Warehousing method and system, control unit, and sorting processing system

Abstract

The application provides a storage method and system, a control unit, and a sorting processing system. The method comprises: controlling a transfer robot with a transfer device to move along a track system on the top of a storage unit to a target position of the track system, controlling the transfer robot to lower the transfer device to a position corresponding to a target storage layer of a target storage column laterally to the target position, and transferring a storage object between the target storage layer. According to the embodiments of the application, the system efficiency can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent logistics, in particular to a warehousing method and system, a control unit, and a sorting processing system. BACKGROUND

[0002] The sorting link is one of the key links in warehousing operation. In a related technology, a robot moves on the ground, and the movement area of the robot and the shelf area need to occupy land respectively, the land occupation area is large, and the movement area of the robot is limited by the shelf area. When multiple robots work in the same area, the possibility of congestion is high, which will affect the system efficiency. SUMMARY

[0003] The present application aims to provide a warehousing method and system, a control unit, and a sorting processing system, which can improve the system efficiency.

[0004] In one aspect, the present application provides a warehousing method, comprising:

[0005] controlling a picking and transporting robot with a transfer device to move along a track system on the top of a warehousing unit to a target position of the track system, to control the picking and transporting robot to lower the transfer device to a position corresponding to a target storage layer of a target storage column laterally to the target position, to transfer a storage object between the target storage layer.

[0006] In some embodiments, the track system includes a first track group extending in a first direction and a second track group extending in a second direction, the first track group and the second track group together form a plurality of grids on the top of the warehousing unit, the plurality of grids form a first grid area and a second grid area, a plurality of storage columns are distributed below the second grid area, and the storage columns have a plurality of storage layers.

[0007] Before the control of the picking and transporting robot with the transfer device to move along the track system on the top of the warehousing unit to the target position of the track system, the method further comprises:

[0008] determining a target storage column corresponding to the storage object; and

[0009] determining a target grid adjacent to the target storage column in the first grid area according to pre-stored map data of the track system and corresponding data of the plurality of storage columns and the grids in the second grid area, the target grid being a target position of the picking and transporting robot moving along the track system.

[0010] The map data includes distribution data of the plurality of grids, distribution data of the first track group and the second track group, distribution data of the first grid area, and distribution data of the second grid area.

[0011] In some embodiments, the control of the transport robot with the transfer device to move along the track system on the top of the storage unit to a target position of the track system comprises:

[0012] determining a movement path of the transport robot on the track system according to the target grid, distribution data of the first track group and the second track group, and a current position of the transport robot; and,

[0013] controlling the transport robot to move according to the movement path to the target grid.

[0014] In some embodiments, the control of the transport robot to load or unload the storage object at the transfer port arranged at the edge of the track system.

[0015] In some embodiments, the transport robot is configured to load or unload the storage object above the transport robot at the transfer port.

[0016] In some embodiments, the transport robot is transferred between the ground operating platform or the automatic conveying line at the transfer port.

[0017] In some embodiments, it is judged whether each storage location in the shelf is completed for loading or unloading of the corresponding storage object, and if all are completed, a moving shelf notification is issued; wherein the shelf is an integrated movable shelf formed by one or more storage columns.

[0018] In some embodiments, before the control of the transport robot with the transfer device to move along the track system on the top of the storage unit to a target position of the track system, further comprising: controlling the transport robot to obtain sorted goods at the transfer port arranged at the edge of the track system, and position information of the sorted goods to be delivered, the position information including information of the target storage column and the target storage layer;

[0019] After the control of the transport robot to lower the transfer device to a position corresponding to the target storage layer of the target storage column at the side of the target position, further comprising: controlling the transport robot to unload the sorted goods to the target storage layer.

[0020] In some embodiments, before the control of the transport robot to obtain sorted goods at the transfer port arranged at the edge of the track system, further comprising:

[0021] The to-be-sorted object is transported to a predetermined supply port on the top of the storage unit, so that the sorted goods are sorted out from the to-be-sorted object and dropped to the transport robot at the transfer port; or,

[0022] The method further comprises: sending the to-be-sorted objects to a predetermined supply position at a ground operating platform of an elevator, and sending the sorted objects sorted from the to-be-sorted objects to the transfer opening from the ground operating platform by a lifting conveying device of the elevator.

[0023] In some embodiments, before the delivery robot obtains the sorted objects at the transfer opening arranged at the edge of the track system, the method further comprises:

[0024] According to the multiple orders, the types and / or quantities of required objects are counted;

[0025] According to the types and / or data of the required objects, the corresponding to-be-sorted objects are sent to a predetermined supply position;

[0026] The information of a target storage column and a target storage layer corresponding to a target order requiring the sorted objects in the multiple orders is obtained, so as to control the delivery robot to unload an order box containing the sorted objects to the target storage layer of the target storage column, or unload the sorted objects to an order box at the target storage layer of the target storage column.

[0027] In some embodiments, before the delivery robot obtains the sorted objects at the transfer opening arranged at the edge of the track system, the method further comprises:

[0028] The to-be-sorted objects containing multiple same SKU goods are sent to a predetermined supply position, so that the SKU goods are sorted from the to-be-sorted objects and put into the delivery robot at the transfer opening;

[0029] The information of a target storage column and a target storage layer corresponding to a target order requiring the SKU goods in the multiple orders is obtained, so as to control the delivery robot to unload the SKU goods to an order box at the target storage layer.

[0030] In some embodiments, before the delivery robot obtains the sorted objects at the transfer opening arranged at the edge of the track system, the method further comprises:

[0031] The to-be-sorted objects containing multiple types of goods are sent to a predetermined supply position, so as to control the delivery robot to obtain the sorted objects sorted from the to-be-sorted objects at the transfer opening;

[0032] The target storage column and the target storage layer corresponding to the sorted object are obtained, so that the delivery robot unloads the sorted object to the target storage layer or a target sorting box at the target storage layer; wherein the sorted object is a sorted object or an object containing a sorted object, and the target sorting box is used to place goods of the same type or the same SKU.

[0033] In some embodiments, the transport robot has a first set of drive wheels movable in the first direction and a second set of drive wheels movable in the second direction.

[0034] controlling the transport robot with the transfer device to move along the track system on the top of the storage unit includes:

[0035] controlling the first set of drive wheels to move off a track of the track system and controlling the second set of drive wheels to drive the transport robot to move along a track of the second set of tracks; or,

[0036] controlling the second set of drive wheels to move off a track of the track system and controlling the first set of drive wheels to drive the transport robot to move along a track of the first set of tracks.

[0037] In some embodiments, the method further includes controlling the transport robot to charge an energy storage device of the transfer device during movement along the track system.

[0038] In some embodiments, the method further includes determining a transfer direction of the transfer device according to a relative position relationship between the target position and an adjacent position of the target storage column, to control the transfer device to transfer a storage object between the target position and the target storage column according to the transfer direction.

[0039] Another aspect of the present application provides a management device control unit, comprising:

[0040] at least one processor; and,

[0041] at least one memory having stored thereon executable code which, when executed by the at least one processor, causes the at least one processor to perform the above method.

[0042] Another aspect of the present application provides a transport robot control unit, comprising:

[0043] at least one processor; and,

[0044] at least one memory having stored thereon executable code which, when executed by the at least one processor, causes the at least one processor to perform the above method.

[0045] Another aspect of the present application provides a storage system, comprising at least one storage unit and at least one transport robot with a transfer device:

[0046] the storage unit comprises a support, a platform track system arranged on a vertical top of the support, and a plurality of storage columns arranged below the platform track system, the storage columns having a plurality of storage layers arranged in the vertical direction;

[0047] The retrieval robot is configured to, after moving to a target position of the platform rail system, lower the transfer device to a position corresponding to a target storage layer of a target storage column laterally adjacent, and unload or load storage objects from or to the target storage layer from or to the transfer device.

[0048] In some embodiments, the storage unit comprises rack units arranged in a first direction, the rack units comprising at least two storage columns arranged in a second direction;

[0049] The target position corresponds to an interval region between the rack units arranged in the first direction.

[0050] In some embodiments, at least two storage columns of the rack unit form an integrated structure movable as a whole relative to the support; or,

[0051] At least two storage columns of the rack unit form an integrated structure with the support.

[0052] In some embodiments, at least two storage columns of the rack unit form an integrated structure movable as a whole relative to the support;

[0053] The support and the rack unit do not interfere with each other in the second direction, so that the rack unit can be moved as a whole out of the storage unit in the second direction.

