Warehousing system and container storage method

Abstract

The present application provides a warehousing system and a method for warehousing cargo containers. In the warehousing system, a measuring device is provided for obtaining the size information and / or type information of the cargo container. Based on the size information and / or type information of the cargo container, it is determined whether the cargo container information meets preset requirements. If so, the cargo container can be directly put into storage. If not, the cargo in the cargo container is first transferred to another cargo container whose cargo container information meets the preset requirements, and then the cargo container containing the cargo is put into storage. Through the solution of this embodiment, it can be ensured that the cargo container information of all cargo containers entering the storage meets the preset requirements, thereby facilitating storage management.

Description

Technical Field

[0001] The present application relates to the field of warehousing technology, and in particular to a warehousing system and a method for warehousing cargo containers. Background Art

[0002] Warehousing systems are typically used to store a variety of different types of goods, which are typically placed in containers that are then placed on the system's shelves. The size of the goods varies, leading to variations in the size and type of containers used to store them. For example, large items require larger containers, while small items can be smaller. Furthermore, the type of container used may vary depending on the type of goods. For example, containers can be categorized as either easily deformable (e.g., cardboard) or non-deformable (e.g., plastic or steel).

[0003] Deformable containers can be designed in a variety of sizes to accommodate cargo of varying sizes. Easily expanding cargo, such as clothing and quilts, can cause the container to expand, causing it to change in size, becoming larger and making it difficult to manage. In contrast, rigid containers, due to their more stable dimensions, are easier to manage.

[0004] For a warehousing system, when processing the storage of cargo boxes containing goods, due to the differences in size and type of cargo boxes, how to store various types of cargo boxes becomes a problem that needs to be solved. Summary of the Invention

[0005] The present application provides a warehousing system and a method for warehousing cargo boxes to solve the problems existing in the prior art.

[0006] In a first aspect, the present application provides a warehousing system, comprising:

[0007] Conveyor line, used to transport cargo boxes;

[0008] A box measuring device is provided on the conveyor line to obtain box information;

[0009] Wherein, the conveying line includes a first branch and a second branch, and the first branch and the second branch are located downstream of the conveying line relative to the frame measuring device;

[0010] The first branch is used to transport a first container to a storage location, where the first container is a container whose container information meets preset requirements among the containers to be stored;

[0011] The second branch is used to transport the second cargo box to the operating table. The second cargo box is a cargo box among the cargo boxes to be stored whose cargo box information does not meet the preset requirements. The operating table is used to transfer the goods in the second cargo box to a third cargo box whose cargo box information meets the preset requirements, and transmit the third cargo box to the storage location via the conveyor line. The third cargo box is a cargo box on the conveyor line other than the first cargo box and the second cargo box.

[0012] In some embodiments, the warehousing system further comprises: a server;

[0013] The frame measurement equipment includes: an image acquisition device for acquiring image information of the cargo box to be stored and sending the image information to the server;

[0014] The server is used to identify the type of the cargo box to be stored based on the image information of the cargo box to be stored, obtain the type identification result of the cargo box to be stored, and determine whether the cargo box information of the cargo box to be stored meets the preset requirements based on the type identification result;

[0015] When the type identification result shows that the type of the cargo box to be stored belongs to a preset type, the server is configured to determine that the cargo box information of the cargo box to be stored meets the preset requirements.

[0016] In some embodiments, the frame measuring device further comprises: a 3D sensor for measuring the dimensions of the incoming cargo box and sending the obtained dimension measurement results to the server;

[0017] The server is configured to determine whether the container information of the container to be stored meets the preset requirements based on the size measurement result when the type identification result of the container to be stored is that the type of the container to be stored does not belong to the preset type;

[0018] If the size measurement result is within the preset size range, the server is used to determine that the container information of the container to be stored meets the preset requirements;

[0019] If the size measurement result exceeds the preset size range, the server is used to determine that the container information of the container to be stored does not meet the preset requirements.

[0020] In some embodiments, the warehousing system further comprises: a server;

[0021] The frame measurement equipment includes: 3D sensors, which are used to measure the dimensions of incoming containers and send the obtained dimension measurement results to the server;

[0022] The server is used to determine whether the container information of the container to be stored meets the preset requirements based on the size measurement results;

[0023] If the size measurement result is within the preset size range, the server is used to determine that the container information of the container to be stored meets the preset requirements.

[0024] In some embodiments, the frame measurement device further includes: an image acquisition device for acquiring image information of the cargo box to be stored and sending the image information to the server;

[0025] The server is configured to, when the size measurement result of the cargo box to be stored exceeds a preset size range, identify the type of the cargo box based on the image information of the cargo box to be stored, obtain a type identification result of the cargo box to be stored, and determine whether the cargo box information of the cargo box to be stored meets the preset requirements based on the type identification result;

[0026] When the type identification result shows that the type of the cargo box to be stored belongs to the preset type, the server is used to determine that the cargo box information of the cargo box to be stored meets the preset requirements;

[0027] When the type identification result is that the type of the cargo box to be stored does not belong to the preset type, the server is used to determine that the cargo box information of the cargo box to be stored does not meet the preset requirements.

[0028] In some embodiments, the second branch includes a warehousing line for conveying the second container to the operating platform.

[0029] In some embodiments, the number of operating stations is at least two;

[0030] When there is an idle operating station among the at least two operating stations, the warehousing line is used to transport the second cargo box to the idle operating station in the cargo transmission direction.

[0031] In some embodiments, the operation station further includes a buffer storage location;

[0032] When there is no idle operating station among the at least two operating stations, the warehousing line is used to transport the second cargo box to the operating station with an idle cache position in the cargo transmission direction.

[0033] In some embodiments, the number of operating stations is at least two, and the operating stations further include a cache location;

[0034] The warehousing line is used to transport Mi second cargo boxes to each operation station, where Mi is determined based on the status of the operation station and the cache location;

[0035] Among them, when the i-th operating table is in an idle state and the number of empty cache storage locations on the i-th operating table is Ni, Mi=Ni+1;

[0036] When the i-th operating station is in a non-idle state and the number of empty cache locations on the i-th operating station is Ni, Mi=Ni.

[0037] In some embodiments, the warehousing line and the operating table are connected via a flap structure;

[0038] When the flap structure switches from the first flipping state to the second flipping state, the warehousing line transports the second cargo box to the operating table through the flap structure;

[0039] Among them, in the second flipping state, the flap structure is close to the warehousing line;

[0040] In the first flipping state, the flap structure is away from the warehousing line.

[0041] In some embodiments, when the flip structure is in the second flipping state, the flip structure is used as a buffer location for the operating table.

[0042] In some embodiments, the conveying line includes a first empty box line for conveying the third box without goods to the operating platform.

[0043] In some embodiments, the first empty box line is connected to a packing station, and the third box without goods includes an empty box from which goods are taken out at the packing station, and the packing station is used to pack the taken-out goods.

[0044] In some embodiments, the conveying line includes a box drop line for conveying the third box containing goods to a warehousing location.

[0045] In some embodiments, the number of operating stations is at least two;

[0046] The cargo box transmission line of the box delivery line passes through each operating station. The box delivery line is used to transport the third cargo box filled with goods processed by each operating station to the storage location.

[0047] In some embodiments, the number of storage locations is at least two;

[0048] When there is an idle storage location, the box delivery line is used to transport the third cargo box containing goods to the idle storage location in the cargo box transmission direction of the box delivery line.

[0049] In some embodiments, the storage location is provided with a cache storage location;

[0050] When there is no idle storage location, the box delivery line is used to transport the third cargo box containing goods to a storage location with an idle cache storage position in the cargo box transmission direction of the box delivery line.

[0051] In some embodiments, the drop box line includes a first sub-drop box line and a second sub-drop box line;

[0052] The first sub-box delivery line is used to transport the third box containing goods to the storage location;

[0053] The second sub-box delivery line is connected to the first sub-box delivery line. The second sub-box delivery line is used to transfer the third cargo box transferred to the downstream position of the first sub-box delivery line to the upstream position of the first sub-box delivery line and / or various storage locations in a cargo box transfer direction opposite to the first sub-box delivery line.

[0054] In some embodiments, when there is an idle storage location, the second sub-drop box line is used to transport the third container to the idle storage location in the container transmission direction of the second sub-drop box line;

[0055] When there is no idle storage location, the second sub-box delivery line is used to transport the third cargo box to a storage location with an idle cache storage position in the cargo box transmission direction of the second sub-box delivery line.

[0056] In some embodiments, the storage location includes a first storage location and at least one second storage location sequentially arranged along the container transport direction of the first sub-drop box line;

[0057] The box drop line also includes a box transfer device; the box transfer device is used to transfer the third box from the first sub-box drop line to the second sub-box drop line, and / or, transfer the third box from the second sub-box drop line to the first sub-box drop line.

