Method, system and computer-readable storage medium for transporting goods in and out of warehouse

Abstract

The method, system and computer-readable storage medium for conveying goods in and out of the warehouse provided in the embodiments of the present application are applied to the conveying equipment of goods, the conveying equipment including a handling robot and an entry device, a transfer device and an exit device arranged in sequence along a first direction, the conveying method including the following steps: controlling the handling robot to transport the goods to be exited from the warehouse to the transfer device; controlling the transfer device to transport the goods to be exited to the exit device; judging whether the entry device has goods to be entered; if so, controlling the entry device to transport the goods to be entered to the transfer device; controlling the handling robot to transport the goods to be entered that have been transported to the transfer device to exit the warehouse; thus, only one handling robot needs to travel a distance between the warehouse and the transfer device to realize the exit of the goods to be exited and the entry of the goods to be entered, thereby effectively improving the efficiency of the handling robot.

Description

Technical Field

[0001] The present application belongs to the field of warehouse management technology, and in particular relates to a method, system and computer-readable storage medium for transporting goods in and out of a warehouse. Background Art

[0002] As logistics transportation has higher and higher requirements for timeliness and labor costs are getting more and more expensive, automated logistics transportation equipment has been widely used. For example, the use of unloaders and matching handling robots has replaced traditional manual handling and improved warehouse picking efficiency.

[0003] Currently, automated logistics conveying equipment on the market generally uses a single-in, single-out model. During the process of goods entering and leaving the warehouse, the incoming goods are delivered to the handling robot through the inbound equipment, and the handling robot then transports the goods to the warehouse for storage. Alternatively, the handling robot transports the goods to the outbound equipment and then transports them out of the warehouse. However, this method requires at least two handling robots to complete the inbound and outbound operations, which reduces the handling efficiency of the handling robots. Summary of the Invention

[0004] The embodiments of the present application provide a method, system, and computer-readable storage medium for transporting goods in and out of a warehouse, which can improve the transport efficiency of a transport robot.

[0005] In a first aspect, an embodiment of the present application provides a method for conveying goods in and out of a warehouse, which is applied to a cargo conveying device, the conveying device including a handling robot and an inbound device, a transfer device, and an outbound device arranged in sequence along a first direction. The method includes the following steps:

[0006] Control the handling robot to move the goods to be shipped from the warehouse to the transfer device;

[0007] Control the transfer device to transport the goods to be shipped to the shipping device;

[0008] Determine whether the storage device has goods to be stored;

[0009] If so, control the warehousing device to transport the goods to be warehousing to the transfer device;

[0010] Control the handling robot to transport the goods to be stored that have been delivered to the transfer device to the warehouse.

[0011] As a specific embodiment, the transfer device includes a plurality of conveying components arranged in sequence along the second direction, the transport robot includes a robot body and a transport component fixedly arranged on the robot body, the transport component includes a plurality of placement components, and the plurality of placement components are arranged in a one-to-one correspondence with the plurality of conveying components. The second direction intersects with the first direction. Before the step of controlling the transport robot to transport the goods to be shipped out of the warehouse to the transfer device, the step further includes:

[0012] Controlling at least one storage component of the transport robot to transport goods to be shipped out;

[0013] The multiple storage components of the handling robot are controlled to dock with the multiple conveying components of the transfer device one by one to transfer the goods to be shipped to the transfer device.

[0014] As a specific embodiment, the step of controlling the transport robot to transport the goods to be shipped to the transfer device includes:

[0015] Control the handling robot to carry the goods to be shipped to the waiting station of the transfer device;

[0016] Determine whether there are other robots working at the transfer station of the transfer device;

[0017] If so, control the transport robot at the waiting station to wait until the other robot leaves the transfer station;

[0018] If not, control the transport robot at the waiting site to transport the goods to be shipped to the transfer site, and transfer the goods to be shipped to the transfer device.

[0019] As a specific embodiment, before the step of controlling the transfer device to transport the goods to be shipped to the shipping device, the method further includes:

[0020] Determine whether the outbound device is docked with the transfer device;

[0021] If so, executing the step of controlling the transfer device to transport the goods to be shipped to the shipping device;

[0022] If not, the transfer device is controlled to wait for the outbound device to dock with the transfer device.

[0023] As a specific implementation, after the step of controlling the transfer device to wait for the outbound device to dock with the transfer device, the following steps are further included:

[0024] If the outbound device fails to dock with the transfer device after the transfer device has waited for the preset time, a manual docking operation will be prompted.

[0025] As a specific embodiment, after the step of controlling the transfer device to transport the goods to be shipped to the shipping device, the method further includes:

[0026] Control the outbound device to transport the goods to be outbound to the outbound conveyor line;

[0027] Control the outbound device to re-dock with the transfer device.

