CN207810578U

CN207810578U - Transfer robot and sorting system

Info

Publication number: CN207810578U
Application number: CN201721852976.7U
Authority: CN
Inventors: 王玉琴
Original assignee: Tianjin Tiandi Shentong Logistics Co Ltd
Current assignee: Tianjin Tiandi Shentong Logistics Co Ltd
Priority date: 2017-12-26
Filing date: 2017-12-26
Publication date: 2018-09-04
Anticipated expiration: 2027-12-26

Abstract

The utility model provides a kind of transfer robot and sorting system, it is related to logistics management technical field, to alleviate existing logistics management by there are labor intensity in a manner of artificial big, ineffective problem, manual labor's intensity can be mitigated, cargo is improved and carry and sorting efficiency.Transfer robot includes：Image collecting device, position sensor, telecontrol equipment, master controller, handling device and obstacle detecting device；Image collecting device, position sensor, telecontrol equipment, handling device and obstacle detecting device are connected with master controller respectively；Image acquisition device terrestrial information；Position sensor acquires the location information of transfer robot and freight hold；Master controller receives terrestrial information, and controlled motion device drives transfer robot to be moved at cargo；Master controller receives location information, and control handling device transports goods；Obstacle detecting device detects obstacle information of the transfer robot in moving process.

Description

Transfer robot and sorting system

Technical Field

The utility model belongs to the technical field of the logistics management technique and specifically relates to a transfer robot and letter sorting system are related to.

Background

Logistics is a process of organically combining functions such as transportation, storage, loading, unloading, transportation, packaging, distribution, information processing and the like according to actual needs to meet user requirements in the process of physically flowing articles from a supply place to a receiving place.

Logistics is part of the supply chain activity and is the process of planning, implementing and controlling the efficient, low cost flow and storage of goods, services and related information from source to consumer sites in order to meet customer needs. The logistics takes storage as a center, and the production and the market are kept synchronous. The logistics management means that in the social production process, according to the law of material data entity flow, the basic principle and scientific method of management are applied to plan, organize, command, coordinate, control and supervise logistics activities, so that each logistics activity is optimally coordinated and matched, the logistics cost is reduced, and the logistics efficiency and economic benefit are improved.

At present, the existing logistics management mainly depends on manual goods transportation, which causes a series of problems of high labor intensity of workers, low working efficiency, high sorting error rate, high damage rate of fragile products caused by violent transportation and the like, and seriously restricts the development of the logistics industry.

In conclusion, the problems of high labor intensity and low working efficiency exist in the conventional logistics management mode by means of manual operation.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model aims at providing a transfer robot and letter sorting system to alleviate the technical problem that the commodity circulation management among the prior art relies on artificial mode to have that intensity of labour is big, work efficiency is lower.

In a first aspect, an embodiment of the present invention provides a transfer robot, including: the device comprises an image acquisition device, a position sensor, a movement device, a main controller, a carrying device and an obstacle detection device; wherein,

the image acquisition device, the position sensor, the main controller, the carrying device and the obstacle detection device are all arranged on the movement device;

the image acquisition device, the position sensor, the movement device, the carrying device and the obstacle detection device are respectively connected with the main controller;

the image acquisition device acquires ground information;

the position sensor collects position information between the carrying robot and the goods;

the main controller receives the ground information and controls the motion device to drive the transfer robot to move to the goods; the main controller receives the position information and controls the carrying device to carry the goods;

the obstacle detection device detects obstacle information of the transfer robot in the moving process.

In combination with the first aspect, an embodiment of the present invention provides a first possible implementation manner of the first aspect, wherein the image capturing device employs a CCD image sensor.

With reference to the first aspect, an embodiment of the present invention provides a second possible implementation manner of the first aspect, where the movement device includes a driving motor, a chassis, and a driving wheel disposed on the chassis, and the driving motor is connected to the main controller; the driving wheel is connected with the driving motor.