[0054] In some embodiments, the support forms an integrated structure with the platform rail system;

[0055] The system comprises a plurality of the storage units, and the platform rail systems of the plurality of storage units are connected to each other, so that the retrieval robot can move between the platform rail systems.

[0056] In some embodiments, the support and / or rack unit is provided with guide rails for guiding the lifting of the transfer device.

[0057] In some embodiments, the edge of the platform rail system is provided with a transfer opening for the retrieval robot to load or unload the storage objects.

[0058] In some embodiments, an elevator is provided, the elevator comprising a ground operating platform, and a lifting conveyor for transferring the storage objects between the ground operating platform and the retrieval robot at the transfer opening; and / or,

[0059] A ladder is provided for an operator to climb to the transfer opening to deliver the storage objects to the retrieval robot at the transfer opening; and / or,

[0060] An automated conveyor line, highly matched to the platform's track system, is used to automatically deliver storage objects to the pick-up and drop-off robot at the subcontracting port, or to provide storage objects to the operator on the ladder, so that the operator can manually deliver the storage objects to the pick-up and drop-off robot at the subcontracting port.

[0061] In some embodiments, the platform track system includes a first track group and a second track group. The first track group includes a plurality of tracks extending along a first direction, and the second track group includes a plurality of tracks extending along a second direction. The plurality of tracks in the first track group and the plurality of tracks in the second track group form a plurality of grids. The plurality of grids form a first grid region and a second grid region, and the target storage column is located below the second grid region.

[0062] In some embodiments, the transport robot includes:

[0063] A movable base is used to drive the movement of the pick-up and drop robot;

[0064] A transfer device, including a transfer component and a first drive device for driving the transfer component;

[0065] A lifting device includes a lifting mechanism and a second driving device for driving the lifting mechanism. The lifting mechanism is connected to the transfer device. The second driving device is mounted on the movable base and is used to drive the lifting mechanism to lower the transfer device relative to the movable base to a position corresponding to the target storage layer, so that the transfer device, driven by the first driving device, unloads a storage object from the transfer device to the target storage layer or loads a storage object from the target storage layer to the transfer device.

[0066] In some embodiments, the first driving device is configured to drive the transfer member to move in a forward or reverse direction, such that when the transfer member moves in the forward direction, it unloads the stored object from the transfer device to one side, and when it moves in the reverse direction, it unloads the stored object from the transfer device to the other side; or, such that when the transfer member moves in the forward direction, it loads the stored object on one side into the transfer device, and when it moves in the reverse direction, it loads the stored object on the other side into the transfer device.

[0067] In some embodiments, the movable base includes a main body, a first drive wheel assembly that can move in the same direction as the first direction, and a second drive wheel assembly that can move in the same direction as the second direction;

[0068] The first drive wheel assembly and / or the second drive wheel assembly are detachably mounted on the main body.

[0069] In some embodiments, the transport robot further comprises an energy storage device for powering the first driving device, the energy storage device being connected with a battery mounted on the movable base.

[0070] In some embodiments, the energy storage device is mounted on the transfer device; the transfer device is provided with a first electrical connection end connected with the energy storage device, and the movable base is provided with a second electrical connection end connected with the battery.

[0071] The first electrical connection end and the second electrical connection end are configured to be in contact when the transfer device is in the retracted state, and to be separated during the descending movement of the transfer device.

[0072] In some embodiments, the main body of the movable base is an annular body extending through both ends along the lifting direction of the transfer device.

[0073] In some embodiments, the vertical dimension of the transfer device is smaller than the vertical dimension of the movable base.

[0074] The overall lateral dimension of the transfer device is smaller than the lateral dimension of the inner hole formed by the inner annular wall of the annular body.

[0075] The transfer device is accommodated in the inner hole when the transfer device is in the retracted state.

[0076] In another aspect of the present application, a sorting system is provided, comprising the above-mentioned warehouse system; wherein the transport robot is configured to load the sorted goods from the transfer opening, and unload the sorted goods to the target storage layer after the transfer device is lowered to a position corresponding to the target storage layer.

[0077] In the embodiments of the present application, the transport robot is moved along the track system on the top of the warehouse unit to lower the transfer device to a position corresponding to the target storage layer of the target storage column located laterally to the target position, so as to transfer the storage objects between the target storage layer and the target storage column. By moving the transport robot along the track system on the top of the warehouse unit, the occupation of the ground area of the warehouse unit by the transport robot can be avoided or reduced, leaving a ground working area for other equipment or operators, which is conducive to improving the system efficiency. On the other hand, by moving the transfer device laterally to the target storage column, the transfer device can be moved between any one of the storage layers of the target storage column without being affected by the goods of other storage layers, so that the transport range of the robot is more flexible. In another aspect, since no shelves are arranged on the platform track system on the top of the warehouse unit, the movement space of the transport robot on the platform track system is larger, and the degree of freedom of movement is also greater, so that the occurrence of blockage can be reduced, and the system efficiency can be improved.

[0078] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application, as claimed. BRIEF DESCRIPTION OF DRAWINGS

[0079] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings in which like reference characters refer to like parts throughout and in which:

[0080] Figure 1 A warehouse system according to an embodiment of the present application is shown;

[0081] Figure 2 A warehouse system according to another embodiment of the present application is shown;

[0082] Figure 3 A partial structure of the warehouse system according to Figure 2 is shown from another angle;

[0083] Figure 4 A plan layout of a warehouse unit according to an embodiment of the present application is shown;

[0084] Figure 5 A module diagram of a transport robot according to an embodiment of the present application is shown;

[0085] Figure 6 A transport robot according to an embodiment of the present application is shown;

[0086] Figure 7 A left side view of the transport robot according to Figure 6 is shown;

[0087] Figure 8 A right side view of the transport robot according to Figure 6 is shown;

[0088] Figure 9 A lowered state diagram of a transfer mechanism of the transport robot according to Figure 6 is shown;

[0089] Figure 10 A lowered state diagram of the transfer mechanism of the transport robot according to Figure 6 is shown from another angle;

[0090] Figure 11 A cross-sectional view of the transport robot according to Figure 6 is shown;

[0091] Figure 12 A bidirectional transfer diagram of the transport robot according to Figure 6 is shown;

[0092] Figure 13 A management device according to an embodiment of the present application is shown;

[0093] Figure 14 A picking robot is shown.

[0094] Reference signs:

[0095] Warehouse unit 200; support 210; guide rail 212; storage column 220; first storage column 220A; second storage column 220B; container 222; shelf unit 230; shelf body 232; column 234; layer bar 236; platform track system 240; first track group 242; second track group 244; grid 246; first grid area 252; second grid area 254; transfer opening 256; picking robot 300; movable base 310; main body 312; inner ring wall 312a; step 312b; inner hole 313; first drive wheel group 314; second drive wheel group 316; inner accommodation space 318; battery 320; transfer device 330; roller support 332; first drive device 333; drive roller 334; driven roller 336; transfer piece 337; belt 338; baffle 339; guide piece / guide block 340; energy storage device 342; first electrical connection end 344; second electrical connection end 346; lifting device 350; lifting mechanism 351; lifting rope 352; second drive device 353; control unit 360; processor 362; memory 364; lift 400; ground operating platform 402; operator 502, 504; management device 600; processor 610; memory 620. DETAILED DESCRIPTION

[0096] Preferred embodiments of the present application will be described in more detail with reference to the drawings. Although preferred embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present application will be thorough and complete, and will fully convey the scope of the present application to those skilled in the art.

[0097] The terminology used in the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used in the present application and the appended claims, the singular forms "a," "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "and / or," as used herein, refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0098] It should be understood that, although the terms "first", "second", "third", etc. can be used in this application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as the first information without departing from the scope of the application. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly and specifically limited.

[0099] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0100] Unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0101] The technical solutions of the embodiments of the present application are described in detail below in combination with the drawings.

[0102] An embodiment of the present application provides a kind of warehousing system, refer to Figures 1 to 3 The warehousing system of the embodiment includes at least one warehousing unit 200 and at least one taking and transporting robot 300.