[0028] As a specific embodiment, after the step of controlling the outbound device to convey the goods to be outbound to the outbound conveyor line, the method further includes:

[0029] Control the sensing device on the outbound conveyor line to sense the code of the goods to be shipped, and verify whether the goods to be shipped corresponding to the code belong to the preset outbound task;

[0030] If yes, control the outbound conveyor line to transport the goods to be outbound to the manual operation table and perform the picking and outbound action;

[0031] If not, prompt manual intervention to return the goods to be shipped.

[0032] As a specific embodiment, after the step of determining whether the storage device has goods to be stored, the method further includes:

[0033] If not, control the transport robot located at the transfer device to return to the warehouse.

[0034] In the second aspect, an embodiment of the present application provides a conveying system for goods entering and leaving the warehouse, the conveying system includes a conveying device and a control terminal, the control terminal includes a memory, a processor, and a conveying program for goods entering and leaving the warehouse stored in the memory and runnable on the processor, and when the conveying program for goods entering and leaving the warehouse is executed by the processor, the steps of any one of the above-mentioned methods for conveying goods entering and leaving the warehouse are implemented.

[0035] In a third aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a program for transporting goods in and out of a warehouse is stored. When the program for transporting goods in and out of a warehouse is executed by a processor, the steps of any of the above-mentioned methods for transporting goods in and out of a warehouse are implemented.

[0036] The embodiment of the present application provides a method for conveying goods in and out of the warehouse, which uses a handling robot to transport the goods to be shipped out in the warehouse to a transfer device, and the transfer device transports the goods to be shipped out to the out-warehouse device, thereby realizing the out-of-warehouse of the goods to be shipped out; at the same time, after the handling robot transports the goods to be shipped out to the transfer device, it determines whether the in-warehouse device has goods to be shipped in. If so, the in-warehouse device is controlled to transport the goods to be shipped in to the transfer device, and the handling robot located at the transfer device is controlled to transport the goods to be shipped in on the transfer device to the warehouse, so that after the handling robot transports the goods to be shipped out to the transfer device for shipping out, the handling robot can also transport the goods to be shipped in to the warehouse, so that only one handling robot needs to travel one distance between the warehouse and the transfer device to realize the out-of-warehouse and the shipping of the goods to be shipped out and the shipping of the goods to be shipped in, which effectively improves the efficiency of the handling robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0038] Figure 1 is a schematic structural diagram of a conveying device provided in some embodiments of the present application;

[0039] Figure 2 This is a flow chart of a method for transporting goods in and out of a warehouse provided by some embodiments of the present application;

[0040] Figure 3 This is another flow chart of the method for transporting goods in and out of a warehouse provided by some embodiments of the present application;

[0041] Figure 4 This is a schematic diagram of a specific process of S1 of the method for transporting goods in and out of a warehouse provided in some embodiments of the present application;

[0042] Figure 5 This is another flow chart of the method for transporting goods in and out of a warehouse provided by some embodiments of the present application;

[0043] Figure 6 This is another flow chart of the method for transporting goods in and out of a warehouse provided by some embodiments of the present application;

[0044] Figure 7 This is another flow chart of the method for transporting goods in and out of a warehouse provided by some embodiments of the present application;

[0045] Figure 8 This is a flow chart of verifying goods to be shipped out in the method for transporting goods in and out of a warehouse provided in some embodiments of the present application. DETAILED DESCRIPTION

[0046] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only configured to explain the present application and are not configured to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is merely to provide a better understanding of the present application by illustrating the examples of the present application.

[0047] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, the elements defined by the phrase "comprising..." do not exclude the presence of other identical elements in the process, method, article, or device comprising the elements.

[0048] In order to solve the problems of the prior art, the embodiments of the present application provide a method, system and computer-readable storage medium for transporting goods in and out of a warehouse. The following first introduces the method for transporting goods in and out of a warehouse provided by the embodiments of the present application.

[0049] Figure 1 shows a schematic structural diagram of a conveying device provided in some embodiments of the present application, Figure 2 A flow chart of a method for transporting goods in and out of a warehouse provided in some embodiments of the present application is shown.

[0050] like Figure 1 and Figure 2 As shown, in the first aspect, the embodiment of the present application provides a method for transporting goods in and out of a warehouse, which is applied to a conveying device 100 for goods. The conveying device 100 includes a handling robot (not shown) and an inbound device 110, a transfer device 120, and an outbound device 130 arranged in sequence along a first direction. The conveying method includes the following steps:

[0051] S1. Control the transport robot to transport the goods to be shipped out of the warehouse to the transfer device 120.

[0052] First, the transport robot is controlled to carry the goods to be shipped out in the warehouse, and the transport robot is controlled to travel along a preset path to the transfer device 120 to transfer the goods to be shipped out to the transfer device 120 .

[0053] S2. Control the transfer device 120 to transport the goods to be shipped to the shipping device 130.