In combination with the first aspect, an embodiment of the present invention provides a third possible implementation manner of the first aspect, where the handling device includes a robot.

With reference to the third possible implementation manner of the first aspect, an embodiment of the present invention provides a fourth possible implementation manner of the first aspect, wherein the carrying device further includes a storage tray, and the storage tray is used for placing goods.

In combination with the first aspect, an embodiment of the present invention provides a fifth possible implementation manner of the first aspect, wherein the obstacle detecting device includes at least one of an infrared sensor or an ultrasonic sensor.

With reference to the first aspect, embodiments of the present invention provide a sixth possible implementation manner of the first aspect, where the exercise device further includes an anti-collision block.

With reference to the first aspect, an embodiment of the present invention provides a seventh possible implementation manner of the first aspect, where: and the emergency stop button is arranged on the movement device and is connected with the main controller.

In combination with the first aspect, an embodiment of the present invention provides an eighth possible implementation manner of the first aspect, where: and the state indicator light is arranged on the movement device and used for indicating the working state of the carrying robot.

In a second aspect, the embodiments of the present invention further provide a sorting system, including: an upper computer and a transfer robot as described in any one of the first aspect and possible embodiments thereof;

the upper computer is connected with the carrying robot.

The embodiment of the utility model provides a technical scheme has brought following beneficial effect:

the embodiment of the utility model provides an among transfer robot and the letter sorting system, wherein, this transfer robot includes: the device comprises an image acquisition device, a position sensor, a movement device, a main controller, a carrying device and an obstacle detection device; the image acquisition device, the position sensor, the main controller, the carrying device and the obstacle detection device are all arranged on the movement device; the image acquisition device, the position sensor, the movement device, the carrying device and the obstacle detection device are respectively connected with the main controller; the image acquisition device acquires ground information; the position sensor collects position information between the carrying robot and the goods; the main controller receives the ground information and controls the motion device to drive the transfer robot to move to the goods; the main controller receives the position information and controls the carrying device to carry the goods; the obstacle detection device detects obstacle information of the transfer robot in the moving process. Therefore, the embodiment of the utility model provides a technical scheme, can replace the manual work to carry out cargo handling and letter sorting, release people's both hands from the work, owing to need not to adopt the manual work to carry the goods, the work efficiency who prevents that the manual mode probably leads to in the logistics management is low, the production of a series of problems such as fragile article spoilage height that letter sorting error rate is high and violent handling leads to, thereby can alleviate that current logistics management relies on artificial mode to have intensity of labour big, work efficiency is low, the problem of the high efficiency demand of unable logistics industry of satisfying, cargo handling and letter sorting efficiency have been improved.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural view of a transfer robot according to a first embodiment of the present invention;

fig. 2 is a block diagram illustrating a transfer robot according to an embodiment of the present invention;

fig. 3 is a schematic structural view of another transfer robot according to a second embodiment of the present invention;

fig. 4 is a block diagram illustrating a structure of another transfer robot according to a second embodiment of the present invention;

fig. 5 is a schematic structural diagram of a sorting system provided by the third embodiment of the present invention.

Icon: 11-an image acquisition device; 12-a position sensor; 13-a movement device; 14-a master controller; 15-a handling device; 16-an obstacle detection device; 131-a drive motor; 132-a chassis; 133-a drive wheel; 151-a manipulator; 152-a storage tray; 17-an alarm device; 135-a crash block; 136-scram button; 18-status indicator lights; 19-a magnetic navigation sensor; 100-an upper computer; 200-a transfer robot.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

The current logistics management depends on a manual mode, and has the problems of high labor intensity, low working efficiency and incapability of meeting the high efficiency requirement of the logistics industry. Based on this, the embodiment of the utility model provides a pair of transfer robot and letter sorting system can alleviate the logistics management among the prior art and rely on artificial mode to have work efficiency low, can't satisfy the technical problem of the high efficiency demand of logistics industry.

In order to facilitate understanding of the present embodiment, a transfer robot disclosed in an embodiment of the present invention will be described in detail first.