[0103] The storage unit 200 comprises a support 210, a platform rail system 240 arranged at a vertical top of the support 210, and a plurality of storage columns 220 arranged below the platform rail system 240, the storage columns 220 having a plurality of storage layers arranged in a vertical direction. The platform rail system 240 comprises a first rail group 242 comprising a plurality of rails respectively extending in a first direction, and a second rail group 244 comprising a plurality of rails respectively extending in a second direction, the plurality of rails of the first rail group 242 and the plurality of rails of the second rail group 244 forming a plurality of grids 246, the plurality of grids 246 forming a first grid area 252 and a second grid area 254, the plurality of storage columns 220 being arranged below the second grid area 254.

[0104] The retrieval-delivery robot 300 has a transfer device configured to move along the platform rail system 240, the transfer device being configured to be controlled to descend from a target grid 246 in the first grid area 252 to a position corresponding to a target storage layer of a target storage column of the plurality of storage columns 220 below the second grid area 254 in a vertical direction, and transfer the storage object between the target storage layer and a side storage layer.

[0105] In some embodiments, the plurality of rails of the first rail group 242 are arranged in parallel and spaced apart in the second direction, and the plurality of rails of the second rail group 244 are arranged in parallel and spaced apart in the first direction. Figure 1 In the present application, the vertical direction is also the lifting direction of the transfer device of the retrieval-delivery robot 300. Referring to FIG. 1, X represents the first direction, Y represents the second direction, and Z represents the vertical direction. In the present application, the vertical direction is also the lifting direction of the transfer device of the retrieval-delivery robot 300. Referring to FIG. 1, X represents the first direction, Y represents the second direction, and Z represents the vertical direction. Figures 1 to 3 As shown, in one specific implementation, the first direction X is perpendicular to the second direction Y, and the vertical direction Z is perpendicular to a horizontal direction defined by the first direction X and the second direction Y. Each grid 246 of the platform rail system 240 is formed by two adjacent rails of the first rail group 242 and two adjacent rails of the second rail group 244, and the plurality of grids 246 formed by the plurality of rails of the first rail group 242 and the plurality of rails of the second rail group 244 are arranged in a matrix. It can be understood that the present application is not limited thereto.

[0106] Figure 4 A plan view of the storage unit 200 in one specific implementation is shown. In the figure, labels A to G represent elevators, and labels 1_L to 20_L and 1_R to 20_R represent storage columns 220. Among the plurality of grids formed by the platform rail system 240, the grids corresponding to the storage columns 220 are the grids in the second grid area 254, and the other grids below which there are no storage columns 220 form the first grid area 252, i.e. Figure 4 In the figure, the grids in which labels 1 to 20 are located and the other grids without labels are the grids in the first grid area 252.

[0107] In some embodiments, the storage unit 200 comprises shelf units 230 arranged along a first direction, each shelf unit 230 comprising at least two storage columns 220 arranged along a second direction; the space between shelf units 230 arranged along the first direction corresponds to a first grid area 252 of the platform track system 240.

[0108] In some embodiments, the at least two storage columns 220 of the shelf unit 230 form an integrated structure that can be moved as a whole relative to the support 210 of the storage unit 200. That is, the shelf unit 230 is arranged independently of the support 210 and can be moved relative to the support 210. For example, as shown in the example, Figure 2 the shelf unit 230 comprises a shelf frame 232 and a plurality of bins 222 arranged in an array, the shelf frame 232 comprising a plurality of uprights 234 and a plurality of sets of deck beams 236 connected between the uprights 234, each set of deck beams 236 forming a shelf level, and the bins 222 being arranged between the sets of deck beams 236. The shelf frame 232 is arranged independently of the support 210 and can be moved relative to the support 210 together with the bins 222. It can be understood that in other embodiments, each set of deck beams 236 can be replaced by a deck plate, and the bins 222 are arranged on the deck plate. The bins 222 can be order bins, organization bins, turnover bins, etc.

[0109] For example, Figure 4 In the example, every 5 storage columns 220 arranged along the second direction Y are configured as a shelf unit 230, i.e., 1_L to 5_L, 6_L to 10_L, 11_L to 15_L, 16_L to 10_L are respectively configured as shelf units, and 1_R to 5_R, 6_R to 10_R, 11_R to 15_R, 16_R to 10_R are respectively configured as shelf units. It can be understood that the number of storage columns of the shelf unit 230 and the number of levels of each storage column thereof can be configured as needed.

[0110] In some embodiments, the at least two storage columns 220 of the shelf unit 230 form an integrated structure with the support 210 of the storage unit 200. For example, the shelf frame 232 of the shelf unit 230 can be directly formed by the support 210 of the storage unit 200.

[0111] In some embodiments, the at least two storage columns 220 of the shelf unit 230 form an integrated structure that can be moved as a whole relative to the support 210 of the storage unit 200, and the support 210 and the shelf unit 230 do not interfere with each other in the second direction, so that the shelf unit 230 can be moved as a whole out of the storage unit 200 along the second direction.

[0112] In some embodiments, the support 210 of the storage unit 200 forms an integrated structure with the platform track system 240, and the platform track system 240 is fixedly installed on the support 210, so that the storage unit 200 forms a self-contained module.

[0113] In some embodiments, the storage system comprises a plurality of storage units 200, and the plurality of platform track systems 240 of the plurality of storage units 200 are connected to each other so that the retrieval robot 300 can move between the platform track systems 240. In some implementations, the platform track systems 240 of adjacent storage units 200 can be fixedly connected, for example, by connectors, to ensure stable and smooth connection between the platform track systems 240.

[0114] In some embodiments, the storage unit 200 is provided with a guide rail 212 for guiding the lifting of the transfer device of the retrieval robot 300. The guide rail 212 can be provided on the support 210 and / or on the shelf body 232.

[0115] In some embodiments, the edge of the platform track system 240 is provided with a transfer opening 256 for the retrieval robot 300 to load or unload the storage object. As Figure 4 shown in one implementation, the transfer opening 256 is located at the edge grid 246 of the platform track system 240, and the retrieval robot 300 can move to the edge grid 246 to load or unload the storage object.

[0116] In some embodiments, the storage system further comprises an elevator 400, which comprises a ground operating platform 402 and a lifting conveying device (not shown in the figure), and the ground operating platform 402 can be used by the ground operator 502 to take or place the storage object, which can be, for example, the sorted goods placed on the ground operating platform 402 by the operator 502 after sorting the to-be-sorted goods transported to the ground operating platform 402. The lifting conveying device is used to transfer the storage object between the ground operating platform 402 and the retrieval robot 300 at the transfer opening 256.

[0117] As Figure 2 shown, in one implementation, the ground operating platform 402 is a semi-automatic operating platform, which comprises, for example, a conveying belt that can convey the storage object placed on the conveying belt by the operator 502 to the lifting conveying device, and the lifting conveying device lifts the storage object to the top of the storage unit 200 and then delivers it to the retrieval robot 300 at the transfer opening 256 at the edge of the platform track system 240. It can be understood that the storage system can be configured with multiple elevators 400 and multiple retrieval robots 300 to improve efficiency.

[0118] In other embodiments, the storage system further comprises a ladder for the operator to climb to the transfer opening 256 at the edge of the platform track system 240 to manually deliver the storage object to the retrieval robot 300. The delivered storage object can be, for example, the sorted goods sorted by the operator after the to-be-sorted goods are transported to the top of the storage unit.

[0119] In some embodiments, the warehousing system is equipped with an automated conveyor line that is height-matched to the platform track system 240. This automated conveyor line can be used to automatically deliver storage objects to the pick-up robot 300 at the sub-packing port 256, or to transport storage objects to an operator on a ladder, allowing the operator to manually deliver the storage objects to the pick-up robot 300 at the sub-packing port 256. For example, the automated conveyor line can transport goods to be sorted to the operator, who then delivers the sorted goods to the pick-up robot 300.

[0120] Figure 5 This diagram illustrates a block diagram of a pickup and delivery robot 300 according to an embodiment of this application. (See also...) Figure 5 As shown, the pickup and transport robot 300 includes:

[0121] The movable base 310 is used to drive the pick-up and drop robot 300 to move on the support surface, for example, to drive the pick-up and drop robot 300 to move along the platform track system 240;

[0122] The transfer device 330 includes a transfer member 337 and a first drive device 333 for driving the transfer member 337;

[0123] The lifting device 350 includes a lifting mechanism 351 and a second drive device 353 for driving the lifting mechanism 351. The lifting mechanism 351 is connected to the transfer device 330. The second drive device 353 is installed on the movable base 310 and is used to drive the lifting mechanism 351 to lower the transfer device 330 relative to the movable base 310 to a position corresponding to the target storage layer, so that the transfer member 337, driven by the first drive device 333, transfers the stored object between the transfer member 337 and the target storage layer.