[0054] After the transfer device 120 receives the goods to be shipped carried by the transport robot, the transfer device 120 is controlled to operate and transport the goods to be shipped along the first direction, so that the goods to be shipped located on the transfer device 120 are transported to the shipping device 130 .

[0055] S3. Determine whether there are goods to be put into the warehouse in the warehouse-entering device 110.

[0056] After the transport robot delivers the goods to be shipped to the transfer device 120, and the transfer device 120 delivers the goods to be shipped to the shipping device 130, it can be determined whether there are goods to be shipped on the storage device 110. Specifically, the storage device 110 can be inspected by a camera, an infrared sensor, or other sensing device to identify whether there are goods to be shipped on the storage device 110.

[0057] S4. If yes, control the warehousing device 110 to transport the goods to be warehousing to the transfer device 120.

[0058] If it is determined that there are goods to be put into storage on the storage device 110 , the storage device 110 can be controlled to transport the goods to be put into storage to the transfer device 120 .

[0059] S5. Control the transport robot to transport the goods to be stored that have been delivered to the transfer device 120 to the warehouse.

[0060] When it is detected that there are goods to be stored on the storage device 110 and the storage device 110 is controlled to transport the goods to be stored to the transfer device 120, the transport robot is controlled to transport the goods to be stored to the warehouse, thereby completing the storage of the goods to be stored.

[0061] It can be understood that the handling robot that transports the goods to be entered into the warehouse at this time is the handling robot that transports the goods to be shipped out of the warehouse to the transfer device 120. That is, after the aforementioned handling robot transports the goods to be shipped out of the warehouse to the transfer device 120, after the goods to be shipped in the warehousing device 110 are transported to the transfer device 120, the handling robot transports the goods to be shipped into the warehouse along the way. In this way, only one handling robot is needed to realize the shipping of goods to be shipped out and the warehousing of goods to be shipped in, thereby improving the handling efficiency of the handling robot.

[0062] The method for transporting goods in and out of the warehouse provided in the embodiment of the present application is to transport the goods to be shipped out in the warehouse to the transfer device 120 by the transport robot, and the transfer device 120 transports the goods to be shipped out to the out-warehouse device 130, thereby realizing the out-warehouse of the goods to be shipped out; at the same time, after the transport robot transports the goods to be shipped out to the transfer device 120, it is determined whether the in-warehouse device 110 has goods to be shipped in. If so, the in-warehouse device 110 is controlled to transport the goods to be shipped in to the transfer device 120, and the transport robot located at the transfer device 120 is controlled to transport the goods to be shipped in on the transfer device 120 to the warehouse. After the transport robot transports the goods to be shipped out to the transfer device 120 for shipping out, the transport robot can also transport the goods to be shipped in to the warehouse. Therefore, only one transport robot needs to travel one distance between the warehouse and the transfer device 120 to realize the out-warehouse of the goods to be shipped out and the shipping of the goods to be shipped in, which effectively improves the efficiency of the transport robot.

[0063] It can be understood that during the process of outbound goods, the handling robot can actively place the goods to be outbound on the transfer device, or wait for the transfer device to move and receive the goods to be outbound on the handling robot; in the process of transporting the goods to be entered into the warehouse to the warehouse, the handling robot can actively move and move out the goods to be entered into the warehouse on the transfer device, or wait for the transfer device to move and receive the goods to be entered into the warehouse on it.

[0064] Figure 3 Another flow chart of the method for transporting goods in and out of a warehouse provided in some embodiments of the present application is shown.

[0065] like Figure 3 As shown, as a specific embodiment, the transfer device 120 includes a plurality of conveying components sequentially arranged along the second direction, the transport robot includes a robot body and a transport component fixedly arranged on the robot body, the transport component includes a plurality of placement components, and the plurality of placement components are arranged in a one-to-one correspondence with the plurality of conveying components. The second direction intersects the first direction. Before step S1, the following is further included:

[0066] S01. Control at least one storage component of a transport robot to transport goods to be shipped out.

[0067] The storage assembly of the transport robot is used to place the cargo it is transporting. To improve transport efficiency, the multiple storage assemblies of the transport robot can simultaneously transport multiple cargoes to be shipped, thereby transferring multiple cargoes to be shipped to the transfer device 120 at one time, thereby improving transfer efficiency. Of course, when there is only one or a few cargoes to be shipped, the transport robot can be controlled to only carry the one or several cargoes to be shipped to the transfer device 120.

[0068] It is understood that the cargo to be shipped by the transport robot may be of the same type or of multiple different types. The preset path for the transport robot to travel may be the shortest path from the warehouse to the transfer device 120, thereby saving the transport robot's handling time. Of course, in actual applications, the preset path may be adjusted according to actual conditions.

[0069] The storage component can be a storage board, a storage rod or other structures that can carry goods. The storage component can also be a mechanical structure such as a manipulator, a mechanical claw, etc.