The first embodiment is as follows:

the embodiment of the utility model provides a pair of transfer robot for the commodity circulation management field specifically is applied to the goods transport operation of commodity circulation trade, as shown in fig. 1 and fig. 2, this transfer robot includes: an image acquisition device 11, a position sensor 12, a movement device 13, a main controller 14, a carrying device 15, and an obstacle detection device 16.

Wherein, above-mentioned image acquisition device, position sensor, main control unit, handling device and obstacle detection device all set up on above-mentioned telecontrol equipment.

The image acquisition device, the position sensor, the movement device, the carrying device and the obstacle detection device are respectively connected with the main controller.

The image acquisition device acquires ground information.

The position sensor collects position information between the transfer robot and the goods.

The moving device drives the carrying robot to move.

The main controller receives the ground information and controls the motion device to drive the transfer robot to move to the goods; the main controller receives the position information and controls the carrying device to carry the goods.

Specifically, above-mentioned image acquisition device sets up the front end at the telecontrol equipment, and when transfer robot moved in the direction of advancing, image acquisition device gathered ground information in real time to transmit to main control unit, main control unit received ground information, and according to ground information control telecontrol equipment line (control route) of patrolling, thereby drove transfer robot and move to goods department.

The position sensor is arranged at the front end of the movement device and used for collecting position information between the carrying machine and the goods in real time and transmitting the position information to the main controller, and the main controller receives the position information, adjusts the state and the posture of the carrying device according to the position information and controls the carrying device to carry the goods.

The obstacle detection device is arranged at the front end of the movement device and used for detecting obstacle information of the transfer robot in the moving process in real time, in other words, the obstacle detection device is used for detecting obstacles, when the obstacle exists in the moving process, a signal is transmitted to the main controller, the main controller commands the movement device to stop moving, the transfer robot stops moving, and when the obstacle is removed, the movement device continues moving.

Further, the image acquisition device adopts an industrial camera.

In this embodiment, the image capturing device is a CCD industrial camera, that is, the image capturing device includes a CCD image sensor.

Among them, the CCD is called a "Charge-coupled Device" in english, and the CCD is called an electric line coupling element in chinese, and is generally called a CCD image sensor. A CCD is a semiconductor device that converts an optical image into a digital signal, and a minute photosensitive substance implanted on the CCD is called a Pixel (Pixel), and the larger the number of pixels included in a CCO, the higher the resolution of a picture provided. The CCD acts like a film, but it converts the image pixels into digital signals, and the CCD has many capacitors arranged in order to sense light and convert the image into digital signals. Each small capacitor can transfer its charged row to its neighboring capacitor via control of an external circuit.

The CCD image sensor can directly convert an optical signal into an analog current signal, the current signal is amplified and subjected to analog-to-digital conversion to realize the acquisition, storage, transmission, processing and reproduction of an image, and the CCD image sensor has the following characteristics:

(1) small volume and light weight.

(2) The power consumption is low, and the working voltage is low; impact and vibration resistance, stable performance and long service life.

(3) High sensitivity, low noise and wide dynamic range.

(4) The response speed is fast, the self-scanning function is provided, the image distortion is small, and no afterimage exists.

(5) The super-large-scale integrated circuit is produced by applying a super-large-scale integrated circuit process technology, the pixel integration level is high, the size is accurate, and the commercial production cost is low.

Further, the moving device includes a driving motor 131, a chassis 132, and a driving wheel 133 disposed on the chassis 132.

The driving motor is connected with the driving wheel; the driving motor 131 is connected to the main controller; the main controller drives the driving wheel to move forward through the driving motor.

Further, the driving motor is a direct current motor.

Preferably, in this embodiment, the driving motor is a brushless dc motor.

Specifically, the driving motor in this embodiment is a two-way brushless dc motor.

The chassis constitutes a main structure of the transfer robot.