[0058] In some embodiments, a discharge machine is provided at the storage location;

[0059] The unloader is used to transfer the plurality of third cargo boxes containing goods to the transport robot, so that the transport robot performs warehousing processing on the third cargo boxes containing goods.

[0060] In some embodiments, the conveyor line further includes a second empty box line for conveying a second box without goods to a packing station.

[0061] In a second aspect, the present application provides a method for warehousing cargo containers, which is applied to the above-mentioned warehousing system, comprising:

[0062] When there are cargo boxes waiting to be put into storage, the cargo box information of the cargo box to be put into storage is obtained through the frame measuring device;

[0063] Determine, through the server, whether the cargo box information meets preset requirements;

[0064] Controlling the first branch of the conveyor line to convey the first cargo box among the cargo boxes to be stored that meets the preset requirements to the storage location;

[0065] The second branch of the conveyor line is controlled to convey the second cargo box whose cargo box information does not meet the preset requirements among the cargo boxes to be stored to the operating table, and the operating table is controlled to transfer the goods in the second cargo box to the third cargo box whose cargo box information meets the preset requirements, and the conveyor line is controlled to transfer the third cargo box to the storage location. The third cargo box is the cargo box on the conveyor line other than the first cargo box and the second cargo box.

[0066] In some embodiments, the operating platform includes a flap structure, which is used to connect the operating platform and the warehousing line for transporting the cargo boxes to be stored to the operating platform;

[0067] The second branch of the conveyor line is controlled to convey the second container whose container information does not meet the preset requirements among the containers to be stored to the operation platform, including:

[0068] When it is detected that the flap structure switches from the first flipping state to the second flipping state, the second branch warehousing line and the flap structure are controlled to transport the second cargo box to the operating table;

[0069] Among them, in the second flipping state, the flap structure is close to the warehousing line;

[0070] In the first flipping state, the flap structure is away from the warehousing line.

[0071] In some embodiments, determining whether the container information meets preset requirements includes:

[0072] Obtaining image information of the cargo box to be stored captured by the image acquisition device of the frame measurement device;

[0073] Cargo box type recognition is performed based on image information of the cargo box to be stored, and a type recognition result of the cargo box to be stored is obtained;

[0074] Determine whether the container information of the container to be put into storage meets the preset requirements based on the type recognition result;

[0075] When the type identification result shows that the type of the cargo box to be stored belongs to a preset type, it is determined that the cargo box information of the cargo box to be stored meets the preset requirements.

[0076] In some embodiments, further comprising:

[0077] Obtain the dimensional measurement results obtained by the 3D sensor of the frame measuring device through the dimensional measurement processing of the incoming cargo box;

[0078] When the type of the container to be stored does not belong to the preset type, determine whether the container information of the container to be stored meets the preset requirements based on the size measurement result;

[0079] If the size measurement result is within the preset size range, it is determined that the container information of the container to be put into storage meets the preset requirements;

[0080] If the size measurement result exceeds the preset size range, it is determined that the container information of the container to be put into storage does not meet the preset requirements.

[0081] In some embodiments, determining whether the container information meets preset requirements includes:

[0082] Obtain the dimensional measurement results obtained by the 3D sensor of the frame measuring device through the dimensional measurement processing of the incoming cargo box;

[0083] Determine whether the container information of the container to be stored meets the preset requirements based on the size measurement results;

[0084] If the size measurement result is within the preset size range, it is determined that the container information of the container to be stored meets the preset requirements.

[0085] In some embodiments, further comprising:

[0086] Obtaining image information of the cargo box to be stored captured by the image acquisition device of the frame measurement device;

[0087] When the size measurement result of the cargo box to be stored exceeds the preset size range, the cargo box type is identified based on the image information of the cargo box to be stored to obtain the type identification result of the cargo box to be stored;

[0088] Determine whether the container information of the container to be put into storage meets the preset requirements based on the type recognition result;

[0089] When the type identification result shows that the type of the cargo box to be put into storage belongs to the preset type, it is determined that the cargo box information of the cargo box to be put into storage meets the preset requirements;

[0090] When the type identification result is that the type of the cargo box does not belong to the preset type, it is determined that the cargo box information of the cargo box to be put into storage does not meet the preset requirements.

[0091] In some embodiments, the number of operating stations is at least two;

[0092] The second branch of the conveyor line is controlled to convey the second container whose container information does not meet the preset requirements among the containers to be stored to the operation platform, including:

[0093] When there is an idle operating station among the at least two operating stations, the warehousing line of the second branch is controlled to transport the second cargo box to the idle operating station in the cargo transmission direction.

[0094] In some embodiments, the operation station includes a buffer location;

[0095] The method also includes:

[0096] When there is no idle operating station among the at least two operating stations, the warehousing line of the second branch is controlled to transport the second cargo box to the operating station with an idle cache position in the cargo transmission direction.

[0097] In some embodiments, the number of operating stations is at least two, and the operating stations include a buffer location;

[0098] The second branch of the conveyor line is controlled to convey the second container whose container information does not meet the preset requirements among the containers to be stored to the operation platform, including:

[0099] Control the second branch's warehousing line to deliver Mi second containers to each operating station, where Mi is determined based on the status of the operating station and the cache location;

[0100] Among them, when the i-th operating table is in an idle state and the number of empty cache storage locations on the i-th operating table is Ni, Mi=Ni+1;

[0101] When the i-th operating station is in a non-idle state and the number of empty cache locations on the i-th operating station is Ni, Mi=Ni.

[0102] In some embodiments, the number of storage locations is at least two;

[0103] The third container is transported to the storage location via the conveyor line, including:

[0104] When there is an idle storage location, the first sub-box dropping line of the box dropping line in the conveying line is controlled to convey the third cargo box to the idle storage location in the cargo box transmission direction.

[0105] In some embodiments, the storage location is provided with a cache storage location;

[0106] The method also includes:

[0107] When there is no idle storage location, the first sub-box delivery line is controlled to transport the third cargo box to a storage location with an idle cache storage position in the cargo box transmission direction.

[0108] In some embodiments, the conveying line includes a box delivery line for conveying the third box containing goods to a storage location;

[0109] The method further comprises:

[0110] Control the second sub-box delivery line in the box delivery line, and transfer the third cargo box transferred to the downstream position of the first sub-box delivery line to the upstream position of the first sub-box delivery line and / or each storage location in accordance with the cargo box transfer direction opposite to the first sub-box delivery line in the box delivery line.

[0111] In some embodiments, further comprising:

[0112] When there is an idle storage location, control the second sub-box delivery line of the second branch to transport the third cargo box to the idle storage location in the cargo box transmission direction of the second sub-box delivery line;

[0113] When there is no idle storage location, the second sub-box delivery line of the second branch is controlled to transport the third cargo box to the storage location with an idle cache storage position in the cargo box transmission direction of the second sub-box delivery line.

[0114] In some embodiments, the storage location includes a first storage location and at least one second storage location sequentially arranged along the container transport direction of the first sub-drop box line;

[0115] The method also includes:

[0116] Control the cargo box transfer equipment of the box delivery line to transfer the third cargo box from the first sub-box delivery line to the second sub-box delivery line, and / or transfer the third cargo box from the second sub-box delivery line to the first sub-box delivery line.

[0117] In some embodiments, the method further comprises:

[0118] The unloader provided at the storage location is controlled to transfer the first cargo box and the third cargo box at the storage location to the transport robot, so that the transport robot performs storage processing on the third cargo box.

[0119] In some embodiments, the method further comprises:

[0120] Control the first empty box line of the conveyor line to convey the third box without any goods and whose box information meets the preset requirements to the operation platform;

[0121] The first empty box line is connected to the packing station. The third boxes that are not filled with goods and whose box information meets the preset requirements include empty boxes from which goods are taken out at the packing station. The packing station is used to pack the taken-out goods.

[0122] In some embodiments, the method further comprises:

[0123] Control the second empty box line of the second branch to transport the second cargo box that is not loaded with cargo after the cargo transfer is completed through the operating table and whose cargo box information does not meet the preset requirements to the packaging table.

[0124] The warehousing system and container warehousing method provided by this application include a measuring device for obtaining container size information and / or type information. Based on the container size information and / or type information, the device determines whether the container information meets preset requirements. If so, the container can be directly warehousing. If not, the cargo in the container is first transferred to another container whose container information meets the preset requirements, and then the cargo in the other container is warehousing. This embodiment ensures that the container information of all incoming containers meets the preset requirements, thereby facilitating warehousing management. BRIEF DESCRIPTION OF THE DRAWINGS

[0125] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0126] Figure 1A schematic diagram of a storage system provided in an embodiment of the present application;

[0127] Figure 2 This is a structural diagram of the second branch in the embodiment of the present application;

[0128] Figure 3 This is a schematic diagram of the flap structure in the embodiment of the present application;

[0129] Figure 4 A schematic diagram of the cargo container warehousing method provided in an embodiment of the present application.