[0070] S02 , controlling the multiple placement components of the transport robot to dock with the multiple conveying components of the transfer device 120 one by one, so as to transfer the goods to be shipped out to the transfer device 120 .

[0071] To improve the efficiency of shipping goods, the transfer device 120 includes multiple conveying components. When the handling robot transports the goods to be shipped to the transfer device 120, the multiple goods to be shipped are placed one by one on the multiple conveying components of the transfer device 120. This prevents interference between the multiple goods to be shipped, ensuring that the goods shipped are not confused or incorrect. Of course, when there are fewer goods to be shipped, one or a few of the placement components of the handling robot can be controlled to carry the goods to be shipped.

[0072] In this embodiment, multiple storage components of the transport robot are controlled to transport multiple goods to be shipped out to the transfer device 120 at one time, and multiple storage components are controlled to dock one by one with multiple conveying components of the transfer device 120, so that multiple goods to be shipped out are placed one by one on the multiple conveying components of the transfer device 120, thereby improving the transport efficiency of the transport robot by increasing the number of goods transported by the transport robot.

[0073] As a specific embodiment, the transport robot includes a robot body and a transport component fixedly arranged on the robot body, and the transport component includes a plurality of placement components arranged in sequence along the second direction. In this case, the transfer device 120 may include only one or a few conveying components. Before step S1, the following steps are also included:

[0074] Control the multiple storage components of the transport robot to dock with one or several conveying components of the transfer device 120 in sequence. After receiving the goods to be shipped out on one or several storage components and conveying them to the shipping device 130, control the remaining storage components of the transport robot to dock with the conveying components of the transfer device 120 in sequence and receive the goods to be shipped out on the remaining storage components, until all the goods to be shipped out in the multiple storage components of the transport robot are shipped out.

[0075] Multiple storage components can be docked with one or several conveying components of the transfer device 120 in sequence. For example, if there are 6 storage components and the transfer device 120 has 3 conveying components, then 3 of the 6 storage components are controlled to dock with the 3 conveying components first, and the goods to be shipped out on the 3 storage components are transferred to the 3 conveying components of the transfer device 120. After the 3 conveying components transport the goods to be shipped out to the outbound device 130, the remaining 3 storage components of the handling robot are controlled to dock with the 3 conveying components of the transfer device 120 again, so that the goods to be shipped out on the remaining 3 storage components are transferred to the transfer device 120 and transported to the outbound device 130, thereby realizing the outbound shipment of the goods to be shipped out.

[0076] Figure 4 A specific flow chart of step S1 of the method for transporting goods in and out of a warehouse provided in some embodiments of the present application is shown.

[0077] like Figure 4 As shown, as a specific implementation, step S1 includes:

[0078] S11 , controlling the transport robot to transport the goods to be shipped out to the waiting station of the transfer device 120 .

[0079] The transport robot travels back and forth on a preset path between the warehouse and the transfer device 120 and transports goods. A waiting station is set on one side of the preset path close to the transfer device 120. The waiting station is used for temporary parking of the transport robot, thereby avoiding parking of the transport robot on the preset path and causing path congestion.

[0080] It is understandable that when the transport robot is waiting for temporary parking at a site, the transport robot can be in a state of loading goods to be shipped out and waiting to enter the transfer device 120 to transfer the goods to be shipped out, or it can be in a state of failure waiting for repair, etc.

[0081] S12. Determine whether there are other robots working at the transfer station of the transfer device 120.

[0082] The transfer station is located between the waiting station and the transfer device 120 , and the transfer station may be the connection point between the transport robot and the transfer device 120 .

[0083] It is understandable that it is possible to detect whether there are other robots at the transfer site by setting up detection devices such as cameras, ultrasonic detectors or infrared detectors at the transfer site.

[0084] S13: If yes, control the transport robot at the waiting station to wait until the other robots leave the transfer station.

[0085] After determining whether there are other robots working at the transfer station of the transfer device 120, if there are other robots working at the transfer station, the transport robot is controlled to wait at the waiting station until the other robots leave the transfer station, and then the transport robot is controlled to drive to the transfer station and dock with the transfer device 120.

[0086] S14 , if not, control the transport robot at the waiting station to transport the goods to be shipped to the transfer station, and transfer the goods to be shipped to the transfer device 120 .

[0087] After determining whether there are other robots working at the transfer station of the transfer device 120, if there are no other robots working at the transfer station, the transport robot located at the waiting station is controlled to transport the goods to be shipped out to the transfer station, dock with the transfer device 120 and transfer the goods to be shipped out to the transfer device 120.