Further, the chassis is of a cuboid structure. The main controller and the driving motor are arranged in the chassis, the image acquisition device is arranged on the upper portion of the front end of the chassis, the position sensor is arranged in the middle of the front end of the chassis, and the obstacle detection device is arranged on the upper portion and the lower portion of the front end of the chassis. Here, the front end means a direction along the robot travel direction.

It is considered how to make the transfer robot make a more accurate line patrol. Further, a sensor module (not shown in the figure) is arranged on the chassis, and the sensor module is connected with the main controller and used for collecting ground information.

Further, the sensor module includes: and the plurality of line patrol sensors and/or the plurality of gray level sensors are arranged at the bottom end of the chassis structure and are in communication connection with the main controller.

The line patrol sensor is used for collecting a reflection signal on a place (namely the ground) where the line patrol sensor is located and sending the reflection signal to the main controller, so that the main controller judges whether the transfer robot moves along a control route.

The gray sensor is used for collecting gray signals on a site where the carrying robot is located and sending the gray signals to the main controller, so that the main controller can judge whether the carrying robot moves along a control route.

The conveying robot can be ensured to go ahead in a line patrol mode through the matched use of the sensor module and the image acquisition device.

Furthermore, the driving wheels are arranged on two sides of the chassis in a uniformly distributed manner.

Further, the driving wheel is one of a crawler-type driving wheel or a universal wheel.

Further, the main controller comprises a 32-bit single chip microcomputer, and specifically, the main controller comprises an STM32 series single chip microcomputer.

Further, the carrying device includes a robot 151. The manipulator sets up in the both sides of chassis, and is located the top of drive wheel. The transfer device is a main mechanism for transferring a load, and serves as a "hand" of the transfer robot. In consideration of the possibility that the manipulator may be accidentally rubbed and damaged on the outside, the manipulator of the carrying device in this embodiment is located inside the chassis and does not extend outside before carrying the goods, and when carrying the goods, the manipulator extends out of the chassis to carry the goods. It should be noted that the manipulator can also be directly arranged outside, which saves the extending time and further reduces the time for transporting goods.

Further, the robot may be a single arm robot or a double arm robot. The method is specifically selected according to actual carrying requirements.

Further, the carrying device further includes a storage tray 152 for placing goods.

Specifically, when the carrying device carries goods, the goods can be placed on the storage tray through the mechanical arm.

Further, the storage tray 152 has a square structure or a circular structure. In this embodiment, the tray 152 has a square structure.

Further, the storage tray is further provided with a weighing sensor for identifying the weight of the goods.

In view of the fact that the weight of the goods is different, in order to prevent the goods from being damaged by overload, the carrying robot further comprises an overweight alarm module for giving an overweight alarm. Preferably, the overweight alarm module adopts an external loudspeaker.

Specifically, the weighing sensor and the overweight alarm module are respectively connected with the main controller, the weighing sensor transmits the identified weight of the goods to the main controller, the main controller judges whether the weight of the goods exceeds the preset weight or not according to the weight of the goods, and when the weight of the goods exceeds the preset weight, the overweight alarm module is controlled to send out an overweight alarm.

Further, the obstacle detection device may include at least one of an infrared sensor and an ultrasonic sensor.

The embodiment of the utility model provides a transfer robot includes: the device comprises an image acquisition device, a position sensor, a movement device, a main controller, a carrying device and an obstacle detection device; the image acquisition device, the position sensor, the main controller, the carrying device and the obstacle detection device are all arranged on the movement device; the image acquisition device, the position sensor, the movement device, the carrying device and the obstacle detection device are respectively connected with the main controller; the image acquisition device acquires ground information; the position sensor collects position information between the transfer robot and the goods; the main controller receives the ground information and controls the motion device to drive the transfer robot to move to the goods; the main controller receives the position information and controls the carrying device to carry the goods; the obstacle detection device detects obstacle information of the transfer robot in the moving process. Therefore, the embodiment of the utility model provides a technical scheme, can replace the manual work to carry out cargo handling and letter sorting, release people's both hands from the work, owing to need not to adopt the manual work to carry the goods, the work efficiency who prevents that the manual mode probably leads to in the logistics management is low, the production of a series of problems such as fragile article spoilage height that letter sorting error rate is high and violent handling leads to, thereby can alleviate that current logistics management relies on artificial mode to have intensity of labour big, work efficiency is low, can't satisfy the high efficiency demand of logistics industry, freight handling and letter sorting efficiency have been improved.

