelf through the container handling module. The rotating shaft drives the detection module to detect a wider area around the robot to make a more comprehensive action plan, and the action of the mobile module is safer and more reasonable, while reducing the movement of the mobile module, reducing the energy consumption of the robot, and extending the device. usage time.

2. In this solution, the second carrying plate, the first clamping arm and the second clamping arm are fixed on the second torso component of the trunk part, and the height of the second torso component is adjusted through the telescopic shaft, thereby adjusting the second carrying plate The height of the upper box is placed on the shelves of different heights, which overcomes the shortage of the traditional shelf sorting robot in the sorting height, and realizes the sorting of the boxes on the shelves of different heights.

3. The shelf sorting robot of this solution uses the driving wheel and the universal driven wheel to control the movement of the robot, so as to avoid the limitation of the range of movement by using a fixed track, so that the robot can move to multiple shelves in different positions for box sorting.

4. In this solution, an ultrasonic sensor is installed on the front end of the robot base, and combined with multiple cameras to obtain the situation on the robot's moving route, it helps the robot to plan the moving path, provides the robot with the ability to avoid obstacles, and ensures that the robot is sorting out and going to the target area. time efficiency.

Description of drawings

Fig. 1 is the front view of the robot provided by the present invention;

Fig. 2 is the left view of the robot provided by the present invention;

Fig. 3 is a schematic structural view of the auxiliary finishing parts provided by the present invention;

In the figure: 1. Mobile module, 2. Container handling module, 3. Detection module, 4. Rotary shaft, 5. Rotary motor, 6. Main component, 7. First gripping arm, 8. Second gripping arm , 9, the first bearing plate, 10, the second bearing plate, 11, the first swing arm, 12, the second swing arm, 13, splint, 14, connecting rod, 15, auxiliary finishing parts; 101, chassis, 102, Drive wheel, 103, driven wheel, 104, monocular camera, 105, depth camera, 106, ultrasonic sensor, 107, infrared sensor; 31, box body, 32, high-definition camera, 33, infrared camera, 61, first body member , 62, telescopic shaft, 63, the second torso member, 151, push shaft motor, 152, push shaft, 153, push plate, 154, pressure sensor.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. The components of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations.

Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

It should be noted that like numerals and letters denote similar items in the following figures, therefore, once an item is defined in one figure, it does not require further definition and explanation in subsequent figures.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship that is usually placed when the product of the invention is used, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying References to devices or elements must have a particular orientation, be constructed, and operate in a particular orientation and therefore should not be construed as limiting the invention.

It should be noted that the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. Thus, a feature defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present application, "plurality" means two or more, unless otherwise specifically defined.

Furthermore, the terms "horizontal", "vertical" and the like do not imply that a component is absolutely level or overhanging, but may be slightly inclined. For example, "horizontal" only means that its direction is more horizontal than "vertical", and it does not mean that the structure must be completely horizontal, but can be slightly inclined.

Example 1

This implementation provides an intelligent shelf sorting robot, including a mobile module 1, a container handling module 2 and a detection module 3, the container handling module 2 is fixed on the mobile module 1, and a The rotating shaft 4 and the rotating motor 5 are driven and connected to the rotating shaft 4 , one end of the rotating shaft 4 is connected to the detection module 3 , and the other end is connected to the container handling module 2 .

Working principle: The rotating shaft 4 is driven by the rotating motor 5 to rotate, and then the detection module 3 above the rotating shaft 4 is driven to rotate, so that the detection module 3 can detect and shoot the surrounding area of the robot without the robot moving. After the robot is planned The moving module 1 drives the robot to move, and the container is placed on the corresponding shelf through the container handling module 2.