[0088] In this embodiment, when the transport robot transports the goods to be shipped out and drives to the waiting station, it is determined whether there are other robots working at the transfer station of the transfer device 120; if there are other robots working at the transfer station, the transport robot is controlled to wait at the waiting station until the other robots leave the transfer station, and then the transport robot is controlled to drive to the transfer station and dock with the transfer device 120; if there are no other robots working at the transfer station, the transport robot located at the waiting station is controlled to transport the goods to be shipped out and drive to the transfer station, dock with the transfer device 120 and transfer the goods to be shipped out to the transfer device 120; during the entire transporting process, even if there are multiple transport robots performing transporting actions, the preset travel path will not be blocked, thereby reducing the time spent by the transport robot on the travel path and improving the short-circuit transport efficiency.

[0089] It is understandable that before the transport robot drives to the waiting station, it can determine in advance whether there are other robots working at the transfer station of the transfer device 120, thereby saving time to a certain extent and improving transport efficiency.

[0090] Figure 5 Another flow chart of the method for transporting goods in and out of a warehouse provided in some embodiments of the present application is shown.

[0091] like Figure 5 As shown, as a specific implementation, before step S2, the following is also included:

[0092] S15: Determine whether the outbound device 130 is docked with the transfer device 120.

[0093] When the transfer device 120 includes multiple conveying components, the outbound device 130 may also include multiple conveying components corresponding to the multiple conveying components in the transfer device 120, so that the goods to be outbound on the conveying components of each transfer device 120 can be transported to the conveying components of the corresponding outbound device 130, while ensuring the outbound efficiency, the mutual interference between the goods to be outbound can be avoided. Of course, when the handling robot carries multiple goods to be outbound and the transfer device 120 includes multiple conveying components, the conveying component at the outbound device 130 can also be one or a few. At this time, the goods to be outbound in the transfer device 120 can be controlled to be transported to the outbound device 130 in batches, so that the goods to be outbound on the multiple conveying components of the transfer device 120 can be transferred to the conveying components of the outbound device 130 in sequence, realizing the outbound of the goods while avoiding the mutual interference of multiple goods to be outbound.

[0094] If so, go to step S2.

[0095] That is, after the outbound device 130 is docked with the transfer device 120 , the conveying component of the transfer device 120 is controlled to operate and convey the goods to be outbound to the outbound device 130 .

[0096] The conveying component of the transfer device 120 may include multiple rolling parts. For example, the conveying component may include multiple rollers arranged in sequence along the direction of cargo conveying, so that after receiving the cargo to be shipped out of the warehouse carried by the handling robot, the rollers of the conveying component are controlled to roll, thereby realizing the transportation of the cargo to be shipped out of the warehouse. Of course, the conveying component may also include other structures for conveying cargo, for example, the conveying component may also include conveying tracks, robotic arms, etc.

[0097] S16 , if not, control the transfer device 120 to wait for the outgoing device 130 to dock with the transfer device 120 .

[0098] When the transfer device 120 is not docked with the outbound device 130, the conveying component of the transfer device 120 can be controlled to reduce its speed or even stop running, so as to avoid the situation where the goods to be shipped out on the transfer device 120 are transported away from the transfer device 120 before the transfer device 120 is docked with the outbound device 130, causing damage or loss to the goods to be shipped out.

[0099] In this embodiment, before controlling the transfer device 120 to transport the goods to be shipped out to the shipping device 130, it is first determined whether the shipping device 130 is docked with the transfer device 120. On the premise of ensuring that the shipping device 130 is docked with the transfer device 120, the transfer device 120 is controlled to transport the goods to be shipped out to the shipping device 130, thereby avoiding the occurrence of goods missing or lost during the transfer process of the goods to be shipped out, or damage to the goods due to the failure of the transfer device 120 and the shipping device 130 to dock.

[0100] As a specific embodiment, the conveying components in the warehousing device 110 and / or the out-warehouse device 130 may also include multiple rolling elements, or may include other structures for conveying goods. The conveying components of the warehousing device 110, the transfer device 120 and the out-warehouse device 130 may be the same or different.

[0101] Figure 6 Another flow chart of the method for transporting goods in and out of a warehouse provided in some embodiments of the present application is shown.

[0102] like Figure 6 FIG. 1 is a specific implementation method, and after step S16, the following steps are further included:

[0103] S17: If the transfer device 120 waits for a preset time and the outbound device 130 fails to dock with the transfer device 120, a manual docking operation is prompted.

[0104] Since the conveying equipment 100 will inevitably encounter various failures or jams during operation, in order to avoid affecting the overall warehousing and outbound efficiency of the warehouse due to equipment failure, before controlling the transfer device 120 to wait for the outbound device 130 to dock with the transfer device 120, the waiting time of the transfer device 120 is pre-set. If the outbound device 130 still has not docked with the transfer device 120 after the transfer device 120 has waited for the preset time, it means that the equipment may have a failure, and at this time, a manual docking operation is prompted.