[0130] The above drawings illustrate specific embodiments of the present disclosure, which will be described in more detail below. These drawings and textual descriptions are not intended to limit the scope of the present disclosure in any way, but rather to illustrate the concepts of the present disclosure to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0131] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0132] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The singular forms "a", "an" and "the" used in the embodiments of the present application are also intended to include plural forms, unless the context clearly indicates other meanings.

[0133] It should be understood that the term "and / or" used in this document is merely a description of the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent three situations: A exists alone, A and B exist at the same time, and B exists alone. In addition, the characters "three" in this document generally indicate that the associated objects are in an "or" relationship.

[0134] As used herein, the words "if" and "if" may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to the determination" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)," depending on the context.

[0135] It should also be noted that the terms "include," "comprises," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a product or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such product or system. In the absence of further limitations, an element defined by the phrase "comprises a..." does not exclude the presence of other identical elements in the product or system comprising the element.

[0136] Warehousing systems are typically used to store a variety of different types of goods. The goods are usually placed in boxes, which are placed on shelves in the storage system.

[0137] The size and type of cargo boxes used to store these items also vary depending on the size of the goods. For example, larger boxes are used for larger items, while smaller boxes are used for smaller items.

[0138] In addition, for different goods, the type of cargo box used may also be different. For example, the cargo box type can be specifically divided into easily deformable cargo boxes (such as cardboard boxes, etc.) and non-deformable cargo boxes (such as plastic boxes, steel boxes, etc.).

[0139] The deformable container can be designed in a variety of sizes to accommodate cargo of varying sizes. For cargo that easily expands, such as clothing and quilts, the container may expand, causing the container to change in size. This can make it difficult for robots to pick up and carry the container, hindering warehouse management.

[0140] Relatively speaking, the size of a non-deformable cargo box is less likely to change, making its size more fixed. Therefore, the non-deformable cargo box is easier to manage in storage.

[0141] For a warehousing system, when processing the storage of cargo boxes containing goods, due to the differences in size and type of cargo boxes, how to store various types of cargo boxes becomes a problem that needs to be solved.

[0142] The warehousing system and cargo box storage method provided in this application are intended to solve the above technical problems of the prior art.

[0143] The main idea of ​​the solution of this application is to set up a measuring device in the warehousing system for obtaining the size information and / or type information of the cargo box, and then determine whether the cargo box information meets the preset requirements based on the size information and / or type information of the cargo box. If it does, the cargo box can be directly put into storage; if it does not, the goods in the cargo box are first transferred to another cargo box whose cargo box information meets the preset requirements, and then the cargo box containing the goods is put into storage. Through the solution of this application, it can be ensured that the cargo box information of all cargo boxes entering the warehouse meets the preset requirements, thereby facilitating storage management.

[0144] The following specific embodiments describe in detail the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0145] Figure 1 A schematic diagram of a storage system provided in an embodiment of the present application is shown in FIG. Figure 1 As shown, the storage system includes:

[0146] Conveyor line 100 is used to transport cargo boxes. The direction of cargo transportation on the conveyor line is shown by the arrow in the figure;

[0147] The frame measuring device 200 is installed on the conveyor line and is used to obtain cargo box information. According to the cargo transmission direction of the conveyor line, the cargo box to be stored first passes through the frame measuring device, and the frame measuring device measures and obtains the corresponding cargo box information. The cargo box information is used to determine whether the cargo box meets the preset requirements for storage;

[0148] The conveyor line includes a first branch 110 and a second branch 120, and the first branch and the second branch are located downstream of the conveyor line relative to the frame measuring device. It can be understood that after the frame measuring device measures the container information, the container information can be used to determine whether the container meets the preset requirements for storage. That is, the containers passing through the frame measuring device are divided into two types: the first container whose container information meets the preset requirements, for example Figure 1 The cargo 31 in the above example, and the second cargo box whose cargo box information does not meet the preset requirements, for example Figure 1 32 of the goods.

[0149] After passing through the frame measuring device, the first container whose container information meets the preset requirements is transported to the storage location via the first branch. Since the first container meets the preset requirements, it can be directly put into storage at the storage location.

[0150] In addition, the second container is transported by the second branch. Since the container information of the second container does not meet the preset requirements, the second branch does not transport the second container to the storage location, but transports the second container to the operation table. The operation table can perform a container exchange process on the goods in the second container, that is, transfer the goods in the second container to the third container whose container information meets the preset requirements, and then transport the third container to the storage location via the conveyor line. For example Figure 1 Among the goods 33, the third cargo box is the cargo box other than the first cargo box and the second cargo box on the conveyor line.

[0151] It can be understood that the storage location corresponding to the first branch and the storage location corresponding to the second branch can be set to the same storage location or different storage locations. This application does not make specific limitations on this.

[0152] Based on the solution of this embodiment, a measuring device is provided in the warehousing system for obtaining the size information and / or type information of the cargo box. Based on the size information and / or type information of the cargo box, it is then determined whether the cargo box information meets the preset requirements. If so, the cargo box can be directly put into storage; if not, the goods in the cargo box are first transferred to another cargo box whose cargo box information meets the preset requirements, and then the cargo box containing the goods is put into storage. The solution of this embodiment can ensure that the cargo box information of all cargo boxes entering the warehouse meets the preset requirements, thereby facilitating management. Specifically, on the one hand, it can facilitate storage, placement and other warehousing management of the cargo boxes. On the other hand, it can also facilitate the handling of cargo boxes by robots, thereby facilitating the automated in and out processing of cargo boxes.

[0153] In some embodiments, the storage system further includes: a server ( Figure 1 The measuring device sends the measured cargo box information to the server, and the server determines whether the cargo box information meets the preset requirements.

[0154] In this embodiment, the server can determine whether the container information meets the preset requirements based on the container type, which can be divided into easily deformable containers (such as cardboard boxes) and non-deformable containers (such as plastic boxes and steel boxes).

[0155] Specifically, the frame measurement device includes: an image acquisition device, such as a camera, which is used to capture image information of the cargo box and send the image information to the server;

[0156] After receiving the image information sent by the image acquisition device, the server performs cargo box type identification based on the image information of the cargo box, obtains a cargo box type identification result, and determines whether the cargo box information of the cargo box meets the preset requirements based on the type identification result;

[0157] When the type identification result is that the type of the cargo box belongs to a preset type, the server is configured to determine that the cargo box information of the cargo box meets the preset requirements.

[0158] Optionally, the preset type can specifically be a non-deformable container, such as a plastic container or a steel container. When the container type is one of these preset types, it indicates that the current container's dimensions are not likely to change, making it easier to manage incoming goods. Therefore, when the container type is one of the preset types, the server determines that the container information meets the preset requirements and can directly manage incoming goods.

[0159] Optionally, when the type identification result is that the type of the cargo box does not belong to a preset type, the server is configured to determine that cargo box information of the cargo box does not meet preset requirements.

[0160] In this embodiment, the server can determine whether the cargo box information meets the preset requirements by "only looking at the cargo box type", so as to facilitate the distinction between the first cargo box and the second cargo box.

[0161] In some embodiments, the server may also determine whether the cargo box information meets preset requirements based on the cargo box type and cargo box size.

[0162] In this embodiment, the frame measuring device further includes: a 3D sensor for measuring the dimensions of the cargo box and sending the obtained dimension measurement results to the server;

[0163] After receiving the dimension measurement result sent by the 3D sensor, when the type identification result of the cargo box indicates that the type of the cargo box does not belong to the preset type, the server determines whether the cargo box information of the cargo box meets the preset requirements based on the dimension measurement result;

[0164] For example, if the server determines that the type identification result of the cargo box is a deformable cargo box, the server can further combine the size measurement result of the cargo box to determine whether the cargo box information meets the preset requirements.

[0165] If the size measurement result is within the preset size range, the server is used to determine that the cargo box information of the cargo box meets the preset requirements; if the size measurement result exceeds the preset size range, the server is used to determine that the cargo box information of the cargo box does not meet the preset requirements.

[0166] Specifically, although the cargo box is a deformable cargo box, if the size measurement result of the cargo box is within the preset size range, it means that the size of the cargo box is relatively standard, which can facilitate the robot to pick up and carry the cargo box, so it is still convenient for warehouse management. Therefore, the server can determine that the cargo box information of the cargo box meets the preset requirements.