In this solution, the rotating motor 5 drives the rotating shaft 4 to rotate, and then drives the detection module 3 above the rotating shaft 4 to rotate, so that the detection module 3 can detect and shoot the surrounding area of the robot without the robot moving. In the action path, the mobile module 1 drives the robot to move, and the container is placed on the corresponding shelf through the container handling module 2 . The rotating shaft 4 drives the detection module 3 to detect a wider area around the robot to make a more comprehensive action plan, and the action of the mobile module is safer and more reasonable, while reducing the movement of the mobile module 1 and reducing the energy consumption of the robot. The service life of the device is extended.

As a preferred embodiment, the container handling module 2 includes a trunk part 6, a first gripping arm 7, a second gripping arm 8, a first carrying plate 9 and a second carrying plate 10;

The first carrying plate 9 and the second carrying plate 10 are vertically fixed on one side of the backbone component 6, the backbone component 6 is vertically fixed at one end of the mobile module 1, the first carrying plate 9 is attached to the upper surface of the mobile module 1, and the first carrying plate 9 is attached to the upper surface of the mobile module 1. The clamping arm 7 and the second clamping arm 8 are symmetrically fixed on both sides of the trunk part 6 and located above the second bearing plate 10 .

By fixing the second carrier plate, the first clamping arm and the second clamping arm on the second trunk member of the trunk part, the height of the second trunk member is adjusted through the telescopic shaft, and then the height of the container on the second carrier plate is adjusted. Height, put the boxes on the shelves of different heights, overcome the shortage of the traditional shelf sorting robot in the sorting height, and realize the sorting of the boxes on the shelves of different heights.

Specifically, the trunk part 6 includes a first torso component 61, a telescopic shaft 62 and a second torso component 63 connected in sequence;

One end of the first trunk member 61 is fixed on the mobile module 1, the other end is connected to the lower end of the telescopic shaft 62, the second trunk member 63 is connected to the upper end of the telescopic shaft 62, the second carrying plate 10, the first clamping arm 7 and the second clip Both arms 8 are fixed on the second trunk member 63 .

Both the first clamping arm 7 and the second clamping arm 8 are swing arm structures, and the swing arm structure includes a first swing arm 11, a second swing arm 12, a splint 13 and a connecting rod 14;

The connecting rod 14 is fixed on the trunk part 6 , one end of the first swing arm 11 is rotatably connected to the connecting rod 14 , and the other end is rotatably connected to the second swing arm 12 , and the second swing arm 12 is rotatably connected to the splint 13 .

The first swing arm 11 is connected to the second swing arm 12 through a hinge, and the second swing arm 12 is connected to the splint 13 through a hinge, and a rubber pad is connected to one side of the splint 13 . By increasing the frictional force between the splint 13 and the container, the first swing arm 11 and the second swing arm 12 can transfer the container more stably.

Specifically, the container handling module 2 also includes an auxiliary sorting part 15, and the auxiliary sorting part 15 includes a push shaft motor 151, a push shaft 152, a push plate 153 and a pressure sensor 154;

The push shaft motor 151 is fixed on the main part 6, and the push shaft motor 151 drives and connects the push shaft 152, the push plate 153 is fixed on one end of the push shaft 152, and the pressure sensor 154 is fixed on the front surface of the push shaft 152.

The push shaft 152 is driven and connected by the push shaft motor 151, and the push plate 153 is driven to push the container on the first load plate 9. When the value of the pressure sensor 154 fixed on the front surface of the push plate 153 is higher than the pressure threshold, it is determined that the load between the container The gap in the disappears, indicating that the box placement is complete.

Detection module 3 comprises box body 31, and box body 31 is fixed on the upper end of rotating shaft 4, and the front end of box body 31 is provided with camera fixing hole, and high-definition camera 32 and infrared camera 33 are fixed in camera fixing hole.

The mobile module 1 includes a chassis 101, a driving wheel 102, a driven wheel 103, a driving motor, a control module, and a power supply compartment for supplying power to the device. The driving wheel 102 is rotatably fixed on the rear end of the chassis 101, and the driving motor drives and connects the driving wheel 102, and the control module The driving motor is connected, and the driven wheel 103 is fixed on the front end of the chassis 101, and the driven wheel 103 is a universal wheel.