[0105] It can be understood that the preset time can be determined by the technician based on the time it takes for the outbound device 130 to dock with the transfer device 120 obtained through multiple measurements in advance. In order to reduce the number of times prompting manual docking operations and reduce the workload of staff, the preset time can be determined as a certain time range, thereby avoiding frequent prompting for manual docking operations due to temporary equipment jams.

[0106] Figure 7 Another flow chart of the method for transporting goods in and out of a warehouse provided in some embodiments of the present application is shown.

[0107] like Figure 7 As shown, as a specific implementation, after step S2, the following steps are further included:

[0108] S21 . Control the outbound device 130 to transport the goods to be outbound to the outbound conveying line.

[0109] Specifically, the outbound device 130 is controlled to transport the goods to be outbound to the outbound conveyor line. The outbound device 130 can be controlled to dock with the outbound conveyor line first. When the outbound device 130 has multiple conveying components, the multiple conveying components of the outbound device 130 are controlled to dock with the outbound conveyor line in sequence. That is, one conveying component can be controlled to dock with the outbound conveyor line first. After the conveying component transports the goods to be outbound on it to the outbound conveyor line, the next conveying component is controlled to dock with the outbound conveyor line and transport the goods to be outbound on it to the outbound conveyor line, and so on, until the goods to be outbound on all the conveying components in the outbound device 130 are transported to the outbound conveyor line.

[0110] S22 , controlling the outbound device 130 to re-dock with the transfer device 120 .

[0111] After all the goods to be shipped of the conveying components in the outbound device 130 are conveyed to the outbound conveying line, the outbound device 130 is immediately controlled to re-dock with the transfer device 120 to execute the next round of outbound shipment.

[0112] In this embodiment, after the transfer device 120 transports the goods to be shipped to the shipping device 130, the shipping device 130 is controlled to transport the goods to be shipped to the shipping conveyor line, so that the goods to be shipped located at the shipping device 130 are transported away from the shipping device 130 as soon as possible, so as to reduce the time that the goods to be shipped occupy the shipping device 130, thereby speeding up the speed of re-docking of the shipping device 130 and the transfer device 120, so that the shipping device 130 can immediately re-dock with the transfer device 120 after transporting the goods to the shipping conveyor line, and carry out the next round of shipping of the goods to be shipped, thereby improving the shipping efficiency of the shipping device 130.

[0113] Figure 8 A schematic diagram of a process for verifying goods to be shipped out in a method for transporting goods in and out of a warehouse provided in some embodiments of the present application is shown.

[0114] like Figure 8 As shown, as a specific implementation, after step S21, the following steps are further included:

[0115] S211. Control the sensing device on the outbound conveyor line to sense the code of the goods to be outbound, and verify whether the goods to be outbound corresponding to the code belong to the preset outbound task.

[0116] It can be understood that all goods to be shipped out are set with corresponding codes. By setting a sensing device on the outbound conveyor line and controlling the sensing device to sense the codes of the goods to be shipped out on the outbound conveyor line, the codes of the sensed goods to be shipped out are verified after sensing to determine whether the code belongs to the preset outbound task.

[0117] The sensing device may be any type of code recognition device, for example, an infrared sensing device, a laser scanning device, or a two-dimensional code scanning device, a barcode scanning device, etc., all of which can recognize the code.

[0118] S212: If yes, control the outbound conveyor line to convey the goods to be outbound to the manual operation table and perform the picking and outbound operation.

[0119] If the code obtained by sensing belongs to the preset outbound task, the outbound conveyor line will be controlled to transport the goods to be shipped corresponding to the code to the manual operation table, and manual picking and outbound action will be performed, thereby reducing the workload of manual verification of the goods to be shipped and ensuring that there will be no errors in the goods shipped out.

[0120] S213: If not, prompt manual intervention to return the goods to be shipped.

[0121] If the code of the goods to be shipped sensed by the sensing device does not belong to the preset shipping task, an error will be reported and manual intervention will be prompted to return the goods that do not belong to the preset shipping task to the warehouse, thereby avoiding the situation where goods that do not belong to the shipping task are shipped out, resulting in the wrong warehouse, wrong goods being shipped, etc.

[0122] In this embodiment, a sensing device is set on the outbound conveyor line, and the sensing device senses the code of the goods to be shipped out, and the sensed code is verified, so as to control the outbound conveyor line to transport the goods to be shipped out that belong to the preset task to the manual operation table, and perform manual picking and outbound action. When the goods to be shipped out corresponding to the sensed code do not belong to the preset outbound task, manual intervention is prompted to return the goods to the warehouse. By performing outbound verification on the goods to be shipped out, the situation of goods that do not belong to the preset outbound task being transported out of the warehouse is avoided, thereby reducing the error rate of goods shipping out.

[0123] As a specific implementation, after step S3, the method further includes the following steps:

[0124] If not, the transport robot located at the transfer device 120 is controlled to return to the warehouse.