[0167] In addition, when the cargo box is a deformable cargo box, if the size measurement result of the cargo box exceeds the preset size range, it means that the size of the cargo box is not standardized, and the robot cannot pick up and move the cargo box, which is not conducive to warehouse management. Therefore, the server can determine that the cargo box information does not meet the preset requirements.

[0168] In this embodiment, the preset type can specifically be a non-deformable container, such as a plastic container or a steel container. When the container type is one of these preset types, it indicates that the current container's dimensions are not likely to change, making it easier to manage incoming goods. Therefore, when the container type is one of these preset types, the server determines that the container information meets the preset requirements and can directly manage incoming goods.

[0169] In this embodiment, the server can determine whether the cargo box information meets the preset requirements by "first looking at the cargo box type, then looking at the cargo box size", so as to facilitate the distinction between the first cargo box and the second cargo box.

[0170] In some embodiments, the server may also determine whether the cargo box information meets preset requirements based on the cargo box size.

[0171] Specifically, the frame measurement equipment includes: a 3D sensor for measuring the dimensions of the cargo box and sending the obtained dimension measurement results to the server;

[0172] After receiving the size measurement result sent by the 3D sensor, the server is used to determine whether the cargo box information of the cargo box meets the preset requirements based on the size measurement result;

[0173] If the size measurement result is within a preset size range, the server is configured to determine that the cargo box information of the cargo box meets the preset requirements.

[0174] Specifically, if the size measurement result of the cargo box is within the preset size range, it means that the size of the cargo box is relatively standard, which can facilitate the robot to pick up and carry the cargo box and facilitate warehouse management. Therefore, the server can determine that the cargo box information meets the preset requirements.

[0175] Optionally, if the size measurement result exceeds a preset size range, the server is configured to determine that the box information of the box does not meet preset requirements.

[0176] In this embodiment, the server can determine whether the cargo box information meets the preset requirements by "only looking at the cargo box size", so as to facilitate the distinction between the first cargo box and the second cargo box.

[0177] In some embodiments, the server may also determine whether the cargo box information meets preset requirements based on the cargo box size and cargo box type.

[0178] In this embodiment, the frame measuring device further includes: an image acquisition device for acquiring image information of the cargo box and sending the image information to the server;

[0179] After receiving the image information sent by the image acquisition device, the server is used to identify the type of the cargo box based on the image information of the cargo box when the size measurement result of the cargo box exceeds the preset size range, obtain a type identification result of the cargo box, and determine whether the cargo box information of the cargo box meets the preset requirements based on the type identification result;

[0180] When the type identification result indicates that the type of the cargo box belongs to a preset type, the server is configured to determine that the cargo box information of the cargo box meets the preset requirements;

[0181] When the type identification result is that the type of the cargo box does not belong to the preset type, the server is configured to determine that the cargo box information of the cargo box does not meet the preset requirements.

[0182] Specifically, the preset type can be a non-deformable container, such as a plastic container or a steel container. When a container is of one of these preset types, it indicates that the current container's dimensions are not likely to change. Even if the container's dimensions exceed the preset size range, the fixed dimensions still facilitate warehousing management. Therefore, when a container is of the preset type, the server determines that the container's information meets the preset requirements and allows direct warehousing management.

[0183] If the container type does not fit the preset requirements, for example, if the container type is a deformable container, the container size is likely to change, and if the container size exceeds the preset size range, it will be difficult to manage the container. Therefore, the server determines that the container information does not meet the preset requirements.

[0184] In this embodiment, the server can determine whether the cargo box information meets the preset requirements by "first looking at the cargo box size, then looking at the cargo box type", so as to facilitate the distinction between the first cargo box and the second cargo box.

[0185] In some embodiments, the specific structure of the second branch is explained.

[0186] Figure 2 This is a schematic diagram of the structure of the second branch in the embodiment of the present application. For ease of understanding, other structures have been omitted, such as Figure 2 As shown, the second branch includes a warehousing line 121 for conveying the second cargo box to the operating platform.

[0187] Optionally, the number of operating stations is at least two, for example, Figure 2The storage structure includes two operating platforms, operating platform 1 and operating platform 2; when there is an idle operating platform among at least two operating platforms, the warehousing line is used to transport the second cargo box to the idle operating platform in the cargo transmission direction.

[0188] In this embodiment, when delivering the second cargo box to each operating station, the server first obtains the current status of each operating station. Optionally, the server can communicate with the warehousing line to obtain the current status of each operating station, and then control the warehousing line to deliver the second cargo box to the operating station. Alternatively, the warehousing line obtains the current status of each operating station through the server and delivers the second cargo box to the operating station.

[0189] The current status of the operating station includes the working status and the idle status. The working status means that the operating station is currently performing cargo box transfer processing; the idle status means that the operating station is not currently performing cargo box transfer processing. Therefore, the warehousing line can transport the second cargo to the idle operating station in the cargo transmission direction, so that the operating station can perform cargo transfer processing on the second cargo box.

[0190] It can be understood that in this embodiment, the warehousing line can be used to transfer cargo boxes one by one. For example, if Figure 2 If both operating platforms in are idle, the warehousing line can first transport the second cargo box to the nearest operating platform in the cargo transmission direction, that is, Figure 2 The second cargo box is then transported to the next cargo transport platform in the direction of cargo transmission, i.e. Figure 2 Operation table 1 in.

[0191] Optionally, the warehousing line can also distribute cargo boxes in the opposite order of the above logic, for example, first conveying the second cargo box to the operating platform 1, and then conveying other second cargo boxes to the operating platform 2, etc.

[0192] Optionally, when the number of operating stations is greater than 2, the warehousing line may also distribute cargo boxes in a random manner, which is not limited in this embodiment.

[0193] In some embodiments, the operating station also includes a cache location (not shown in the figure); when there is no idle operating station among at least two operating stations, the warehousing line is used to transport the second cargo box to the operating station with an idle cache location in the cargo transmission direction.

[0194] In this embodiment, when delivering the second container to each operating station, the server can obtain not only the current status of each operating station but also the status of the buffer storage location at each operating station. Alternatively, the server can communicate with the warehousing line to obtain the status of the buffer storage location at each operating station and then control the warehousing line to deliver the second container to the buffer storage location at each operating station. Alternatively, the warehousing line can obtain the status of the buffer storage location at each operating station through the server and deliver the second container to the buffer storage location at each operating station.

[0195] Among them, when there is no cargo box cached in the cache cargo location, the cache cargo location is an idle cache cargo location; when there is a cargo box cached in the cache cargo location, the cache cargo location is a non-idle cache cargo location.

[0196] Therefore, when there is no idle operating station at present, the operating station with an idle cache cargo position is first determined, and then the second cargo box is transferred to the idle cache cargo position of the operating station. In this way, the operating station can perform cargo transfer processing on the second cargo box placed on the cache cargo position after completing the current cargo box transfer processing work.

[0197] It can be understood that in this embodiment, the warehousing line can be used to transfer cargo boxes one by one. For example, if Figure 2 In the example, both operating stations are not idle, but both operating stations have idle cache locations. Then the warehousing line can first transport the second container to the idle cache location of the operating station closest to the direction of cargo transmission, that is, Figure 2 The free cache cargo space of the operating platform 2 in the cargo transport direction is transported to the free cache cargo space of the next operating platform, that is, Figure 2 The free cache location of operating table 1 in.

[0198] Optionally, the warehousing line can also distribute cargo boxes in the opposite order of the above logic, for example, first transporting the second cargo box to the vacant cache location of operating station 1, and then transporting other second cargo boxes to the vacant cache location of operating station 2, etc.

[0199] Optionally, when the number of operating stations is greater than 2, cargo boxes may be allocated to the operating stations in a random manner, which is not limited in this embodiment.

[0200] In some embodiments, the number of operating stations is at least two, and the operating stations also include cache locations. In this embodiment, when the warehousing line distributes cargo boxes, it can "fill up" all the operating stations and cache locations at one time.

[0201] Specifically, the warehousing line first obtains the number Mi of the second cargo boxes corresponding to each operating station, and Mi is determined based on the status of the operating station and the cache cargo location; the specific value of Mi can be determined by the warehousing line, or by the server, and then the value is sent to the warehousing line, or after the server determines it, it controls the warehousing line to transport the second cargo box.

[0202] For example, when the i-th operating station is idle and the number of empty cache cargo locations on the i-th operating station is Ni, Mi=Ni+1; among them, Ni cargo boxes are used to fill the idle cache cargo of the operating station, and 1 cargo box is used to transport to the operating station for processing.

[0203] In addition, when the i-th operating platform is in a non-idle state and the number of empty cache cargo locations on the i-th operating platform is Ni, Mi = Ni. Among them, Ni cargo boxes are used to fill the idle cache cargo of the operating platform.