The mobile module 1 also includes a monocular camera 104, a depth camera 105 and an ultrasonic sensor 106;

The monocular camera 104 , the depth camera 105 and the ultrasonic sensor 106 are all fixed on the front end of the chassis 101 and connected to the control module, and the number of the ultrasonic sensor 106 is multiple.

The front end of the mobile module 1 is also provided with an infrared sensor 107, and the infrared sensor 107 is connected to the control module.

In combination with the above-mentioned preferred implementation mode, this embodiment provides an optimal implementation mode, specifically including an intelligent shelf sorting robot based on vision-based multi-sensor fusion, including a robot chassis, a camera group and a sensor group, a camera group and The sensor groups are all set on the outside of the robot body. The camera group includes depth cameras, monocular cameras, infrared cameras and high-definition cameras. The sensor groups include ultrasonic sensors, infrared sensors and pressure sensors. There is a control system inside the robot body, and the control system is connected to the camera. group and sensor group.

As shown in Figure 1, the box body 31 is arranged on the top of the robot body. The robot body is provided with a rotating shaft 4 and a rotating motor 5 driving the rotating shaft 4. The center of the robot body is provided with a through hole for the rotating shaft 4 to pass through. One end of the shaft 4 passing through the through hole is fixed with a box body 31, and the box body 31 is provided with a high-definition camera 32 and an infrared camera 33. When the robot is working, the box body 31 keeps rotating 360 degrees.

A connecting rod 14 is fixed on the main body of the robot. The connecting rod 14 drives the swing of the first swing arm 11, the first swing arm 11 drives the swing of the second swing arm 12, and the second swing arm 12 drives the splint 13 close to the container. The arm 11, the second swing arm 12, and the splint 13 are connected by a connecting shaft, and the splint is activated by the control switch. The splint is in the shape of a cuboid, and a rubber pad is stuck on one side for anti-slip, and the splint is in contact with the outer surface of the container. When the value of the pressure sensor on the surface of the clamping plate 13 reaches the pressure threshold, it is determined that the cargo box is clamped, and then the cargo box is placed on the first loading plate 9 or the second loading plate 10 through the clamping plate, the first swing arm and the second swing arm superior.

After the robot turns on the control switch, the motor starts, the motor drives the drive system to move, the drive mechanism drives the retractable main part to move, and the extendable main part drives the second bearing plate to move.

The front of the robot chassis is provided with a monocular camera 104 and a depth camera 105, and the bottom of the robot chassis is provided with two driving wheels 102 and two universal driven wheels 103, and the two driving wheels are directly driven by stepping hub motors, and the motors are connected to the control module , which can realize the forward and backward movement of the shelf sorting robot in any direction. There are two ultrasonic sensors 106 for collecting obstacle information on the moving path, and the control system avoids obstacles when necessary according to the information of the ultrasonic sensors.

An accelerometer and a gyroscope are also installed in the robot chassis. The accelerometer and gyroscope can be integrated into an IMU and installed in the robot chassis to calculate the attitude angle and acceleration in real time and use it to control the robot to move forward, backward and turn.

A battery compartment is also installed in the robot chassis. When the robot is low on power, the control system transmits the current positioning information and charging information to the remote computer, and at the same time controls the robot to go to the charging station, and the control system opens the door of the battery compartment to prepare for charging; At the same time, the remote computer controls the closer robot to perform the shelf sorting task of the charging robot.

After the robot turns on the control switch, the shaft motor is started. The shaft motor 151 drives the shaft 152 to move, and the shaft 152 drives the push plate 153 to move. Or oxidized and corroded, the push plate 153 pushes the container on the shelf. When the value of the pressure sensor 154 on the surface of the push plate is higher than the pressure threshold, it is determined that the gap between the container disappears, and the push shaft motor drives the push shaft to move, and the limit The plate and the thrust limit the moving distance of the push shaft to prevent over pushing or the push shaft from falling off.