[0125] After determining whether there are goods to be entered into the warehousing device 110, if there are no goods to be entered into the warehousing device 110, the handling robot returns to the warehouse after transferring the goods to be shipped out to the transfer device 120, thereby avoiding the handling robot staying at the transfer device 120 and hindering the next handling robot from transporting the goods to be shipped out to the transfer device 120.

[0126] As a specific implementation, before step S4, the following steps are further included:

[0127] The storage device 110 is controlled to dock with the storage conveyor line and receive the goods to be stored on the storage conveyor line.

[0128] The goods to be stored are transported through the storage conveyor line. After the goods to be stored arrive at the end of the storage conveyor line, the storage device 110 is controlled to dock with the storage conveyor line, so that the goods to be stored at the end are transported to the storage device 110.

[0129] As a specific implementation, step S4 includes:

[0130] Control the docking of the warehousing device 110 and the transfer device 120;

[0131] When the transfer device 120 includes multiple conveying components, the warehousing device 110 may also include multiple conveying components corresponding to the multiple conveying components of the transfer device 120 one-to-one. By controlling the multiple conveying components of the transfer device 120 to dock with the multiple conveying components of the warehousing device 110 one-to-one, the multiple conveying components of the warehousing device 110 can be transported to the multiple conveying components of the transfer device 120, thereby improving the efficiency of goods warehousing. Of course, the warehousing device 110 may also include only one or a few conveying components, so that through multiple docking with the transfer device 120, the goods to be shipped out are transported to the transfer device 120.

[0132] The warehousing device 110 is controlled to transport the goods to be warehousing to the transfer device 120 .

[0133] Through the operation of multiple conveying components of the warehousing device 110, the goods to be stored on the conveying components of the warehousing device 110 are transported to the transfer device 120, and are transported to the warehouse by the transport robots at the transfer device 120, thereby realizing the warehousing of the goods to be stored.

[0134] In this embodiment, during the warehousing process of the goods to be stored, the multiple conveying components of the storage device 110 can be controlled to dock with the storage conveyor line in sequence, so that the goods to be stored on the storage conveyor line can be transported to the multiple conveying components of the storage device 110 in sequence, and then the multiple conveying components of the storage device 110 can be controlled to dock with the multiple conveying components of the transfer device 120 one by one, so that the goods to be stored on the multiple conveying components of the storage device 110 can be transported to the corresponding multiple conveying components of the transfer device 120.

[0135] On the second aspect, an embodiment of the present application provides a conveying system for goods entering and leaving the warehouse, the conveying system includes a conveying device 100 and a control terminal, the control terminal includes a memory, a processor, and a conveying program for goods entering and leaving the warehouse stored in the memory and runnable on the processor, and when the conveying program for goods entering and leaving the warehouse is executed by the processor, the steps of any one of the above-mentioned methods for conveying goods entering and leaving the warehouse are implemented.

[0136] It is understood that the memory is used to store the cargo delivery program running on the processor, and the processor is used to execute the cargo delivery program. The memory can be a random access memory (RRAM) or a read-only memory (ROM). Of course, the memory in this application can also be other types of memory, such as disk storage. The memory can also optionally be a storage device independent of the aforementioned processor; the processor can be a CPU (Central Processing Unit / Processor).

[0137] Among them, the method implemented when the cargo in-and-out transportation program running on the processor is executed can refer to the various embodiments of the cargo in-and-out transportation method of this application, and will not be repeated here.

[0138] In a third aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a program for transporting goods in and out of a warehouse is stored. When the program for transporting goods in and out of a warehouse is executed by a processor, the steps of any of the above-mentioned methods for transporting goods in and out of a warehouse are implemented.

[0139] Among them, the method implemented when the cargo in-and-out transportation program running on the processor is executed can refer to the various embodiments of the cargo in-and-out transportation method of this application, and will not be repeated here.

[0140] The conveying method provided in the embodiment of the present application is to transport the goods to be shipped out of the warehouse to the transfer device 120 by the transport robot, the transfer device 120 transports the goods to be shipped out to the outbound device 130, and the outbound device 130 transfers the goods to be shipped out to the outbound conveyor line, thereby realizing the outbound delivery of the goods to be shipped out; at the same time, after the transport robot transports the goods to be shipped out to the transfer device 120, it determines whether the inbound device 110 has goods to be shipped in. If so, the inbound device 110 is controlled to transport the goods to be shipped in to the transfer device 120, and the transport robot located at the transfer device 120 is controlled to transport the goods to be shipped in on the transfer device 120 to the warehouse, so that after the transport robot transports the goods to be shipped out to the transfer device 120 for shipping out, the transport robot can also transport the goods to be shipped in to the warehouse, so that only one transport robot needs to travel one distance between the warehouse and the transfer device 120 to realize the outbound delivery of the goods to be shipped out and the shipping of the goods to be shipped in, thereby effectively improving the efficiency of the transport robot.