[0124] In some embodiments, the transport robot also includes a control unit 360 for controlling the operation of the first drive unit 333 and the second drive unit 353 and controlling the movement of the movable base 310.

[0125] See Figure 6 In some embodiments, the movable base 310 includes a main body 312, a first drive wheel set 314 that can move in the same direction along a first direction, and a second drive wheel set 316 that can move in the same direction along a second direction. At least one of the first drive wheel set 314 and the second drive wheel set 316 is vertically mounted on the main body 312 so that the movable base 310 can move in the first direction or the second direction by alternately contacting the moving support surface.

[0126] In one specific implementation, the main body 312 of the movable base 310 is an annular body, extending through both ends along the lifting direction of the transfer device 330. The annular body has an inner annular wall, an outer annular wall, a top wall, and a bottom wall, which together define the internal receiving space 318 (e.g., Figure 11The internal accommodation space 318 can be used to accommodate a communication module, a power module, etc. of the picking robot 300, for example. The main body 312 is shown as a square ring body. It can be understood that the present application is not limited thereto, and the main body can also be a rectangular ring body, an oval ring body, etc. By setting the main body of the movable base as a ring body, the storage object can be loaded or unloaded from above the picking robot 300 when the transfer device 330 is in the retracted state.

[0127] The first driving wheel set 314 and the second driving wheel set 316 are arranged at the bottom of the main body 312. The driving wheels of the first driving wheel set 314 are arranged at the bottom of the main body 312 in the same direction along the first movement direction of the movable base 310 and are driven by one or more driving motors arranged in the internal accommodation space 318. The driving wheels of the second driving wheel set 316 are arranged at the bottom of the main body 312 in the same direction along the second movement direction of the movable base 310 and are driven by another one or more driving motors arranged in the internal accommodation space 318. The first movement direction and the second movement direction can be perpendicular to each other, but the present application is not limited thereto. The first driving wheel set 314 is shown as including four driving wheels, and two driving wheels are arranged on each of a pair of parallel edges of the square main body 312. The second driving wheel set 316 is shown as including four driving wheels, and two driving wheels are arranged on each of another pair of parallel edges of the square main body 312. It can be understood that in other embodiments, the driving wheels on each edge of the square main body 312 can be configured as one or more than two, for example.

[0128] In some embodiments, the driving wheels of the first driving wheel set 314 and the second driving wheel set 316 are installed on the main body 312 in a liftable manner to contact or leave the movement support surface. The lifting direction of the driving wheels is the same as the lifting direction of the transfer device 330. Figure 7 The state in which the driving wheels of the first driving wheel set 314 contact the movement support surface and the driving wheels of the second driving wheel set 316 leave the movement support surface is shown. At this time, the first driving wheel set 314 can move the movable base 310 in the first movement direction in a forward or reverse direction, Figure 8 The state in which the driving wheels of the second driving wheel set 316 contact the movement support surface and the driving wheels of the first driving wheel set 314 leave the movement support surface is shown. At this time, the second driving wheel set 316 can move the movable base 310 in the second movement direction in a forward or reverse direction. It can be understood that the driving motors and the lifting mechanism of the first and second driving wheel sets 316 can be arranged in the internal accommodation space 318 of the main body 312.

[0129] In this way, by controlling the first and second driving wheel sets 314, 316 to alternately contact the movement support surface, the movable base 310 can be moved in different directions. When the retrieval robot 300 is working under the guidance of the platform track system 240 on the top of the storage unit 200, by controlling the first and second driving wheel sets 314, 316 to alternately contact the tracks of the first track set 242 and the tracks of the second track set 244, the retrieval robot 300 can be moved in the first direction X or in the second direction Y.

[0130] In some embodiments, one of the first and second driving wheel sets 314, 316 is mounted on the main body 312 in a manner that can be lifted, for example, each driving wheel of the first driving wheel set 314 is mounted on the main body 312 in a manner that can be lifted, when each driving wheel of the first driving wheel set 314 is lowered to a position below each driving wheel of the second driving wheel set 316, each driving wheel of the first driving wheel set 314 contacts the movement support surface, and each driving wheel of the second driving wheel set 316 is away from the movement support surface, at this time, the first driving wheel set 314 can move the movable base 310 in the first movement direction in a forward or reverse direction; when each driving wheel of the first driving wheel set 314 is raised to a position above each driving wheel of the second driving wheel set 316, each driving wheel of the first driving wheel set 314 is away from the movement support surface, and each driving wheel of the second driving wheel set 316 contacts the movement support surface, at this time, the second driving wheel set 316 can move the movable base 310 in the second movement direction in a forward or reverse direction. It can be understood that, as an alternative, each driving wheel of the second driving wheel set 316 can also be mounted on the main body 312 in a manner that can be lifted, by controlling the lifting of the second driving wheel set 316, the first and second driving wheel sets 314, 316 are controlled to alternately contact the movement support surface.

[0131] In some embodiments, the first and second driving wheel sets 314, 316 are switched from the tracks in the first track set 242 to the tracks in the second track set 244 by differential rotation.

[0132] In some embodiments, the transfer device 330 includes a base body, a transfer member, a first driving device, and a rolling support member driven by the first driving device, the rolling support member is supported by the base body, and the transfer member is in belt transmission connection with the rolling support member.

[0133] Referring to Figures 9 to 12In one implementation, the transfer device 330 is a belt 338 transfer device 330, which includes a drum support 332, a driving drum 334 and a driven drum 336 rotatably supported on the drum support 332, and a belt 338 installed on the driving drum 334 and the driven drum 336. The drum support 332 as the base of the transfer device 330 includes a pair of substantially parallel support rods. The driving drum 334 and the driven drum 336 are supported between the pair of support rods, and the pair of support rods, the driving drum 334 and the driven drum 336 make the transfer device 330 have a shape substantially consistent with the main body 312. The first driving device 333, for example, includes a drum motor, and the stator of the drum motor is arranged inside the driving drum 334, and the driving drum 334 serves as the rotor of the drum motor. The driving drum 334 rotates after the drum motor is powered, and the belt 338 moves under the rolling support of the driving drum 334 and the driven drum 336, so that the storage object can be unloaded from the belt 338 to the target storage layer, or loaded onto the belt 338. It can be understood that in other implementations, the first driving device 333 can also be other types of motors, for example, can be arranged outside the driving drum 334, and a transmission mechanism such as a speed reduction gear train can be arranged between the first driving device 333 and the driving drum 334.

[0134] In some embodiments, the top ends of the pair of support rods 332 are provided with a pair of baffles 339 extending along the moving direction of the belt, which are used to limit the storage object to avoid the storage object from falling off the belt, while not affecting the loading and unloading of the storage object.

[0135] In some embodiments, the lifting device 350 is a rope lifting device, which includes a lifting rope 352 and a second driving device 353. The second driving device 353 can include a driving motor, for example, a rotary motor, installed on the main body 312 of the movable base 310 and arranged in the internal receiving space 318 of the main body 312. The transfer device 330 is suspended at one end of the lifting rope 352, and the other end of the lifting rope 352 is directly or indirectly connected to the output end of the second driving device 353. When the second driving device 353 outputs rotation in a first direction, the lifting rope 352 is wound, and the transfer device 330 is lifted; when the second driving device 353 outputs rotation in a second direction, the lifting rope 352 is unwound, and the transfer device 330 is lowered. By controlling the output rotation amount of the second driving device 353, the winding or unwinding degree of the lifting rope 352 can be controlled, so that the lifting or lowering distance of the transfer device 330 can be controlled. It can be understood that the lifting rope 352 can be a cable, a chain, or a belt, etc.

[0136] As Figure 9 and 10As shown, in one specific implementation, the rope lifting device 350 includes four lifting ropes 352 arranged at the four top corners of the main body 312, and the pair of support rods 332 of the transfer device 330 are respectively hoisted at one end of the four lifting ropes 352, and the other end of the lifting ropes 352 is directly or indirectly connected to the output end of the corresponding second driving device 353; by synchronously winding or unwinding the four lifting ropes 352, the transfer device 330 can be stably lifted or lowered.

