Bin transportation method, device, multi-layer elevator, system and storage medium

Abstract

The present disclosure provides a bin transportation method, device, multi-layer elevator, system, and storage medium. The bin transportation method is applied to a multi-layer elevator, and the method includes: receiving or handling the bins to be transported on each preset layer of a discharging machine based on each layer of the multi-layer elevator; transporting the bins to be transported on each layer of the multi-layer elevator based on each layer of the multi-layer elevator, so as to transport the bins to be transported on each layer of the multi-layer elevator to respective corresponding operation platforms, wherein different layers of the multi-layer elevator correspond to different operation platforms, achieving the simultaneous unloading of multiple bins in one unloading and transporting the multiple bins to different operation platforms simultaneously, greatly reducing the unloading time of the bins on the elevator, improving the unloading efficiency, and further improving the order processing efficiency of the warehousing system.

Description

Technical Field

[0001] The present disclosure relates to the technical field of intelligent warehousing, and particularly to a method and device for transporting bins, a multi-layer elevator, a system, and a storage medium. Background Art

[0002] The intelligent warehousing system based on warehousing robots adopts an intelligent operating system, and realizes automatic extraction, storage, and transportation of goods through system instructions. At the same time, it can operate continuously for 24 hours, replacing manual management and operation, improving the warehousing efficiency, and being widely applied and favored.

[0003] When it is necessary to transport the bins of the intelligent warehousing system to the operation table for sorting or outbound, it is often necessary to unload the bins in all the backpacks of the warehousing robot through a unloader, and sequentially transport the bins in the unloader to the operation table through an elevator or a conveyor line. In the prior art, one unloader often corresponds to one operation table. Therefore, the unloader often needs to wait until all the bins on it are transported to the transport line corresponding to the operation table before it can perform the next unloading, resulting in low unloading efficiency and unable to meet the requirements. Summary of the Invention

[0004] The present disclosure provides a method and device for transporting bins, a multi-layer elevator, a system, and a storage medium. Through the multi-layer elevator and multi-operation table mechanism, it is realized that the elevator can unload multiple bins simultaneously in one unloading, improving the unloading efficiency of the bins.

[0005] In a first aspect, an embodiment of the present disclosure provides a method for transporting bins, which is applied to a multi-layer elevator. The method includes:

[0006] Based on each layer of the multi-layer elevator, receiving or transporting the bins to be transported on each preset layer of the unloader; based on each layer of the multi-layer elevator, transporting the bins to be transported on each layer of the multi-layer elevator, so as to transport the bins to be transported on each layer of the multi-layer elevator to the corresponding operation tables respectively, where different layers of the multi-layer elevator correspond to different operation tables.

[0007] Optionally, each of the preset layers is a continuous preset layer on the unloader, where the number of layers of the continuous preset layer is less than or equal to the number of layers of the multi-layer elevator.

[0008] Optionally, before receiving or transporting the bins to be transported on each preset layer of the unloader based on each layer of the multi-layer elevator, the method further includes:

[0009] Obtaining the bin attributes of the bins to be transported placed on each layer of the unloader; determining each preset layer according to the bin attributes of each of the bins to be transported.

[0010] Optionally, the bin attribute includes the operation console corresponding to the bin to be transported.

[0011] Optionally, based on each layer of the multi-layer elevator, transporting the bins to be transported on each layer of the multi-layer elevator to transport the bins to be transported on each layer of the multi-layer elevator to their respective corresponding operation consoles respectively, includes:

[0012] Based on each layer of the multi-layer elevator, respectively transferring the bins to be transported on each layer of the multi-layer elevator to the corresponding conveyor lines, so as to transport each of the bins to be transported to their respective corresponding operation consoles through each of the conveyor lines.

[0013] Optionally, the multi-layer elevator has two layers, each of the preset layers includes a first preset layer and a second preset layer, the operation consoles include a first operation console and a second operation console, the first layer of the multi-layer elevator corresponds to the first operation console, and the second layer of the multi-layer elevator corresponds to the second operation console.

[0014] In a second aspect, an embodiment of the present disclosure further provides a bin transportation method, which is applied to a warehousing system, and the warehousing system includes a discharging machine and a multi-layer elevator. The method includes:

[0015] Based on the discharging machine or the multi-layer elevator, respectively carrying the bins to be transported on each preset layer of the discharging machine to each layer of the multi-layer elevator; based on the multi-layer elevator, transporting the bins to be transported on each layer of the multi-layer elevator to their respective corresponding operation consoles respectively.