[0204] It can be understood that when the i-th operating station is in a non-idle state and there is no empty cache cargo location on the i-th operating station, that is, Ni=0, at this time, Mi=Ni=0, indicating that the number of second cargo boxes transported to the i-th operating station is 0, that is, no second cargo box is transported to the i-th operating station.

[0205] After obtaining the number Mi of second cargo boxes corresponding to each operating station, the warehousing line transports Mi second cargo boxes to each operating station in turn, so that each operating station currently has cargo boxes to be processed, and the cache cargo position of each operating station is filled with second cargo boxes to be processed.

[0206] In some embodiments, reference Figure 2 , the warehousing line and the operating table are connected through a flap structure;

[0207] Figure 3 Schematic diagram of the flap structure in the embodiment of the present application, as shown in FIG. Figure 3 As shown, the flap structure is connected to the operating table at point O and can be flipped up and down with point O as the center.

[0208] refer to Figure 3 , there are two states of the flap structure:

[0209] (1) In the first flipping state, the flap structure is away from the warehousing line. At this time, the flap structure can be flipped upward to move away from the warehousing line, for example Figure 3 The OC position in the middle; it can also be flipped downward to move away from the entry line, such as Figure 3 OB position in.

[0210] (2) In the second flipping state, the flap structure is close to the warehousing line. At this time, the flap structure can connect the warehousing line with the operating table, such as Figure 3OA position in.

[0211] In this embodiment, when the flap structure switches from the first flipping state to the second flipping state, the warehousing line transports the second cargo box to the operating table through the flap structure; thus, based on the flipping state of the flap structure, the warehousing line can also determine whether the operating table is currently in a normal working state, thereby facilitating the determination of whether to transfer the cargo box to the operating table.

[0212] Optional, reference Figure 3 A sensor for detecting the flap structure can be installed at point A in the diagram. When the sensor detects the flap structure, it indicates that the flap structure is at position OA in the diagram, i.e., it is in the second flip state. When the sensor does not detect the flap structure, it indicates that the flap structure is not at position OA in the diagram, such as at position OB or OC in the diagram, i.e., it is in the first flip state. Thus, by installing a sensor, the state of the flip structure can be automatically detected.

[0213] In some embodiments, when the flip structure is in the second flipping state, the flip structure is used as a buffer location for the operating table.

[0214] Specifically, in addition to the cache cargo space provided on the operating table itself, when the flap structure is in the second flipping state, the flap structure can also be used as a cache cargo space for the operating table, thereby increasing the number of cache cargo spaces of each operating table and facilitating the caching of more second cargo boxes.

[0215] In some embodiments, the conveyor line includes a first empty container line 122 for conveying the third container without cargo to the operating platform. The first empty container line can be arranged above or below the warehousing line, or can be arranged as an aerial suspension type.

[0216] Specifically, since the operating table is used to perform box-changing processing on the goods in the second cargo box, that is, transferring the goods in the second cargo box to the third cargo box whose cargo box information meets the preset requirements, therefore, by setting up a first empty box line, it can be ensured that a sufficient number of third cargo boxes without goods are transported to the operating table, avoiding the situation where the operating table cannot perform box-changing processing due to insufficient number of empty third cargo boxes.

[0217] In some embodiments, the first empty box line is connected to a packing station, and the third box without goods includes an empty box from which goods are taken out at the packing station, and the packing station is used to pack the taken-out goods.

[0218] Specifically, refer to Figure 2Since the first empty box line is used to transport the third cargo box that is not filled with goods, the starting point of the first empty box line can be connected to the packing table. When the robot transports the third cargo box containing the goods to be packed from the warehouse to the packing table, the packing table takes the goods to be packed from the third cargo box for packing, so that the third cargo box becomes an empty cargo box. Therefore, the third cargo box that has become an empty cargo box can be transported to the operating table through the first empty box line, thereby realizing the recycling and reuse of the third cargo box.

[0219] In some embodiments, reference Figure 2 The conveying line includes a box delivery line, which is used to transport the third box containing goods to the storage location.

[0220] The goods in the second cargo box are exchanged at the operating table, that is, the goods in the second cargo box are transferred to the third cargo box whose cargo box information meets the preset requirements. Then, the third cargo box containing the goods flows into the box delivery line, and the box delivery line can transport the third cargo box containing the goods to the warehousing location, so that the third cargo box containing the goods can be put into the warehousing.

[0221] In some embodiments, the number of operating stations is at least two; the cargo box transmission line of the box delivery line passes through each operating station, and the box delivery line is used to transport the third cargo box containing goods processed by each operating station to the storage location.

[0222] For example, reference Figure 2 The operating table includes operating table 1 and operating table 2, and the cargo box transmission line of the box delivery line passes through operating table 1 and operating table 2, so that the box delivery line can transport the third cargo box containing goods processed by operating table 1 and operating table 2 to the storage location.

[0223] In some embodiments, the number of storage locations is at least two; for example, Figure 2 The warehousing locations include the first warehousing location and the second warehousing location.

[0224] Specifically, the container delivery line can deliver the third containers containing goods processed by each operation station to various storage locations. The storage location status can be divided into idle and non-idle. If the storage location is in the non-idle state, it means that the storage location currently has a third container being stored; if the storage location is in the idle state, it means that the storage location currently has no third container being stored.

[0225] Therefore, the box delivery line can first obtain the current status of each storage location. When there is an idle storage location, the box delivery line is used to transport the third cargo box containing goods to the idle storage location in the cargo box transmission direction of the box delivery line, thereby ensuring that the third cargo box containing goods can be stored in time.

[0226] In some embodiments, the warehousing location is provided with a cache warehousing position (not shown in the figure).

[0227] In this embodiment, the box drop line can further obtain the current status of the cache storage location of each storage location. If there is an idle cache storage location, it means that the box drop line can temporarily place the third cargo box containing goods in the idle cache storage location.

[0228] Therefore, when there is no idle warehousing location, the box delivery line can transport the third cargo box containing goods to a warehousing location with an idle cache warehousing position in the cargo box transmission direction of the box delivery line, that is, cache the third cargo box containing goods through the idle cache warehousing position of the warehousing location.

[0229] In some embodiments, reference Figure 2 The box drop line includes a first sub-box drop line 123 and a second sub-box drop line 124;

[0230] The second sub-box delivery line is connected to the first sub-box delivery line. The second sub-box delivery line is used to transfer the third cargo box transferred to the downstream position of the first sub-box delivery line to the upstream position of the first sub-box delivery line and / or various storage locations in a cargo box transfer direction opposite to the first sub-box delivery line.

[0231] For example, Figure 2 The first sub-box delivery line in the figure transfers cargo boxes in the direction from operating platform 1 to operating platform 2, then the second sub-box delivery line can transfer the third cargo box transferred to the downstream position of the first sub-box delivery line in the direction from operating platform 2 to operating platform 1 in the figure, and re-transfer it to the upstream position of the first sub-box delivery line, and / or transfer it to each storage location.

[0232] In addition, when there are many boxes waiting to be stored on the first sub-box delivery line, if all storage locations are in a non-idle state and there are no idle cache storage positions, the second sub-box delivery line can also form a ring transmission line with the first sub-box delivery line. The boxes waiting to be stored can be temporarily transmitted on the ring transmission line until there are idle cache storage positions or idle storage locations, and then they can be put into storage.

[0233] Optionally, when there is an idle entry location, the second sub-box delivery line is used to transport the third cargo box to an idle entry location in the cargo box transmission direction of the second sub-box delivery line; when there is no idle entry location, the second sub-box delivery line is used to transport the third cargo box to an entry location with an idle cache entry position in the cargo box transmission direction of the second sub-box delivery line.

[0234] In some embodiments, the storage location includes a first storage location and at least one second storage location sequentially arranged along the container transport direction of the first sub-drop box line;

[0235] The box drop line further includes a box transfer device 125; the box transfer device is used to transfer the third box from the first sub-box drop line to the second sub-box drop line, and / or transfer the third box from the second sub-box drop line to the first sub-box drop line.

[0236] For example, assuming that when the third container on the first sub-delivery line is transferred to the position corresponding to the first warehousing location, the first warehousing location cannot receive the third container. Therefore, the first sub-delivery line transfers the third container according to the cargo transfer direction.

[0237] When the third cargo box passes the first warehousing location and does not reach the position corresponding to the second warehousing location, if the cargo box transfer equipment detects that the second warehousing location cannot receive the third cargo box, but the first warehousing location can receive the third cargo box at this time, such as there is an idle cache warehousing position at the first warehousing location or the warehousing task is completed, the cargo box transfer equipment can transfer the third cargo box from the first sub-box delivery line to the second sub-box delivery line. Since the cargo transmission direction of the second sub-box delivery line is opposite to that of the first sub-box delivery line, at this time, the third cargo box can be returned to the first warehousing location under the transmission of the second sub-box delivery line, so that the third cargo box can be processed for warehousing at the first warehousing location.