[0137] Further, referring to Figure 11 As shown, the vertical dimension of the transfer device 330 is smaller than the vertical dimension of the main body 312, and the overall transverse dimension of the transfer device 330 is smaller than the transverse dimension of the inner hole 313 formed by the inner ring wall 312a of the main body 312, so that the transfer device 330 does not interfere with the main body 312 during lifting, and when the lifting device 350 is in a fully retracted state (in the specific example described above, i.e., the lifting ropes 352 are in a fully wound state), the transfer device 330 is in a retracted state and is accommodated in the inner hole of the main body 312, and the picking and transporting robot 300 is in a flat state. In this way, the picking and transporting robot 300 is more compact in structure and more stable when moving on the platform track system 240.

[0138] In some embodiments, the transfer device 330 is provided with a guide 340 for sliding contact with an external guide rail to guide the lifting of the lifting device 350 and stabilize the transfer device 330 during lifting.

[0139] In the specific implementation as shown, the base body of the transfer device 330 is provided with a guide block 340, and the guide block 340 slides along the guide rail 212 provided on the support 210 of the storage unit 200 during lifting of the transfer device 330, limiting the lifting trajectory of the transfer device 330. It can be understood that the guide block 340 can be provided at part of the top corners or all four top corners of the transfer device 330.

[0140] In some embodiments, the main body 312 of the movable base 310 is provided with a battery 320 (as shown in Figure 5 As shown, for example, in the inner accommodation space 318, which can be used to power the control unit 360, the driving motors of the first driving wheel set 314 and the second driving wheel set 316, the lifting mechanism, and the second driving device 353. The transfer device 330 is provided with an energy storage device 342 (as shown in Figure 5 The energy storage device 342 can be a battery or a capacitor, etc., which can be arranged inside the driving drum 334 or inside the base body. It can be understood that in other embodiments, the picking and transporting robot can also not be provided with an energy storage device, and the first driving device is powered by the battery.

[0141] In some embodiments, the battery 320 of the movable base 310 charges the energy storage device 342 of the transfer device 330. Further, the transport robot 300 is configured such that the energy storage device 342 is electrically disconnected from the battery 320 when the transfer device 330 descends, and electrically connected to the battery 320 when the transfer device 330 is in the retracted state. Thus, when the transfer device 330 is in the retracted state, the battery 320 charges the energy storage device 342; after the transfer device 330 descends to the target position, the energy storage device 342 supplies power to the first drive device 333, causing the transfer member 337 to unload the stored object from the transfer device 330 or load the stored object onto the transfer device 330 under the drive of the first drive device 333.

[0142] like Figures 9 to 11 As shown, in one specific implementation, the transfer device 330 is provided with a first electrical connection terminal 344 connected to the energy storage device 342, and the movable base is provided with a second electrical connection terminal 346 that mates with the first electrical connection terminal 344. The second electrical connection terminal 346 is connected to the battery 320. When the transfer device 330 is in the retracted state, the first electrical connection terminal 344 and the second electrical connection terminal 346 are in contact with each other, making the energy storage device 342 and the battery 320 electrically connected. During the descent movement of the transfer device 330, the first electrical connection terminal 344 and the second electrical connection terminal 346 are separated from each other, making the energy storage device 342 and the battery 320 electrically disconnected. In the figure, the first electrical connection terminal 344 is an electrical connection contact head, and the second electrical connection terminal 346 is an electrical connection contact piece. Understandably, as an alternative, the first electrical connection terminal 344 can be an electrical contact piece, and the second electrical connection terminal 346 can be an electrical contact head; alternatively, the first electrical connection terminal 344 and the second electrical connection terminal 346 can also form other forms of electrical connection structures, such as plug-in type. The energy storage device 342 can be a supercapacitor, configured to provide the power required for one transfer by the transfer device 330 after charging.

[0143] In some embodiments, the vertical top end of the main body 312 of the movable base 310 is provided with an inwardly extending step 312b. The inner wall of the step 312b can be used to limit the storage object and prevent the storage object from falling out of the transport robot 300; the bottom wall of the step 312b can be used to limit the movement of the transfer device 330 in the upward direction.

[0144] like Figures 9 to 11 In the specific implementation shown, the second electrical connection end 346 is located on the bottom wall of the step 312b, and the first electrical connection end 344 is located on the top surface of the base of the transfer device 330 facing the bottom wall of the step 312b. When the transfer device 330 is in the retracted state, the first electrical connection end 344 and the second electrical connection end 346 are in contact and connected in the lifting direction of the transfer device 330.

[0145] In some embodiments, the transfer device is a tilting transfer device, including a base, a tilting disk, and a first drive device for driving the tilting disk. The first drive device is mounted on the base. After the lifting device lowers the transfer device to a position corresponding to the target storage layer, the first drive device drives the tilting disk to tilt, causing the stored object inside the tilting disk to fall into the target storage layer under its own gravity. It is understood that a transmission mechanism, such as a reduction gear, may be provided between the first drive device and the tilting disk.

[0146] In some embodiments, the transfer device is a fork transfer device, including a base, forks, and a first drive device for driving the forks. The first drive device is mounted on the base. After the lifting device lowers the transfer device to a position corresponding to the target storage layer, the first drive device drives the forks to translate, causing the forks to push the stored object laterally to the target storage layer. Alternatively, the first drive device drives the forks to translate to the target storage layer and then move in the opposite direction, causing the forks to pull the stored object from the target storage layer onto the transfer device.

[0147] In some embodiments, the transfer device is a roller transfer device.

[0148] Alternatively, in some embodiments, the lifting mechanism 351 includes a scissor mechanism. One end of the scissor mechanism is mounted to a movable base, and the other end is mounted to the transfer device. The scissor mechanism extends and retracts under the drive of a second drive device, thereby lowering or raising the transfer device. The second drive device may be a drive motor, but is not limited to this.

[0149] Alternatively, in some embodiments, the lifting mechanism 351 includes a multi-stage telescopic mechanism. In one specific implementation, the multi-stage telescopic mechanism includes at least two telescopic arms that are slidably connected in sequence, and the at least two telescopic arms perform nested telescopic movements relative to the movable base under the drive of a second drive device. Alternatively, in some embodiments, the first drive device is configured to drive the transfer member to move forward or backward, such that when the transfer member moves forward, it unloads the stored object from the transfer device to one side, and when it moves backward, it unloads the stored object from the transfer device to the other side; or, it loads the stored object from one side into the transfer device when the transfer member moves forward, and loads the stored object from the other side into the transfer device when it moves backward.

[0150] See Figure 12As shown, in a specific example, the first grid region 252 is located between two adjacent second grid regions 254. One of the two adjacent second grid regions 254 has a first storage column 220A below it, and the other has a second storage column 220B below it. The first drive device 333 of the pick-up and drop robot 300 is configured to drive the transfer member (shown as belt 338 in the figure) to move in both forward and reverse directions, so that when the transfer member 337 moves in the forward direction, it unloads the stored object from the transfer device 330 to the target storage layer of the first storage column 220A, and when it moves in the reverse direction, it unloads the stored object from the transfer device 330 to the target storage layer of the second storage column 220B; or, when the transfer member 337 moves in the forward direction, it loads the stored object of the target storage layer of the first storage column 220A to the transfer device 330, and when it moves in the reverse direction, it loads the stored object of the target storage layer of the second storage column 220B to the transfer device 330.

[0151] One embodiment of this application also provides a warehousing method, which can be applied, for example but not limited to, the management equipment or pick-up and drop-off robot described above, the method comprising:

[0152] The retrieval robot equipped with a transfer device is controlled to move along the track system on top of the storage unit to the target position, so as to control the retrieval robot to lower the transfer device to the position corresponding to the target storage layer of the target storage column on the side of the target position, so as to transfer the stored objects between the target storage layer and the target storage layer.

[0153] Understandably, when the above method is applied to management equipment, the management equipment sends scheduling instructions to the pick-up and drop-off robot, which responds to the instructions and moves along the track system to the target location. The management equipment can select a suitable pick-up and drop-off robot from multiple robots for scheduling according to a preset strategy. Understandably, the management equipment may include one or more management terminals and / or one or more management servers. The scheduling instructions sent by the management equipment to the pick-up and drop-off robot are not limited to a single instruction, but may also be a combination of multiple instructions.

[0154] Understandably, when the above method is applied to a pickup robot, the pickup robot receives scheduling instructions sent by the management device and moves along the track system to the target position in response to the scheduling instructions.

[0155] The warehousing method of this application can be applied, for example, to the sorting process. Another embodiment of the warehousing method of this application includes:

[0156] SA10 controls a pick-up robot equipped with a transfer device to retrieve sorted goods at a transfer port located at the edge of a track system at the top of the storage unit.