[0016] Optionally, the warehousing system further includes a handling robot, the handling robot corresponds to multiple target operation consoles, and the method further includes:

[0017] Obtaining each bin to be transported, where the bins to be transported include the bins corresponding to each of the target operation consoles; based on the handling robot, carrying each bin to be transported to each layer of the storage shelf of the handling robot; based on the handling robot, transporting each bin to be transported to the position corresponding to the discharging machine; based on the handling robot or the discharging machine, unloading the bins to be transported placed on each layer of the handling robot to the corresponding layer of the discharging machine.

[0018] Optionally, carrying each bin to be transported to each layer of the storage shelf of the handling robot includes:

[0019] Determining the handling sequence of each bin to be transported and the position of the corresponding storage shelf according to the operation console and / or the bin position corresponding to each bin to be transported; based on the handling sequence, successively carrying each bin to be transported to each layer of the storage shelf of the handling robot.

[0020] Optionally, obtaining each bin to be transported includes:

[0021] According to the order task, determining each task bin; for each handling robot, according to each target operating table corresponding to the handling robot, determining each target bin corresponding to each target operating table from each of the task bins; according to the bin scores of each target bin, determining a preset number of bins to be transported from each of the target bins, where the preset number is the number of layers of the storage rack of the handling robot.

[0022] Optionally, the method further includes:

[0023] For each handling robot, according to the position of the handling robot and the number of layers of the storage rack, determining each target operating table corresponding to the handling robot.

[0024] Optionally, the bin score of the target bin is determined by at least one of the priority of the target bin, the bin position, and the corresponding operating table.

[0025] Optionally, the method further includes:

[0026] For each handling robot, according to the priority of each task bin and the operations corresponding to each task bin, determining each target operating table corresponding to the handling robot.

[0027] Optionally, the bins to be transported placed on the consecutive set layers of the storage rack of the handling robot respectively correspond to different operating tables, where the number of consecutive set layers is the same as the number of layers of the multi-layer elevator.

[0028] In a third aspect, an embodiment of the present disclosure further provides a bin transportation device, and the device includes:

[0029] A first bin handling module, configured to receive or handle the bins to be transported on each preset layer of the unloader based on each layer of the multi-layer elevator; a first bin transportation module, configured to transport the bins to be transported on each layer of the multi-layer elevator based on each layer of the multi-layer elevator, so as to transport the bins to be transported on each layer of the multi-layer elevator to each corresponding operating table respectively, where different layers of the multi-layer elevator correspond to different operating tables.

[0030] In a fourth aspect, an embodiment of the present disclosure further provides a bin transportation device, and the device includes:

[0031] A second bin handling module, configured to respectively handle the bins to be transported on each preset layer of the unloader to each layer of the multi-layer elevator based on the unloader or the multi-layer elevator; a second bin transportation module, configured to transport the bins to be transported on each layer of the multi-layer elevator to each corresponding operating table respectively based on the multi-layer elevator.

[0032] In a fifth aspect, an embodiment of the present disclosure further provides a multi-layer elevator, which includes a base and a lifting structure, a multi-layer transportation structure, and a first transportation controller disposed on the base; wherein, the first transportation controller is configured to generate a first control signal to control the lifting structure and the multi-layer transportation structure to execute the bin transportation method provided in any one of the corresponding embodiments of the first aspect of the present disclosure.

[0033] In a sixth aspect, an embodiment of the present disclosure further provides a warehousing system, which includes a discharging machine, a plurality of operation platforms, and the multi-layer elevator provided in the corresponding embodiment of the fifth aspect of the present disclosure.

[0034] In a seventh aspect, an embodiment of the present disclosure further provides a warehousing system, which includes a handling robot, a discharging machine, a multi-layer elevator, and a second transportation controller; wherein, the second transportation controller is configured to control one or more of the handling robot, the discharging machine, and the multi-layer elevator to implement the bin transportation method provided in any one of the corresponding embodiments of the first aspect or the second aspect of the present disclosure.

[0035] In an eighth aspect, an embodiment of the present disclosure further provides a computer-readable storage medium, in which computer-executable instructions are stored, and when a processor executes the computer-executable instructions, the bin transportation method provided in any one of the corresponding embodiments of the first aspect or the second aspect of the present disclosure is implemented.

[0036] In a ninth aspect, an embodiment of the present disclosure further provides a computer program product, including a computer program, which when executed by a processor of a multi-layer elevator or a warehousing system, implements the bin transportation method provided in any one of the corresponding embodiments of the first aspect or the second aspect of the present disclosure.