[0238] It can be understood that there can be multiple cargo box transfer devices, for example, a cargo box transfer device can be set between every two storage locations.

[0239] In this embodiment, by setting up cargo box transfer equipment, the warehousing location of the third cargo box can be flexibly adjusted according to actual conditions in cooperation with the first sub-box delivery line and the second sub-box delivery line to ensure the normal progress of the warehousing task.

[0240] In some embodiments, reference Figure 2 , a unloader is provided at the warehousing location; the unloader is used to transfer multiple third cargo boxes filled with goods to the handling robot, so that the handling robot can carry out warehousing processing on the third cargo boxes filled with goods.

[0241] It can be understood that the unloader is also used to transfer the first cargo box transported to the warehousing location via the first branch to the handling robot, so that the handling robot performs warehousing processing on the first cargo box.

[0242] In some embodiments, reference Figure 2 The conveyor line also includes a second empty box line 126, which is used to convey the second cargo box without goods to the packaging table. The second empty box line can be set above the first sub-box delivery line or the second sub-box delivery line, or below the first sub-box delivery line or the second sub-box delivery line, or can also be set to an air-suspended type.

[0243] Specifically, the goods in the second cargo box are changed at the operating table, that is, the goods in the second cargo box are transferred to the third cargo box whose cargo box information meets the preset requirements. Then, the original second cargo box becomes an empty cargo box without goods. Although the cargo box information of the second cargo box does not meet the preset requirements, that is, it cannot be put into storage, the second cargo box without goods can be used to pack goods. Therefore, by setting up a second empty box line, the second cargo box without goods can be transferred to the packing table through the second empty box line, thereby realizing the reuse of the second cargo box.

[0244] In some embodiments, a method for warehousing cargo containers is provided, which is applied to the warehousing systems of the above embodiments.

[0245] Figure 4 A schematic diagram of a method for warehousing a container provided in an embodiment of the present application is shown in FIG. Figure 4 As shown, the method mainly includes the following steps:

[0246] S100: When there is a cargo box to be stored, the cargo box information of the cargo box to be stored is obtained by using a frame measuring device;

[0247] S200, determining, through the server, whether the cargo box information meets preset requirements;

[0248] S300, controlling the first branch of the conveyor line to convey the first cargo box among the cargo boxes to be stored that meets the preset requirements to the storage location;

[0249] S400, control the second branch of the conveyor line to convey the second cargo box whose cargo box information does not meet the preset requirements among the cargo boxes to be stored to the operating table, control the operating table to transfer the goods in the second cargo box to the third cargo box whose cargo box information meets the preset requirements, and control the conveyor line to transfer the third cargo box to the storage location, the third cargo box is the cargo box on the conveyor line other than the first cargo box and the second cargo box.

[0250] Based on the solution of this embodiment, a measuring device is provided in the warehousing system for obtaining the size and / or type information of a container. Based on the size and / or type information of the container, the device determines whether the container information meets preset requirements. If so, the container can be directly put into storage. If not, the cargo in the container is first transferred to another container whose container information meets the preset requirements, and then the cargo in the other container is put into storage. This solution of this embodiment ensures that the container information of all incoming containers meets the preset requirements, thereby facilitating storage management.

[0251] In some embodiments, determining whether the container information meets preset requirements includes:

[0252] Obtaining image information of the cargo box to be stored captured by the image acquisition device of the frame measurement device;

[0253] Cargo box type recognition is performed based on image information of the cargo box to be stored, and a type recognition result of the cargo box to be stored is obtained;

[0254] Determine whether the container information of the container to be put into storage meets the preset requirements based on the type recognition result;

[0255] When the type identification result shows that the type of the cargo box to be stored belongs to a preset type, it is determined that the cargo box information of the cargo box to be stored meets the preset requirements.

[0256] In some embodiments, further comprising:

[0257] Obtain the dimensional measurement results obtained by the 3D sensor of the frame measuring device through the dimensional measurement processing of the incoming cargo box;

[0258] When the type of the container to be stored does not belong to the preset type, determine whether the container information of the container to be stored meets the preset requirements based on the size measurement result;

[0259] If the size measurement result is within the preset size range, it is determined that the container information of the container to be put into storage meets the preset requirements;

[0260] If the size measurement result exceeds the preset size range, it is determined that the container information of the container to be put into storage does not meet the preset requirements.

[0261] In some embodiments, determining whether the container information meets preset requirements includes:

[0262] Obtain the dimensional measurement results obtained by the 3D sensor of the frame measuring device through the dimensional measurement processing of the incoming cargo box;

[0263] Determine whether the container information of the container to be stored meets the preset requirements based on the size measurement results;

[0264] If the size measurement result is within the preset size range, it is determined that the container information of the container to be stored meets the preset requirements.

[0265] In some embodiments, further comprising:

[0266] Obtaining image information of the cargo box to be stored captured by the image acquisition device of the frame measurement device;

[0267] When the size measurement result of the cargo box to be stored exceeds the preset size range, the cargo box type is identified based on the image information of the cargo box to be stored to obtain the type identification result of the cargo box to be stored;

[0268] Determine whether the container information of the container to be put into storage meets the preset requirements based on the type recognition result;

[0269] When the type identification result shows that the type of the cargo box to be put into storage belongs to the preset type, it is determined that the cargo box information of the cargo box to be put into storage meets the preset requirements;

[0270] When the type identification result is that the type of the cargo box does not belong to the preset type, it is determined that the cargo box information of the cargo box to be put into storage does not meet the preset requirements.

[0271] In some embodiments, the number of operating stations is at least two;

[0272] The second branch of the conveyor line is controlled to convey the second container whose container information does not meet the preset requirements among the containers to be stored to the operation platform, including:

[0273] When there is an idle operating station among the at least two operating stations, the warehousing line of the second branch is controlled to transport the second cargo box to the idle operating station in the cargo transmission direction.

[0274] In some embodiments, the operation station includes a buffer location;

[0275] The method also includes:

[0276] When there is no idle operating station among the at least two operating stations, the warehousing line of the second branch is controlled to transport the second cargo box to the operating station with an idle cache position in the cargo transmission direction.

[0277] In some embodiments, the number of operating stations is at least two, and the operating stations include a buffer location;

[0278] The second branch of the conveyor line is controlled to convey the second container whose container information does not meet the preset requirements among the containers to be stored to the operation platform, including:

[0279] Control the second branch's warehousing line to deliver Mi second containers to each operating station, where Mi is determined based on the status of the operating station and the cache location;

[0280] Among them, when the i-th operating table is in an idle state and the number of empty cache storage locations on the i-th operating table is Ni, Mi=Ni+1;

[0281] When the i-th operating station is in a non-idle state and the number of empty cache locations on the i-th operating station is Ni, Mi=Ni.

[0282] In some embodiments, the operating platform includes a flap structure, which is used to connect the operating platform and the warehousing line for transporting the cargo boxes to be stored to the operating platform;

[0283] The second branch of the conveyor line is controlled to convey the second container whose container information does not meet the preset requirements among the containers to be stored to the operation platform, including:

[0284] When it is detected that the flap structure switches from the first flipping state to the second flipping state, the second branch warehousing line and the flap structure are controlled to transport the second cargo box to the operating table;

[0285] Among them, in the second flipping state, the flap structure is close to the warehousing line;

[0286] In the first flipping state, the flap structure is away from the warehousing line.

[0287] In some embodiments, the number of storage locations is at least two;

[0288] The third container is transported to the storage location via the conveyor line, including:

[0289] When there is an idle storage location, the first sub-box dropping line of the box dropping line in the conveying line is controlled to convey the third cargo box to the idle storage location in the cargo box transmission direction.

[0290] In some embodiments, the storage location is provided with a cache storage location;

[0291] The method also includes:

[0292] When there is no idle storage location, the first sub-box delivery line is controlled to transport the third cargo box to a storage location with an idle cache storage position in the cargo box transmission direction.

[0293] In some embodiments, the conveying line includes a box delivery line for conveying the third box containing goods to a storage location;

[0294] The method further comprises:

[0295] Control the second sub-box delivery line in the box delivery line, and transfer the third cargo box transferred to the downstream position of the first sub-box delivery line to the upstream position of the first sub-box delivery line and / or each storage location in accordance with the cargo box transfer direction opposite to the first sub-box delivery line in the box delivery line.