[0157] In some embodiments, the objects to be sorted are transported to a predetermined feeding position at the top of the storage unit so that the sorted goods are separated from the objects to be sorted and placed into a pick-up robot at the transfer port.

[0158] In some embodiments, the objects to be sorted are transported to a predetermined feeding position on the ground control platform of the elevator, and the lifting conveyor that controls the elevator transfers the sorted goods separated from the objects to be sorted from the ground control platform to the transfer port. The predetermined feeding position on the ground control platform can be on the ground control platform or at a location next to the ground control platform.

[0159] SA20: Obtain the location information of the sorted goods to be delivered, including information on the target storage column and the target storage layer.

[0160] SA30 controls the transport robot to move along the track system to the target location adjacent to the target storage column.

[0161] SA40 controls the transport robot to lower the transfer device to the position corresponding to the target storage layer of the target storage column to the side of the target location.

[0162] In some embodiments, the transport robot can determine the descent distance of the transfer device based on the target storage layer information, and control the lifting device for raising and lowering the transfer device accordingly based on the descent distance.

[0163] In some embodiments, the retrieval robot can detect in real time whether it has reached the target storage layer during the descent. For example, it can detect preset marks corresponding to each storage layer set on the shelf or support during the descent, or detect preset marks on the cargo boxes of each storage layer, until the preset mark corresponding to the target storage layer is detected, then it is determined that the target descent position has been reached.

[0164] SA50 controls the transfer device to unload sorted goods to the target storage layer, for example, unloading a box containing sorted goods to the target storage layer, or unloading sorted goods into a box at the target storage layer.

[0165] The above embodiments will be further described below with reference to several specific application scenarios.

[0166] In one application, multiple orders can be aggregated into a single aggregate order. The types and / or quantities of goods required for the aggregate order are tallied to obtain the corresponding goods to be sorted. Then, the goods required for each order are sorted from the goods to be sorted into the corresponding order boxes. Correspondingly, another embodiment of the warehousing method of this application includes:

[0167] SB10. Based on multiple orders, determine the types and / or quantities of goods required.

[0168] SB20. According to the type and / or data of the required goods, the corresponding objects to be sorted are transported to the predetermined feeding position so that the sorted goods are separated from the objects to be sorted and placed into the pick-up and drop-off robot at the transfer port.

[0169] SB30: Obtain the target storage column and target storage layer corresponding to the target order that needs to be sorted among multiple orders.

[0170] SB40: Control the transport robot to move along the track system to the target location adjacent to the target storage column.

[0171] SB50: Control the transport robot to lower the transfer device to the position corresponding to the target storage layer of the target storage column to the side of the target position.

[0172] SB60, Control the transfer device to unload order boxes containing sorted goods to the target storage layer, or unload sorted goods to order boxes in the target storage layer.

[0173] In another application, single SKU items can be sorted into multiple order boxes. Correspondingly, another embodiment of the warehousing method of this application includes:

[0174] SC10: Transporting a sorting object containing multiple items of the same SKU to a predetermined feeding position so that the SKU items are sorted from the sorting object and placed into a pick-up robot at the transfer port.

[0175] SC20. Obtain information about the target storage column and target storage layer corresponding to the target order that requires the SKU product among multiple orders.

[0176] SC30 controls the transport robot to move along the track system to the target location adjacent to the target storage column.

[0177] SC40 controls the transport robot to lower the transfer device to the position corresponding to the target storage layer of the target storage column to the side of the target location.

[0178] SC50 controls the transfer device to unload SKU products into the order box at the target storage layer.

[0179] In another application, various types of goods can be sorted according to the goal of one SKU per box, multiple items of the same SKU per box, or one type of product per box. Correspondingly, another embodiment of the warehousing method of this application includes:

[0180] SD10 transports a sorting object containing multiple types of goods to a predetermined feeding position so that the sorted goods are separated from the sorting object and placed into the pick-up and drop-off robot at the transfer port.

[0181] SD20: Obtain the target storage column and target storage layer corresponding to the sorted object. The sorted object can be sorted goods or a sorting box containing sorted goods; for example, a sorted goods can be a single SKU.

[0182] SD30 controls the transport robot to move along the track system to the target location adjacent to the target storage column.

[0183] SD40 controls the transport robot to lower the transfer device to the position corresponding to the target storage layer of the target storage column to the side of the target location.

[0184] SD50 controls the transfer device to unload the sorted objects to the target storage layer or the target sorting box at the target storage layer.

[0185] For example, if the sorted item is a single SKU, the transfer device unloads the SKU to a target storage layer, which is used solely to store this SKU.

[0186] For example, if the sorted item is a single SKU, the transfer device unloads the SKU into a target sorting box in the target storage layer. This target sorting box is used to store goods of the same type or the same SKU.

[0187] For example, after sorting, the object is a sorting box containing the sorted goods, and the transfer device unloads the sorting box to the target storage layer.

[0188] In some embodiments, the track system includes a first track group extending along a first direction and a second track group extending along a second direction. The first track group and the second track group together form multiple grids on the top of the storage unit. The multiple grids form a first grid area and a second grid area. Multiple storage columns are distributed below the second grid area, and the storage columns have multiple storage layers.

[0189] In some embodiments, before controlling the pick-up robot with a transfer device to move along the track system on top of the storage unit to the target position on the track system, the method further includes:

[0190] Determine the target storage column corresponding to the stored object; and,

[0191] Based on the pre-stored map data of the track system, the corresponding data of multiple storage columns and grids in the second grid area, the target grid adjacent to the target storage column in the first grid area is determined. The target grid is the target position of the transport robot moving along the track system.

[0192] The map data of the orbital system includes distribution data of multiple grids, distribution data of the first and second orbital groups, distribution data of the first grid area, and distribution data of the second grid area.

[0193] In some embodiments, controlling a pickup robot equipped with a transfer device to move along a track system atop a storage unit to a target position on the track system includes:

[0194] The movement path of the pickup robot on the track system is determined based on the distribution data of the target grid adjacent to the target storage column in the first grid region, the first track group, and the second track group, as well as the current position of the pickup robot; and,

[0195] Control the pick-up and transport robot to move to the target grid according to the motion path.

[0196] In some embodiments, the warehousing method further includes controlling a retrieval robot to load or unload the stored objects at a transfer port located at the edge of the track system. By controlling the retrieval robot to load or unload the stored objects at the top of the storage unit, allowing the retrieval robot to move only within the top track system of the storage unit, the turnover rate of the retrieval robot can be improved, thereby increasing the efficiency of inventory or retrieval.

[0197] In some embodiments, the warehousing method further includes controlling a pickup robot to load or unload stored objects from above at a transfer port located at the edge of the track system. For example, when the pickup robot is configured as... Figures 6 to 10 In the structure shown, at the transfer port 256, the transfer mechanism of the pick-up and drop robot 300 retracts into the annular body of the movable base, and the stored object can be loaded into the transfer device or unloaded from the transfer device through the opening at the upper end of the annular body.

[0198] In some embodiments, the warehousing method further includes transferring the stored object between a pick-up robot at a sub-packaging port and a ground control panel or automated conveyor line.

[0199] In some embodiments, the warehousing method further includes: determining whether each storage location in the shelf has completed the loading or unloading of the corresponding stored object; if so, issuing a move shelf instruction; wherein the shelf is an integrated movable shelf formed by one or more storage columns. For example, after each storage location in the shelf has completed the placement of the corresponding stored object, a move shelf notification is issued to instruct operator 504 to move the shelf out for further processing; for example, in an application where the shelf is used as a seeding wall, the goods in the seeding wall are seeded into the corresponding order box; for example, in an application where the shelf stores order boxes, the shelf is moved to the verification and packaging area.

[0200] In some embodiments, the retrieval robot has a first drive wheel set that can move in the same direction as a first direction, and a second drive wheel set that can move in the same direction as a second direction; controlling the retrieval robot with a transfer device to move along a track system on top of the storage unit includes:

[0201] Control the first drive wheel set to leave the track system's track, and control the second drive wheel set to drive the pick-up and drop robot to move along the track in the second track set; or,

[0202] Control the second drive wheel group to leave the track of the track system, and control the first drive wheel group to drive the pick-up and transport robot to move along the track in the first track group.