[0037] The bin transportation method, device, multi-layer elevator, system, and storage medium provided by the present disclosure are based on the multi-layer elevator. When unloading the bins to be transported on each layer of the discharging machine, it is possible to simultaneously carry or receive the bins to be transported corresponding to different operation platforms on each preset layer of the discharging machine, and once carry all the bins to be transported placed on the multi-layer elevator to their corresponding operation platforms, realizing the simultaneous unloading of multiple bins, reducing the waiting time for bin unloading, greatly improving the efficiency of unloading bins on the transportation line, and improving the efficiency of order processing in the warehousing system. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The accompanying drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present disclosure, and are used together with the specification to explain the principles of the present disclosure.

[0039] Figure 1 It is an application scenario diagram of the bin transportation method provided by an embodiment of the present disclosure;

[0040] Figure 2 Flow chart of the bin transportation method provided by an embodiment of the present disclosure;

[0041] Figure 3 For the present disclosure Figure 2 Schematic structural diagram of the multi-layer elevator in the illustrated embodiment;

[0042] Figure 4 Flow chart of the bin transportation method provided by another embodiment of the present disclosure;

[0043] Figure 5 For the present disclosure Figure 4 Schematic diagram of the placement of the bin on the unloader in the illustrated embodiment;

[0044] Figure 6 Flow chart of the bin transportation provided by another embodiment of the present disclosure;

[0045] Figure 7 Schematic structural diagram of the bin transportation device provided by an embodiment of the present disclosure;

[0046] Figure 8 Schematic structural diagram of the bin transportation device provided by another embodiment of the present disclosure;

[0047] Figure 9 Schematic structural diagram of the multi-layer elevator provided by an embodiment of the present disclosure;

[0048] Figure 10 Schematic structural diagram of the storage system provided by an embodiment of the present disclosure;

[0049] Figure 11 Schematic structural diagram of the storage system provided by another embodiment of the present disclosure.

[0050] Through the above-mentioned drawings, specific embodiments of the present disclosure have been shown, and there will be more detailed descriptions hereinafter. These drawings and textual descriptions are not intended to limit the scope of the concept of the present disclosure in any way, but to illustrate the concept of the present disclosure to those skilled in the art by referring to specific embodiments. Detailed Description of Specific Embodiments

[0051] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0052] The following uses specific embodiments to elaborate in detail on the technical solutions of the present disclosure and how the technical solutions of the present disclosure solve the above technical problems. The following several specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present disclosure will be described below in conjunction with the accompanying drawings.

[0053] The application scenarios of the embodiments of the present disclosure are explained below:

[0054] Figure 1 As shown in the following figure, it is an application scenario diagram of the bin transportation method provided by the embodiments of the present disclosure. Figure 1 As shown, based on order tasks such as sorting tasks and outbound tasks, the warehousing management device 10 of the warehousing system needs to use the robot 110 to move one or more bins 130 on the corresponding warehousing shelves 120 in the order task to the vicinity of the unloader 140, and then dock with the unloader 140, so as to unload one or more bins 130 placed on the robot 110 to the unloader 140. Then, the elevator 150 sequentially obtains the bins 130 on the unloader and transports them to the operation table through the conveyor line, and the operator sorts or takes out the goods in the bin 130 to complete the corresponding order task.

[0055] In order to ensure the safety of bin transportation, the bins 130 on the conveyor line often need to be spaced at a certain distance from each other. As a result, when the elevator 150 unloads the bin 130 on it to the conveyor line 160, it needs to wait for the previous bin 130 to be transported a certain distance before unloading the next bin 130 to the conveyor line, reducing the bin unloading efficiency and unable to meet the processing of orders with a large task volume.

[0056] In order to improve the efficiency of bin unloading, the bin transportation method provided by the embodiments of the present disclosure, based on a multi-layer elevator and a multi-operation table mechanism, realizes the simultaneous extraction of multiple bins by the multi-layer elevator and the simultaneous transportation of these multiple bins to different operation tables to achieve parallel transportation, greatly improving the efficiency of bin transportation or unloading and the order processing efficiency of the warehousing system.

[0057] Figure 2 As shown in the following figure, it is a flowchart of the bin transportation method provided by an embodiment of the present disclosure. Figure 2 As shown, the bin transportation method can be executed by the multi-layer elevator of the warehousing system. The bin transportation method provided in this embodiment includes the following steps:

[0058] Step S201: Receive or transport the bins to be transported on each preset layer of the unloader based on each layer of the multi-layer elevator.

[0059] Among them, the multi-layer elevator is used to transfer the transport boxes to be transported on the unloading machine to the conveyor line or the operation platform. The unloading machine is used to unload each transport box to be transported on the storage shelf of the handling robot at one time. Each preset layer of the unloading machine corresponds to one layer of the multi-layer elevator.