This embodiment also provides that the control module includes an industrial computer and a drive circuit board, the two are connected through a serial port, and the following steps are performed when the robot performs shelf sorting:

Step S1. After the control switch is turned on, the robot is controlled to move in the field, and the area information of the high-definition camera is obtained in real time. When a container is recognized in a certain area, the current area is set as the target area and moved to this area, and step S2 is executed;

Step S2, obtaining the image data of the monocular camera and the depth camera at this time, locating the target area, and controlling the robot to move to the target area;

Step S3, activate the connecting rod through the control switch, the connecting rod controls the swing of the first swing arm, the first swing arm controls the swing of the second swing arm, the second swing arm drives the splint close to the container, and activates the splint through the control switch, The splint is in contact with the outer surface of the container, and when the value of the pressure sensor on the surface of the splint is higher than the second pressure threshold, it is determined that the container is clamped, and then the container is placed on the second Execute step S4 on the first bearing board or the second bearing board;

Step S4, obtain the image data of the monocular camera and the depth camera at this time again, locate the area where the target shelf is located, and move the robot to the front of the shelf through the control switch 5, and execute step S5;

Step S5. When the robot moves to the front of the shelf, place the container on the first loading plate or the second loading plate on the shelf through the splint, the first swing arm and the second swing arm. If there is a gap between the container, pass The control switch activates the auxiliary sorting parts, the motor in the push shaft control box drives the push shaft to move, and the push shaft drives the push plate to push the container. When the value of the pressure sensor set on the surface of the push plate is higher than the third pressure threshold, the container is determined. The gaps between have been eliminated, completing the shelf organization.

Among them, the method of whether there is a container in the image obtained by the high-definition camera is:

The image acquired by the high-definition camera is combined with the trained recognition model using the YOLO target detection algorithm to obtain the judgment result; the training process of the recognition model is as follows: input several pictures with cargo boxes, and output whether the label of the cargo box appears Train the recognition model.

In addition, the complete map data of the site is stored in the remote computer, and the improved A* algorithm based on global planning and local optimization can realize the robot's incremental composition and optimize the path of the robot's shelf arrangement, improving the efficiency of the robot's shelf arrangement .

In this embodiment, the reason why there are multiple ultrasonic sensors, pressure sensors, and infrared sensors is that if one of the sensors fails, it can be found in time through the data obtained by the control system, so as to avoid the failure of the robot to work due to sensor failure during shelf sorting. Condition.

The preferred specific embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make many modifications and changes according to the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning or limited experiments on the basis of the prior art shall be within the scope of protection defined by the claims.

Claims (10)