[0203] In some embodiments, the method further includes: controlling the transport robot to charge the energy storage device of the transfer device during its movement along the track system. For example, when using the transport robot shown in the figure, during the movement of the transport robot along the track system, the first connecting end contacts the second connecting end, and the battery of the transport robot charges the energy storage device so that the energy storage device can provide sufficient power to the first drive device when the transfer device performs the next transfer, so that the first drive device can drive the transfer component to complete the transfer.

[0204] In some embodiments, the method further includes: determining the transfer direction of the transfer device based on the adjacency relationship between the target location and the target storage column, so as to control the transfer device to transfer the stored object between the target storage layer according to the transfer direction. For example, using... Figures 6 to 10 In the case of the transport robot shown in the figure, when the transport robot is located at mark 4 and the target storage column is 4_L (meaning the target position is adjacent to the right side of the target storage column), and the determined unloading direction is to the left, the drive roller can be rotated counterclockwise, and the drive belt can be moved to the left to unload the stored object into the target storage column 4_L. If the transport robot is located at mark 4 and the target storage column is 4_R (meaning the target position is adjacent to the left side of the target storage column), and the determined unloading direction is to the right, the drive roller can be rotated clockwise, and the drive belt can be moved to the right to unload the stored object into the target storage column 4_R.

[0205] Another embodiment of the warehousing system of this application includes at least one storage unit and at least one pickup robot:

[0206] The storage unit includes a support frame, a platform track system located at the top of the support frame, and multiple storage columns located below the platform track system, the storage columns having multiple storage layers arranged vertically.

[0207] A pick-and-load robot with a transfer device is used to lower the transfer device to a position corresponding to the target storage layer of the target storage column on the side after moving to the target position of the platform track system, and unload the stored object from the transfer device to the target storage layer or load the stored object from the target storage layer to the transfer device.

[0208] This application also provides a management device control unit 600, including: at least one processor 610 and at least one memory 620, wherein the at least one memory 610 stores executable code, and when the executable code is executed by the at least one processor 610, the at least one processor 610 performs part or all of the methods described above. It is understood that the management device may be a management terminal or a management server, or it may be a collection of one or more management terminals and / or one or more management servers.

[0209] This application also provides a pickup robot control unit 360, including: at least one processor 362 and at least one memory 364, wherein at least one memory 364 stores executable code, and when the executable code is executed by at least one processor 362, at least one processor 362 performs part or all of the methods described above.

[0210] Processor 610 or 362 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0211] The memory 620 or 364 may include various types of storage units, such as system memory, read-only memory (ROM), and permanent storage devices. ROM may store static data or instructions required by the processor or other modules of the computer. Permanent storage devices may be read-write storage devices. Permanent storage devices may be non-volatile storage devices that retain stored instructions and data even when the computer is powered off. In some embodiments, permanent storage devices use mass storage devices (e.g., magnetic or optical disks, flash memory) as permanent storage devices. In other embodiments, permanent storage devices may be removable storage devices (e.g., floppy disks, optical drives). System memory may be a read-write storage device or a volatile read-write storage device, such as dynamic random access memory. System memory may store some or all of the instructions and data required by the processor during operation. Furthermore, the memory may include any combination of computer-readable storage media, including various types of semiconductor memory chips (DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and disks and / or optical disks may also be used. In some implementations, the memory may include removable storage devices that are readable and / or writable, such as laser discs (CDs), read-only digital multifunction optical discs (e.g., DVD-ROMs, dual-layer DVD-ROMs), read-only Blu-ray discs, ultra-high density optical discs, flash memory cards (e.g., SD cards, mini SD cards, Micro-SD cards, etc.), magnetic floppy disks, etc. Computer-readable storage media do not contain carrier waves or transient electronic signals transmitted wirelessly or via wired connections.

[0212] Furthermore, the method according to this application can also be implemented as a computer program or computer program product, which includes computer program code instructions for performing some or all of the steps in the method described above.

[0213] Alternatively, this application may be implemented as a non-transitory machine-readable storage medium (or computer-readable storage medium, or machine-readable storage medium) storing executable code (or computer program, or computer instruction code) thereon, which, when executed by a processor of an electronic device (or electronic device, server, etc.), causes the processor to perform part or all of the steps of the above-described method according to this application.

[0214] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

[0215] The technical solution according to this application has been described in detail above with reference to the accompanying drawings.

[0216] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A warehousing method, characterized in that, include: Control the retrieval robot equipped with a transfer device to move along the track system at the top of the storage unit to the target position of the track system, so as to control the retrieval robot to lower the transfer device to the position corresponding to the target storage layer of the target storage column to the side of the target position, so as to transfer the stored object between the target storage layer and the target storage layer; The storage unit includes a support frame, a platform track system located at the top vertically of the support frame, and multiple storage columns located below the platform track system. The support frame and the platform track system form an integral structure. Each storage column has multiple storage layers arranged vertically. The retrieval robot, after moving to the target position on the platform track system, lowers the transfer device to a position corresponding to the target storage layer of the target storage column on the side, unloading the stored object from the transfer device to the target storage layer or loading the stored object from the target storage layer to the transfer device. At least two of the storage columns of the shelf unit form an integral structure that can move relative to the support frame as a whole, or at least two of the storage columns of the shelf unit form an integral structure with the support frame. The transport robot is flat and includes a movable base and a transfer device. The movable base is used to drive the transport robot to move. The main body of the movable base is a ring-shaped body that extends through both ends along the lifting direction of the transfer device. The vertical dimension of the transfer device is smaller than the vertical dimension of the movable base. The overall lateral dimension of the transfer device is smaller than the lateral dimension of the inner hole formed by the inner ring wall of the ring-shaped body. When the transfer device is retracted, it is housed in the inner hole.

2. The method as described in claim 1, characterized in that, The track system includes a first track group extending along a first direction and a second track group extending along a second direction. The first track group and the second track group together form multiple grids on the top of the storage unit. The multiple grids form a first grid area and a second grid area. Multiple storage columns are distributed below the second grid area. The storage columns have multiple storage layers. Before the control of the pick-up and drop robot equipped with a transfer device to move along the track system on top of the storage unit to the target position of the track system, the method further includes: Determine the target storage column corresponding to the stored object; and Based on the pre-stored map data of the track system and the corresponding data of the multiple storage columns and the grids in the second grid area, the target grid in the first grid area that is adjacent to the target storage column is determined. The target grid is the target position of the retrieval robot moving along the track system. The map data includes distribution data of the multiple grids, distribution data of the first track group and the second track group, distribution data of the first grid area, and distribution data of the second grid area.

3. The method as described in claim 2, characterized in that, The control of the pick-up and drop robot equipped with a transfer device to move along the track system at the top of the storage unit to the target position of the track system includes: The movement path of the retrieval robot on the track system is determined based on the distribution data of the target grid, the first track group, and the second track group, and the current position of the retrieval robot; and, Control the transport robot to move to the target grid according to the motion path.

4. The method as described in claim 1, characterized in that, Also includes: The robot is controlled to load or unload the stored object at the transfer port located at the edge of the track system.

5. The method as described in claim 4, characterized in that, The transport robot is configured to load or unload the stored object from above at the sub-packing port.

6. The method as described in claim 4, characterized in that, Also includes: The stored object is transferred between the pick-up and drop-off robot at the sub-packaging port and the ground operating table or automated conveyor line.

7. The method as described in claim 1, characterized in that, Also includes: Determine whether each storage location in the shelf has completed the loading or unloading of the corresponding stored object. If all have completed, issue a notification to move the shelf. The shelf is an integrated movable shelf formed by one or more of the storage columns.

8. The method according to any one of claims 1 to 7, characterized in that, Before controlling the pick-up robot with a transfer device to move along the track system on top of the storage unit to the target position of the track system, the method further includes: controlling the pick-up robot to obtain the sorted goods at the transfer port located at the edge of the track system, and obtaining the location information of the sorted goods to be delivered, the location information including the information of the target storage column and the target storage layer; After controlling the pick-up and transport robot to lower the transfer device to the position corresponding to the target storage layer of the target storage column to the side of the target position, the method further includes: controlling the pick-up and transport robot to unload the sorted goods into the target storage layer.

9. The method as described in claim 8, characterized in that, Before the control of the pick-up and drop-off robot to obtain the sorted goods at the transfer port located at the edge of the track system, the method further includes: The items to be sorted are transported to a predetermined feeding position at the top of the storage unit, so that the sorted goods are separated from the items to be sorted and placed into the pick-up robot at the transfer port; or... The object to be sorted is transported to a predetermined supply position on the ground operating platform of the elevator, and the lifting conveyor of the elevator transfers the sorted goods separated from the object to be sorted from the ground operating platform to the transfer port.