Example two:

as shown in fig. 3 and 4, an embodiment of the present invention provides another transfer robot, which is different from the first embodiment in that, in consideration of how to remind the worker to perform obstacle clearing, the transfer robot may further include: and an alarm device 17.

The alarm device is connected with the main controller, and the main controller controls the alarm device to give an alarm when commanding the movement device to stop moving after receiving the signal sent by the obstacle detection device so as to prompt a worker to clear obstacles and ensure the normal operation of the transfer robot.

Furthermore, the alarm device comprises an acousto-optic integrated alarm, can give out acousto-optic alarm and has good warning effect.

The sound-light integrated alarm can be independently installed on the movement device or integrated on a circuit board of the main controller, and the embodiment does not limit the sound-light integrated alarm.

In this embodiment, the image capturing device is a CMOS industrial camera.

CMOS industrial cameras are very power efficient compared to CCD industrial cameras, unlike CCDs consisting of diodes, CMOS circuits have almost no static power consumption, only when the circuit is switched on. This makes the power consumption of CMOS only about 1/3 of that of ordinary CCD.

The exercise apparatus includes a driving motor, a chassis, and a driving wheel provided on the chassis, and further includes a supporting wheel assembly (not shown).

Furthermore, the number of the supporting wheel assemblies is four, and the supporting wheel assemblies are respectively arranged at four corners of the chassis.

The supporting wheel assembly comprises a rotatable supporting frame and a supporting wheel, the rotatable supporting frame is detachably arranged on the chassis, and the supporting wheel is detachably arranged on the rotatable supporting frame.

Furthermore, the supporting wheels are universal casters.

Further, the exercise apparatus further includes a crash block 135. The anti-collision block is used for buffering, can prevent the impact force caused by collision from damaging the transfer robot, and plays a role in protecting the transfer robot.

Furthermore, the anti-collision blocks are multiple and are arranged at the front end and the rear end of the chassis. Of course, according to actual conditions, anti-collision blocks can be arranged on two sides of the chassis.

Further, the anti-collision block is supported by elastic materials, and specifically, the anti-collision block can be a spring or a sponge and the like.

In view of how to make an emergency stop of the transfer robot in an emergency, the transfer robot further includes: and an emergency stop button 136 disposed on the exercise device, the emergency stop button being connected to the main controller.

In order to prompt the worker of the state of the transfer robot, the transfer robot further includes: and a status indicator lamp 18 provided on the moving device for indicating an operation status of the transfer robot. When the transfer robot is in a working state, the state indicating lamp is turned on; when the transfer robot is in a non-working state, the state indicating lamp is not on.

Specifically, the status indicator light is connected with the main controller and arranged on the upper portion of the front end of the chassis.

Furthermore, the status indicator lamp adopts a green LED lamp. When the transfer robot is in a working state, the state indicator lamp lights up a green lamp; when the transfer robot is in a non-working state, the state indicating lamp is not on.

Further, the status indicator lamp may further include a charging indicator lamp for indicating a charging status of the transfer robot. When the carrying robot is in a charging state, the charging indicator lamp lights up a red lamp; when the transfer robot is in a non-charging state, the charging indicator lamp is not turned on.

It is considered how to make the transfer robot make a more accurate line patrol. Further, in this embodiment, the sensor module includes a magnetic navigation sensor 19, and the magnetic navigation sensor collects magnetic information on the ground and sends the magnetic information to the main controller, so that the main controller determines whether the transfer robot moves along the control route.