1. An intelligent shelf finishing robot is characterized in that it comprises a mobile module (1), a container handling module (2) and a detection module (3), and the container handling module (2) is fixed on the mobile module (1) Above, a rotating shaft (4) and a rotating motor (5) are arranged between the detection module (3) and the container handling module (2), and the rotating motor (5) drives and connects the rotating shaft (4). One end of the rotating shaft (4) is connected to the detection module (3), and the other end is connected to the container handling module (2). 2. A kind of intelligent shelf sorting robot according to claim 1, characterized in that, the container handling module (2) comprises a backbone component (6), a first gripping arm (7), a second gripping arm (8), the first carrying plate (9) and the second carrying plate (10); The first bearing plate (9) and the second bearing plate (10) are vertically fixed on one side of the backbone component (6), the backbone component (6) is vertically fixed at one end of the mobile module (1), and the first A carrying plate (9) is attached to the upper surface of the mobile module (1), and the first clamping arm (7) and the second clamping arm (8) are symmetrically fixed on both sides of the main part (6), and Located above the second carrying plate (10). 3. A kind of intelligent shelf finishing robot according to claim 2, is characterized in that, described trunk part (6) comprises first trunk member (61), telescoping shaft (62) and second trunk member ( 63); One end of the first trunk member (61) is fixed on the mobile module (1), the other end is connected to the lower end of the telescopic shaft (62), and the second trunk member (63) is connected to the upper end of the telescopic shaft (62). The second carrying plate (10), the first gripping arm (7) and the second gripping arm (8) are all fixed on the second trunk member (63). 4. A kind of intelligent shelf finishing robot according to claim 2, it is characterized in that, the first gripping arm (7) and the second gripping arm (8) are both swing arm structures, and the swing arm structure It includes a first swing arm (11), a second swing arm (12), a splint (13) and a connecting rod (14); The connecting rod (14) is fixed on the trunk part (6), one end of the first swing arm (11) is rotatably connected to the connecting rod (14), and the other end is rotatably connected to the second swing arm (12). The second swing arm (12) can rotate the online splint (13). 5. A kind of intelligent shelf finishing robot according to claim 4, is characterized in that, described first swing arm (11) is connected second swing arm (12) by hinge, and described second swing arm (12) is passed through The splint (13) is hingedly connected, and a rubber pad is connected to one side of the splint (13). 6. A kind of intelligent shelf sorting robot according to claim 2, characterized in that, the container handling module (2) also includes an auxiliary sorting part (15), and the auxiliary sorting part (15) includes a push shaft motor (151), push shaft (152), push plate (153) and pressure sensor (154); The push shaft motor (151) is fixed on the main component (6), the push shaft motor (151) is driven and connected to the push shaft (152), and the push plate (153) is fixed on one end of the push shaft (152), The pressure sensor (154) is fixed on the front surface of the pushing shaft (152). 7. A kind of intelligent shelf finishing robot according to claim 1, is characterized in that, described detection module (3) comprises box body (31), and described box body (31) is fixed on the upper end of rotating shaft (4) , the front end of the box body (31) is provided with a camera fixing hole, and a high-definition camera (32) and an infrared camera (33) are fixed in the camera fixing hole. 8. A kind of intelligent shelf finishing robot according to claim 1, is characterized in that, described moving module (1) comprises chassis (101), driving wheel (102), driven wheel (103), drive motor, control module and a power supply compartment for supplying power to the device, the driving wheel (102) is rotatably fixed on the rear end of the chassis (101), the driving motor is connected to the driving wheel (102), the control module is connected to the driving motor, and the driven wheel (103) is fixed on the front end of the chassis (101), and the driven wheel (103) is a universal wheel. 9. A kind of intelligent shelf finishing robot according to claim 8, is characterized in that, described mobile module (1) also comprises monocular camera (104), depth camera (105), ultrasonic sensor (106) and infrared sensor (107); The monocular camera (104), the depth camera (105), the ultrasonic sensor (106) and the infrared sensor (107) are all fixed on the front end of the chassis (101), and are all connected to the control module, and the ultrasonic sensor (106) The quantity is multiple. 10. A control method based on an intelligent shelf finishing robot according to any one of claims 1-9, characterized in that it comprises the following steps: S1: The robot moves in the area, and obtains the area information in real time through the high-definition camera, sets the area where the container exists as the target area, and executes step S2; S2: Obtain the image data of the monocular camera and the depth camera at this time, locate the target area, and move the robot to the target area; S3: Control the first clamping arm and the second clamping arm to approach and clamp the container through the control module, and then place the container on the first loading plate or the second loading plate, and perform step S4; S4: Acquire the image data of the monocular camera and the depth camera at this time again, locate the area where the target shelf is located, move the robot to the front of the shelf, and execute step S5; S5: Place the container on the first loading plate or the second loading plate on the shelf through the splint, the first swing arm and the second swing arm, push the container through the auxiliary finishing parts, eliminate the gap between the container, and complete Organize shelves.