[0296] In some embodiments, further comprising:

[0297] When there is an idle storage location, control the second sub-box delivery line of the second branch to transport the third cargo box to the idle storage location in the cargo box transmission direction of the second sub-box delivery line;

[0298] When there is no idle storage location, the second sub-box delivery line of the second branch is controlled to transport the third cargo box to the storage location with an idle cache storage position in the cargo box transmission direction of the second sub-box delivery line.

[0299] In some embodiments, the storage location includes a first storage location and at least one second storage location sequentially arranged along the container transport direction of the first sub-drop box line;

[0300] The method also includes:

[0301] Control the cargo box transfer equipment of the box delivery line to transfer the third cargo box from the first sub-box delivery line to the second sub-box delivery line, and / or transfer the third cargo box from the second sub-box delivery line to the first sub-box delivery line.

[0302] In some embodiments, the method further comprises:

[0303] The unloader provided at the storage location is controlled to transfer the first cargo box and the third cargo box at the storage location to the transport robot, so that the transport robot performs storage processing on the third cargo box.

[0304] In some embodiments, the method further comprises:

[0305] Control the first empty box line of the conveyor line to convey the third box without any goods and whose box information meets the preset requirements to the operation platform;

[0306] The first empty box line is connected to the packing station. The third boxes that are not filled with goods and whose box information meets the preset requirements include empty boxes from which goods are taken out at the packing station. The packing station is used to pack the taken-out goods.

[0307] In some embodiments, the method further comprises:

[0308] Control the second empty box line of the second branch to transport the second cargo box that is not loaded with cargo after the cargo transfer is completed through the operating table and whose cargo box information does not meet the preset requirements to the packaging table.

[0309] For the specific limitations on the method of container warehousing, please refer to the limitations on the warehousing system above and will not be repeated here.

[0310] In some embodiments, a computer device is provided, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method embodiments of the present application when executing the program.

[0311] In the aforementioned computer device, the memory and processor are electrically connected, directly or indirectly, to enable data transmission or interaction. For example, these components may be electrically connected to each other via one or more communication buses or signal lines, such as a bus connection. The memory stores computer-executable instructions for implementing the data access control method, including at least one software function module that may be stored in the memory in the form of software or firmware. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory.

[0312] The memory may be, but is not limited to, a random access memory (RAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc. The memory is used to store programs, and the processor executes the programs after receiving execution instructions. Furthermore, the software programs and modules in the above-mentioned memory may also include an operating system, which may include various software components and / or drivers for managing system tasks (such as memory management, storage device control, power management, etc.), and may communicate with various hardware or software components to provide an operating environment for other software components.

[0313] The processor can be an integrated circuit chip with signal processing capabilities. The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor.

[0314] In some embodiments, a computer-readable storage medium is provided, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the steps of various method embodiments of the present application.

[0315] In some embodiments, a computer program product is provided, including a computer program, which implements the steps of the various method embodiments of the present application when executed by a processor.

[0316] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0317] Other embodiments of the present disclosure will readily occur to those skilled in the art after considering the specification and practicing the applications disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, with the true scope and spirit of the present disclosure being indicated by the following claims.

[0318] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A warehousing system, characterized in that: include: Conveyor line, used to transport cargo boxes; A box measuring device is provided on the conveyor line to obtain box information; Wherein, the conveying line includes a first branch and a second branch, and the first branch and the second branch are located downstream of the conveying line relative to the frame measuring device; The first branch is used to transport a first container to a storage location, where the first container is a container whose container information meets preset requirements among the containers to be stored; The second branch is used to convey a second cargo box to an operation platform, the second cargo box being a cargo box whose cargo box information does not meet the preset requirements among the cargo boxes to be stored, the operation platform being used to transfer the cargo of the second cargo box to a third cargo box whose cargo box information meets the preset requirements, and to convey the third cargo box to a storage location via the conveyor line, the third cargo box being a cargo box other than the first and second cargo boxes on the conveyor line; The warehousing system further includes: a server; The server is configured to identify the type of the cargo box to be stored based on the image information of the cargo box to be stored, obtain a type identification result of the cargo box to be stored, and determine whether the cargo box information of the cargo box to be stored meets the preset requirements based on the type identification result; when the type identification result shows that the type of the cargo box to be stored belongs to the preset type, the server is configured to determine that the cargo box information of the cargo box to be stored meets the preset requirements; When the type identification result of the cargo box to be stored is that the type of the cargo box to be stored does not belong to the preset type, determining whether the cargo box information of the cargo box to be stored meets the preset requirements based on the size measurement result; if the size measurement result is within the preset size range, the server is used to determine that the cargo box information of the cargo box to be stored meets the preset requirements; if the size measurement result exceeds the preset size range, the server is used to determine that the cargo box information of the cargo box to be stored does not meet the preset requirements; or The server is used to determine whether the container information of the container to be stored meets the preset requirements based on the size measurement result; if the size measurement result is within the preset size range, the server is used to determine that the container information of the container to be stored meets the preset requirements; The server is configured to, when a size measurement result of the cargo box to be stored exceeds a preset size range, perform cargo box type identification based on the image information of the cargo box to be stored, obtain a type identification result of the cargo box to be stored, and determine whether the cargo box information of the cargo box to be stored meets preset requirements based on the type identification result; when the type identification result shows that the type of the cargo box to be stored belongs to a preset type, the server is configured to determine that the cargo box information of the cargo box to be stored meets the preset requirements; when the type identification result shows that the type of the cargo box to be stored does not belong to the preset type, the server is configured to determine that the cargo box information of the cargo box to be stored does not meet the preset requirements; Wherein, the preset type of cargo box is a cargo box that is not easily deformed.

2. The storage system according to claim 1, characterized in that: The frame measuring device includes: an image acquisition device for acquiring image information of the cargo box to be stored and sending the image information to the server.

3. The storage system according to claim 2, characterized in that: The frame measuring device further includes: a 3D sensor for performing dimension measurement on the cargo box to be stored, and sending the obtained dimension measurement result to the server.

4. The storage system according to claim 1, characterized in that: The second branch includes a warehousing line for conveying the second cargo box to the operating platform.

5. The storage system according to claim 4, characterized in that: The number of the operating platforms is at least two; When there is an idle operating station among the at least two operating stations, the warehousing line is used to transport the second cargo box to the idle operating station in the cargo transmission direction.

6. The storage system according to claim 5, characterized in that: The operating platform also includes a cache location; When there is no idle operating station among the at least two operating stations, the warehousing line is used to transport the second cargo box to the operating station with an idle cache position in the cargo transmission direction.

7. The storage system according to claim 4, characterized in that: The number of the operating platforms is at least two, and the operating platforms further include a cache location; The warehousing line is used to transport Mi second cargo boxes to each operating station, where Mi is determined based on the status of the operating station and the cache location; Among them, when the i-th operating table is idle and the number of empty cache locations on the i-th operating table is Ni, Mi=Ni+1; When the i-th operating station is in a non-idle state and the number of empty cache locations on the i-th operating station is Ni, Mi=Ni.

8. The storage system according to any one of claims 4 to 7, characterized in that: The warehousing line is connected to the operating table via a flap structure; When the flap structure switches from the first flipping state to the second flipping state, the warehousing line transports the second cargo box to the operating platform through the flap structure; Wherein, in the second flipping state, the flap structure is close to the warehousing line; In the first flipping state, the flap structure is away from the warehousing line.

9. The storage system according to claim 8, characterized in that: When the flip plate structure is in the second flipping state, the flip plate structure is used as a buffer location for the operating table.

10. The storage system according to any one of claims 1 to 7, characterized in that: The conveying line includes a first empty box line for conveying a third cargo box without cargo to the operating platform.

11. The storage system according to claim 10, characterized in that: The first empty box line is connected to a packing station, and the third box without goods includes an empty box from which goods are taken out of the packing station, and the packing station is used to pack the taken-out goods.

12. The storage system according to any one of claims 1 to 7, characterized in that: The conveying line includes a box delivery line, which is used to convey the third box containing goods to a storage location.

13. The storage system according to claim 12, characterized in that: The number of the operating platforms is at least two; The cargo box transmission line of the box delivery line passes through each of the operating stations, and the box delivery line is used to transport the third cargo box containing goods processed by each of the operating stations to the storage location.

14. The storage system according to claim 12, characterized in that: The number of the storage locations is at least two; When there is an idle storage location, the box delivery line is used to transport the third cargo box containing goods to the idle storage location in the cargo box transmission direction of the box delivery line.

15. The storage system according to claim 14, characterized in that: The storage location is provided with a cache storage position; When there is no idle storage location, the box delivery line is used to transport the third cargo box containing goods to a storage location with an idle cache storage position in the cargo box transmission direction of the box delivery line.