[0141] The above description is only a specific embodiment of the present application. Those skilled in the art will clearly understand that for the convenience and brevity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the scope of protection of the present application.

Claims

1. A method for transporting goods in and out of a warehouse, characterized in that: The conveying equipment is applied to goods, and the conveying equipment includes a handling robot and a storage device, a transfer device and a storage device arranged in sequence along a first direction. The conveying method includes the following steps: Controlling the transport robot to transport the goods to be shipped out of the warehouse to the transfer device; Controlling the transfer device to transport the goods to be shipped to the shipping device; Determining whether the warehousing device has goods to be put into the warehouse; If so, controlling the warehousing device to transport the goods to be warehousing to the transfer device; Controlling the transport robot to transport the goods to be stored, which are delivered to the transfer device, to the warehouse; The transfer device includes a plurality of conveying components sequentially arranged along a second direction, the transport robot includes a robot body and a transport component fixedly arranged on the robot body, the transport component includes a plurality of placement components, and the plurality of placement components are arranged in a one-to-one correspondence with the plurality of conveying components. The second direction intersects with the first direction. Before the step of controlling the transport robot to transport the goods to be shipped from the warehouse to the transfer device, the step further includes: Controlling at least one storage component of the transport robot to transport the goods to be shipped out; Controlling the multiple placement components of the transport robot to dock with the multiple conveying components of the transfer device one by one, so as to transfer the goods to be shipped to the transfer device; The outbound device includes a plurality of conveying components corresponding one-to-one to the plurality of conveying components in the transfer device. When the transfer device is controlled to convey the goods to be outbound to the outbound device, the goods to be outbound on each conveying component in the transfer device are conveyed to the conveying component of the corresponding outbound device. The warehousing device includes multiple conveying components corresponding one-to-one to the multiple conveying components in the transfer device. When the warehousing device is controlled to convey the goods to be stored to the transfer device, the goods to be stored on each conveying component in the warehousing device are conveyed to the corresponding conveying component of the transfer device.

2. The conveying method according to claim 1, characterized in that The step of controlling the transport robot to transport the goods to be shipped to the transfer device includes: Controlling the transport robot to transport the goods to be shipped to the waiting station of the transfer device; Determine whether there are other robots working at the transfer station of the transfer device; If so, control the transport robot located at the waiting station to wait until the other robot leaves the transfer station; If not, control the transport robot at the waiting site to transport the goods to be shipped to the transfer site, and transfer the goods to be shipped to the transfer device.

3. The conveying method according to claim 1, characterized in that Before the step of controlling the transfer device to transport the goods to be shipped to the shipping device, the method further includes: Determining whether the outbound device is docked with the transfer device; If so, executing the step of controlling the transfer device to transport the goods to be shipped to the shipping device; If not, control the transfer device to wait for the outbound device to dock with the transfer device.

4. The conveying method according to claim 3, characterized in that: After the step of controlling the transfer device to wait for the outbound device to dock with the transfer device, the method further includes: If the delivery device fails to dock with the transfer device after the transfer device has waited for a preset time, a manual docking operation is prompted.

5. The conveying method according to claim 1, characterized in that: After the step of controlling the transfer device to transport the goods to be shipped to the shipping device, the method further includes: Controlling the outbound device to convey the goods to be outbound to the outbound conveying line; Control the outbound device to re-dock with the transfer device.

6. The conveying method according to claim 5, characterized in that: After the step of controlling the outbound device to convey the goods to be outbound to the outbound conveying line, the method further includes: Controlling the sensing device on the outbound conveyor line to sense the code of the goods to be outbound, and verifying whether the goods to be outbound corresponding to the code belong to the preset outbound task; If yes, control the outbound conveyor line to convey the goods to be outbound to the manual operation table and perform the picking and outbound action; If not, prompt manual intervention to return the goods to be shipped to the warehouse.

7. The conveying method according to claim 1, characterized in that: After the step of determining whether the storage device has goods to be stored, the method further includes: If not, control the transport robot located at the transfer device to return to the warehouse.

8. A system for conveying goods in and out of a warehouse, characterized in that: The conveying system includes the conveying equipment and a control terminal, and the control terminal includes a memory, a processor, and a conveying program for goods entering and leaving the warehouse stored in the memory and runnable on the processor. When the conveying program for goods entering and leaving the warehouse is executed by the processor, the steps of the conveying method for goods entering and leaving the warehouse as described in any one of claims 1 to 7 are implemented.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a cargo transport program for entering and leaving the warehouse. When the cargo transport program for entering and leaving the warehouse is executed by the processor, the steps of the cargo transport method for entering and leaving the warehouse as described in any one of claims 1 to 7 are implemented.

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