Through the cooperation of image acquisition device and sensor module, guaranteed that transfer robot's patrols the line process of advancing, ensure going on smoothly of whole working process.

It should be noted that, a magnetic track for the robot to move forward is preset on the field (ground), and the magnetic navigation sensor can cooperate with the magnetic track to complete the line patrol and move forward.

Furthermore, the magnetic tracks are made of magnetic strips, and compared with copper wires which need to be electrified to generate a magnetic field, the magnetic tracks solve the problems of poor stability, strength and continuity of signals. The utility model discloses a can obtain very stable signal from the magnetic stripe of taking magnetism, can guarantee going on smoothly of whole working process.

Moreover, the magnetic track of the utility model can be laid automatically according to the working place, thereby realizing the transportation of the optimal path and improving the working efficiency of the whole system; and set up three kinds of different speeds according to the difference of express delivery task, road conditions, the staff can be according to actual place demand automatic adjustment, and the adaptability is stronger, and the operation is more nimble.

In the obstacle detection device photoelectric switches in this embodiment, the number of the photoelectric switches is 4, and the photoelectric switches are distributed on the chassis in a central axis symmetric manner.

Further, the transfer robot may further include a voice playing device (not shown in the figure), which can automatically play music during the transportation process of the transfer robot, so as to create a pleasant working atmosphere for the workers, and provide a more entertaining effect. Specifically, the voice playing device may be an MP3 player.

Furthermore, in order to improve the use of the transfer robot, the transfer robot further comprises a power supply and a power supply interface, and has a charging function.

Specifically, a 24V lithium battery is adopted as a power supply and is used for supplying power to the main controller, so that the normal work of the transfer robot is ensured; the power interface is connected with an external 220V alternating current power supply through a power adapter to realize the charging function.

Example three:

the embodiment of the utility model provides a sorting system, as shown in fig. 5, sorting system can include: the upper computer 100 and the transfer robot 200 according to any one of the embodiments described above.

Wherein, the host computer is connected with the transfer robot.

Further, the upper computer is connected with a main controller of the transfer robot;

specifically, the upper computer is connected with a main controller of the transfer robot through wireless communication.

In one embodiment, the upper computer may be a remote control device.

In another embodiment, the host computer may also be an industrial control computer.

In all examples shown and described herein, any particular value should be construed as merely exemplary, and not as a limitation, and thus other examples of example embodiments may have different values.

The embodiment of the utility model provides a letter sorting system has the same technical characteristic with the transfer robot that above-mentioned embodiment provided, so also can solve the same technical problem, reaches the same technological effect.

In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.

Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, and are not intended to limit the technical solution of the present invention, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: those skilled in the art can still modify or easily conceive of changes in the technical solutions described in the foregoing embodiments or make equivalent substitutions for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A transfer robot, characterized by comprising: the device comprises an image acquisition device, a position sensor, a movement device, a main controller, a carrying device and an obstacle detection device; wherein,

the image acquisition device acquires ground information;

2. The transfer robot of claim 1, wherein the image capture device employs a CCD industrial camera.

3. The transfer robot of claim 1, wherein the moving device includes a driving motor, a chassis, and driving wheels provided on the chassis, the driving motor being connected to the main controller; the driving wheel is connected with the driving motor.

4. The transfer robot of claim 1, wherein the transfer device comprises a robot hand.

5. The transfer robot of claim 4, wherein the transfer device further comprises a storage tray for placing the goods.

6. The transfer robot of claim 1, wherein the obstacle detecting device includes at least one of an infrared sensor or an ultrasonic sensor.

7. The transfer robot of claim 1, wherein the motion device further comprises a crash block.

8. The transfer robot of claim 1, further comprising: and the emergency stop button is arranged on the movement device and is connected with the main controller.

9. The transfer robot of claim 1, further comprising: and the state indicator light is arranged on the movement device and used for indicating the working state of the carrying robot.

10. A sorting system, comprising: an upper computer and a transfer robot according to any one of claims 1 to 9;

the upper computer is connected with the carrying robot.