16. The storage system according to claim 14, characterized in that: The box drop line includes a first sub-box drop line and a second sub-box drop line; The first sub-box delivery line is used to transport the third box containing goods to the storage location; The second sub-box delivery line is connected to the first sub-box delivery line, and the second sub-box delivery line is used to transfer the third cargo box transferred to the downstream position of the first sub-box delivery line to the upstream position of the first sub-box delivery line and / or each of the said storage locations in a cargo box transfer direction opposite to the first sub-box delivery line.

17. The storage system according to claim 16, characterized in that: When there is an idle storage location, the second sub-box delivery line is used to transport the third cargo box to the idle storage location in the cargo box transmission direction of the second sub-box delivery line; When there is no idle storage location, the second sub-box delivery line is used to transport the third cargo box to a storage location with an idle cache storage position in the cargo box transmission direction of the second sub-box delivery line.

18. The storage system according to claim 16, characterized in that: The storage locations include a first storage location and at least one second storage location arranged in sequence along the container transport direction of the first sub-box delivery line; The box drop line also includes a cargo box transfer device; the cargo box transfer device is used to transfer the third cargo box from the first sub-box drop line to the second sub-box drop line, and / or, transfer the third cargo box from the second sub-box drop line to the first sub-box drop line.

19. The storage system according to any one of claims 1 to 7, characterized in that: The storage location is provided with a discharger; The unloader is used to transfer a plurality of third cargo boxes containing goods to the transport robot, so that the transport robot performs warehousing processing on the third cargo boxes containing goods.

20. The storage system according to any one of claims 1 to 7, characterized in that: The conveying line further includes a second empty box line for conveying a second cargo box without cargo to a packing station.

21. A method for warehousing cargo containers, applied to the warehousing system according to any one of claims 1 to 20, characterized in that: include: When there are cargo boxes waiting to be put into storage, the cargo box information of the cargo box to be put into storage is obtained through the frame measuring device; The server identifies the type of the cargo box according to the image information of the cargo box to be stored, and obtains the type identification result of the cargo box to be stored; determining whether the container information of the container to be stored meets the preset requirements according to the type identification result; when the type identification result shows that the type of the container to be stored belongs to the preset type, determining that the container information of the container to be stored meets the preset requirements; When the type of the cargo box to be stored does not belong to the preset type, determine whether the cargo box information of the cargo box to be stored meets the preset requirements based on the size measurement result; if the size measurement result is within the preset size range, determine that the cargo box information of the cargo box to be stored meets the preset requirements; if the size measurement result exceeds the preset size range, determine that the cargo box information of the cargo box to be stored does not meet the preset requirements; or Determining, by the server, whether the container information of the container to be stored meets preset requirements based on the size measurement result; if the size measurement result is within a preset size range, determining that the container information of the container to be stored meets the preset requirements; Acquiring image information of the cargo box to be stored captured by the image capture device of the frame measurement device; When the size measurement result of the cargo box to be stored exceeds the preset size range, the cargo box type is identified based on the image information of the cargo box to be stored to obtain the type identification result of the cargo box to be stored; determining whether the container information of the container to be stored satisfies preset requirements based on the type identification result; when the type identification result indicates that the type of the container to be stored belongs to the preset type, determining that the container information of the container to be stored satisfies the preset requirements; when the type identification result indicates that the type of the container does not belong to the preset type, determining that the container information of the container to be stored does not satisfy the preset requirements; Controlling the first branch of the conveyor line to convey the first cargo box among the cargo boxes to be stored that meets the preset requirements to the storage location; Controlling the second branch of the conveyor line to convey a second cargo box, whose cargo box information does not meet the preset requirements, among the cargo boxes to be stored, to an operation table, controlling the operation table to transfer the cargo in the second cargo box to a third cargo box, whose cargo box information meets the preset requirements, and controlling the conveyor line to transport the third cargo box to a storage location, wherein the third cargo box is a cargo box on the conveyor line other than the first cargo box and the second cargo box; Wherein, the preset type of cargo box is a cargo box that is not easily deformed.

22. The method according to claim 21, characterized in that The operating platform includes a flap structure, which is used to connect the operating platform and the warehousing line for transporting the cargo boxes to be stored to the operating platform; Controlling the second branch of the conveyor line to convey the second cargo box whose cargo box information does not meet the preset requirements among the cargo boxes to be stored to the operating platform includes: When it is detected that the flap structure switches from the first flipping state to the second flipping state, the second branch warehousing line and the flap structure are controlled to transport the second cargo box to the operating platform; Wherein, in the second flipping state, the flap structure is close to the warehousing line; In the first flipping state, the flap structure is away from the warehousing line.

23. The method according to claim 21, characterized in that Also includes: The image information of the cargo box to be stored is acquired by the image acquisition device of the frame measurement device.

24. The method according to claim 23, wherein Also includes: A dimensional measurement result obtained by a 3D sensor of the frame measuring device through dimensional measurement processing of the cargo box to be stored is obtained.

25. The method according to claim 21, characterized in that The number of the operating platforms is at least two; Controlling the second branch of the conveyor line to convey the second cargo box whose cargo box information does not meet the preset requirements among the cargo boxes to be stored to the operating platform includes: When there is an idle operating station among the at least two operating stations, the warehousing line of the second branch is controlled to transport the second cargo box to the idle operating station in the cargo transmission direction.

26. The method according to claim 25, characterized in that The operating platform includes a cache location; The method further comprises: When there is no idle operating station among the at least two operating stations, the warehousing line of the second branch is controlled to transport the second cargo box to the operating station with an idle cache position in the cargo transmission direction.

27. The method according to claim 21, characterized in that The number of the operating tables is at least two, and the operating tables include cache locations; Controlling the second branch of the conveyor line to convey the second cargo box whose cargo box information does not meet the preset requirements among the cargo boxes to be stored to the operating platform includes: Control the warehousing line of the second branch to deliver Mi second cargo boxes to each operating station, where Mi is determined based on the status of the operating station and the cache location; Among them, when the i-th operating table is idle and the number of empty cache locations on the i-th operating table is Ni, Mi=Ni+1; When the i-th operating station is in a non-idle state and the number of empty cache locations on the i-th operating station is Ni, Mi=Ni.

28. The method according to claim 21, wherein The number of the storage locations is at least two; The method of transporting the third container to a storage location via the conveyor line includes: When there is an idle storage location, the first sub-box dropping line of the box dropping line in the conveying line is controlled to convey the third cargo box to the idle storage location in the cargo box transmission direction.

29. The method according to claim 28, characterized in that The storage location is provided with a cache storage position; The method further comprises: When there is no idle storage location, the first sub-box delivery line is controlled to transport the third cargo box to a storage location with an idle cache storage position in the cargo box transmission direction.

30. The method according to claim 21, wherein The conveying line includes a box delivery line for conveying the third box containing goods to a storage location; The method further comprises: Control the second sub-box delivery line in the box delivery line, and transfer the third cargo box transferred to the downstream position of the first sub-box delivery line to the upstream position of the first sub-box delivery line and / or each of the said storage locations in accordance with the cargo box transfer direction opposite to the first sub-box delivery line in the box delivery line.

31. The method according to claim 30, wherein Also includes: When there is an idle storage location, controlling the second sub-box delivery line of the second branch to transport the third cargo box to the idle storage location in the cargo box transmission direction of the second sub-box delivery line; When there is no idle storage location, the second sub-box delivery line of the second branch is controlled to transport the third cargo box to a storage location with an idle cache storage position in the cargo box transmission direction of the second sub-box delivery line.

32. The method according to claim 31, characterized in that The storage locations include a first storage location and at least one second storage location arranged in sequence along the container transport direction of the first sub-box delivery line; The method further comprises: Control the cargo box transfer equipment of the delivery line to transfer the third cargo box from the first sub-delivery line to the second sub-delivery line, and / or transfer the third cargo box from the second sub-delivery line to the first sub-delivery line.

33. The method according to claim 21, wherein The method further comprises: The unloader provided at the storage location is controlled to transfer the first cargo box and the third cargo box at the storage location to the transport robot, so that the transport robot performs storage processing on the third cargo box.

34. The method according to claim 21, wherein The method further comprises: Controlling the first empty box line of the conveyor line to convey a third box without any goods and having box information meeting preset requirements to the operating platform; The first empty box line is connected to the packing station, and the third box without goods and whose box information meets the preset requirements includes an empty box from which goods are taken out at the packing station, and the packing station is used to pack the taken-out goods.

35. The method according to claim 21, wherein The method further comprises: Control the second empty box line of the second branch to transport the second cargo box that is not loaded with cargo after the cargo transfer is completed through the operating table and whose cargo box information does not meet the preset requirements to the packing table.

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