10. The method as described in claim 8, characterized in that: Before the control of the pick-up and drop-off robot to obtain the sorted goods at the transfer port located at the edge of the track system, the method further includes: Based on multiple orders, determine the types and / or quantities of goods required; According to the type and / or data of the required goods, the corresponding items to be sorted are transported to the designated package location; The system obtains information about the target storage column and target storage layer corresponding to the target order that requires the sorted goods among the multiple orders, so as to control the pickup robot to unload the order box containing the sorted goods to the target storage layer of the target storage column, or to unload the sorted goods to the order box in the target storage layer of the target storage column.

11. The method as described in claim 8, characterized in that: Before the control of the pick-up and drop-off robot to obtain the sorted goods at the transfer port located at the edge of the track system, the method further includes: The sorting object containing multiple items of the same SKU is transported to a predetermined feeding position so that the SKU items are sorted from the sorting object and placed into the pick-up robot at the transfer port; Information on the target storage column and target storage layer corresponding to the target order that requires the SKU product among multiple orders is obtained, so as to control the pickup robot to unload the SKU product into the order box at the target storage layer.

12. The method as described in claim 8, characterized in that: Before the control of the pick-up and drop-off robot to obtain the sorted goods at the transfer port located at the edge of the track system, the method further includes: The sorting object containing multiple types of goods is transported to a predetermined supply position, so that the picking robot can obtain the sorted goods sorted from the sorting object at the transfer port. The target storage column and target storage layer corresponding to the sorted object are obtained so that the pick-and-carry robot can unload the sorted object to the target storage layer or the target sorting box at the target storage layer; wherein, the sorted object is sorted goods or an object containing sorted goods, and the target sorting box is used to place goods of the same type or the same SKU.

13. The method as described in claim 2, characterized in that, The pick-and-load robot has a first drive wheel set that can move in the same direction as the first direction, and a second drive wheel set that can move in the same direction as the second direction; The control of the transport robot equipped with a transfer device to move along the track system at the top of the storage unit includes: Control the first drive wheel group to leave the track of the track system, and control the second drive wheel group to drive the pick-up and transport robot to move along the track in the second track group; or, Control the second drive wheel set to leave the track of the track system, and control the first drive wheel set to drive the pick-up and transport robot to move along the track in the first track set.

14. The method as described in claim 1, characterized in that, Also includes: The energy storage device of the transfer device is charged as the transport robot moves along the track system.

15. The method as described in claim 1, characterized in that, Also includes: Based on the adjacent position relationship between the target location and the target storage column, the transfer direction of the transfer device is determined, so as to control the transfer device to transfer the stored object between the target storage layer according to the transfer direction.

16. A management equipment control unit, characterized in that, include: At least one processor; as well as At least one memory having executable code stored thereon, which, when executed by the at least one processor, causes the at least one processor to perform the method as described in any one of claims 1 to 12.

17. A pick-and-place robot control unit, characterized in that, include: At least one processor; as well as At least one memory having executable code stored thereon, which, when executed by the at least one processor, causes the at least one processor to perform the method as described in any one of claims 1 to 4 and 13-15.

18. A warehousing system, characterized in that, Includes at least one storage unit and at least one pick-up robot with a transfer device: The storage unit includes a support frame, a platform track system located at the top of the support frame, and multiple storage columns located below the platform track system. Each storage column has multiple storage layers arranged vertically. The retrieval robot, after moving to a target position on the platform track system, lowers the transfer device to a position corresponding to a target storage layer in the target storage column to unload objects from the transfer device onto the target storage layer or load objects from the target storage layer onto the transfer device. The support frame and the platform track system form an integral structure. At least two storage columns of the shelf unit form an integral structure that can move relative to the support frame as a whole; or, at least two storage columns of the shelf unit form an integral structure with the support frame. The transport robot is flat and includes a movable base and a transfer device. The movable base is used to drive the transport robot to move. The main body of the movable base is a ring-shaped body that extends through both ends along the lifting direction of the transfer device. The vertical dimension of the transfer device is smaller than the vertical dimension of the movable base. The overall lateral dimension of the transfer device is smaller than the lateral dimension of the inner hole formed by the inner ring wall of the ring-shaped body. When the transfer device is retracted, it is housed in the inner hole.

19. The system as described in claim 18, characterized in that: The storage unit includes shelf units spaced apart along a first direction, and the shelf units include at least two storage columns arranged along a second direction; The target location corresponds to the interval area between the shelf units arranged at intervals along the first direction.

20. The system as described in claim 19, characterized in that: At least two of the storage columns of the shelving unit form an integral structure that is movable relative to the support as a whole; The support frame and the shelf unit do not interfere with each other in the second direction, so that the shelf unit can be moved out of the storage unit as a whole along the second direction.

21. The system as described in claim 18, characterized in that: The system includes multiple storage units, and multiple platform track systems of the multiple storage units are connected to each other, so that the retrieval robot can move between the platform track systems.

22. The system as described in claim 19, characterized in that: The support and / or shelf unit is provided with guide rails for guiding the transfer device up and down.

23. The system as described in claim 18, characterized in that, The platform track system has a transfer port at its edge for the loading or unloading of the stored objects by the transport robot.

24. The system as described in claim 23, characterized in that, Also includes: The elevator includes a ground control platform and a lifting and conveying device for transferring the stored object between the ground control platform and a pick-up and drop-off robot at the transfer port; And / or, A ladder is provided to allow operators to access the subcontracting port to deliver the stored object to the receiving robot there; and / or, An automated conveyor line, highly matched to the platform's track system, is used to automatically deliver storage objects to the pick-up and drop-off robot at the subcontracting port, or to provide storage objects to the operator on the ladder, so that the operator can manually deliver the storage objects to the pick-up and drop-off robot at the subcontracting port.

25. The system according to any one of claims 18 to 23, characterized in that, The platform track system includes a first track group and a second track group. The first track group includes multiple tracks extending along a first direction, and the second track group includes multiple tracks extending along a second direction. The multiple tracks of the first track group and the multiple tracks of the second track group form multiple grids, which form a first grid region and a second grid region. The target storage column is located below the second grid region.

26. The system according to any one of claims 18 to 23, characterized in that, The transfer device includes a transfer component and a first drive device for driving the transfer component; The transport robot further includes a lifting device, comprising a lifting mechanism and a second drive device for driving the lifting mechanism. The lifting mechanism is connected to the transfer device. The second drive device is mounted on the movable base and is used to drive the lifting mechanism to lower the transfer device relative to the movable base to a position corresponding to the target storage layer, so that the transfer device, driven by the first drive device, unloads the stored object from the transfer device to the target storage layer or loads the stored object from the target storage layer to the transfer device.

27. The system as claimed in claim 26, characterized in that, The first driving device is configured to drive the transfer member to move in a forward or reverse direction, such that when the transfer member moves in the forward direction, it unloads the stored object from the transfer device to one side, and when it moves in the reverse direction, it unloads the stored object from the transfer device to the other side; or, such that when the transfer member moves in the forward direction, it loads the stored object on one side into the transfer device, and when it moves in the reverse direction, it loads the stored object on the other side into the transfer device.

28. The system as described in claim 26, characterized in that, The movable base includes a main body, a first drive wheel assembly that can move in the same direction along a first direction, and a second drive wheel assembly that can move in the same direction along a second direction. The first drive wheel assembly and / or the second drive wheel assembly are detachably mounted on the main body.

29. The system as claimed in claim 26, characterized in that, The retrieval robot also includes an energy storage device for powering the first drive unit, the energy storage device being connected to a battery mounted on the movable base.

30. The system as described in claim 29, characterized in that: The energy storage device is installed on the transfer device; the transfer device is provided with a first electrical connection terminal connected to the energy storage device, and the movable base is provided with a second electrical connection terminal connected to the battery. The first electrical connection terminal and the second electrical connection terminal are configured to be in contact when the transfer device is in the retracted state and to be separated during the descent movement of the transfer device.

31. A sorting and processing system, characterized in that, The system includes the warehousing system as described in any one of claims 18 to 30; wherein the picking robot is configured to load sorted goods at the loading port and unload the sorted goods into the target storage layer after the transfer device descends to a position corresponding to the target storage layer.

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