[0060] Specifically, the goods inlet and outlet of the multi-layer elevator can be docked with one end of the unloading machine, so as to extract or carry the transport boxes to be transported on each preset layer of the unloading machine, or the conveyor mechanism of the unloading machine transports the transport boxes to be transported on each preset layer to each layer of the multi-layer elevator.

[0061] Specifically, the number of transport boxes to be transported on different operation platforms placed on the unloading machine is equal, or the difference between the maximum value and the minimum value is 1, where different operation platforms correspond to the same multi-layer elevator.

[0062] Further, after receiving the transport box transport task, the multi-layer elevator can extract or receive the transport boxes to be transported on the unloading machine in a preset order, and each time it extracts or receives multiple transport boxes that match or are less than the number of layers of the multi-layer elevator.

[0063] Specifically, during each extraction or reception, the multi-layer elevator needs to dock each of its layers with the corresponding preset layer of the unloading machine, so as to carry the transport boxes to be transported on each corresponding preset layer to each layer of the multi-layer elevator, or the unloading machine transports the transport boxes to be transported on each of its preset layers to the corresponding layers of the multi-layer elevator. Each transport box can be transported from each preset layer of the unloading machine to the corresponding layer of the multi-layer elevator at the same time.

[0064] Among them, the multi-layer elevator can be 2 layers, 3 layers, 5 layers, etc.

[0065] Optionally, the multi-layer elevator can be two layers, that is, a double-layer elevator. Each preset layer includes a first preset layer and a second preset layer. The operation platforms include a first operation platform and a second operation platform. The first layer of the multi-layer elevator corresponds to the first operation platform, and the second layer of the multi-layer elevator corresponds to the second operation platform.

[0066] Specifically, the first preset layer can be used to place the transport boxes to be transported corresponding to the first operation platform, and the second preset layer can be used to place the transport boxes to be transported corresponding to the second operation platform; the first layer of the double-layer elevator corresponds to the first preset layer, and the second layer of the double-layer elevator corresponds to the second preset layer, so as to transport the transport boxes to be transported on the first preset layer and the second preset layer to the first operation platform and the second operation platform respectively.

[0067] Exemplarily, taking a multi-layer elevator with three layers as an example, the multi-layer elevator needs to receive or carry three bins to be transported each time. The first layer of the multi-layer elevator corresponds to the first preset layer, the second layer corresponds to the second preset layer, and the third layer corresponds to the third preset layer. When extracting or receiving the bins to be transported, it is necessary to control each layer of the multi-layer elevator to dock with the corresponding preset layer of the unloader. After the docking is completed, the unloader or each layer of the multi-layer elevator transports the bins to be transported on the corresponding preset layer to each layer of the multi-layer elevator, that is, transports the bin to be transported on the first preset layer to the first layer of the multi-layer elevator, transports the bin to be transported on the second preset layer to the second layer of the multi-layer elevator, and transports the bin to be transported on the third preset layer to the third layer of the multi-layer elevator.

[0068] Specifically, Figure 3 For the present disclosure Figure 2 is a schematic structural diagram of the multi-layer elevator in the illustrated embodiment, Figure 3 which is described by taking two layers as an example. The multi-layer elevator may include a base 310, a lifting mechanism 320 and a conveying mechanism 330 provided on the base 310. The conveying mechanism 330 includes multiple layers for transporting each bin to be transported; the lifting mechanism 320 is connected to the conveying mechanism 330 and is used to drive the conveying mechanism 330 to move up and down in the vertical direction of the base 310, so that each layer of the conveying mechanism 330 docks with each preset layer of the unloader.

[0069] Further, the conveying structure of the unloader includes a bracket and a conveying mechanism provided on the bracket. The conveying structure may include an electrically controlled rolling conveyor to realize transporting the bins to be transported on each preset layer of the unloader to each layer of the multi-layer elevator. Or the conveying mechanism may adopt a mechanical method to transport the bins to be transported on each preset layer to each layer of the multi-layer elevator, such as adjusting the conveying mechanism to form an inclined surface with an inclination angle. The present disclosure does not limit the implementation manner of transporting the bins to be transported from the unloader to the multi-layer elevator.

[0070] Further, the multi-layer elevator may include a cargo extraction structure to realize transporting the bins to be transported on each preset layer of the unloader to each layer of the multi-layer elevator.

[0071] Optionally, each of the preset layers is a continuous preset layer on the unloader, wherein the number of layers of the continuous preset layer is less than or equal to the number of layers of the multi-layer elevator.

[0072] Among them, the continuous preset layer means that the serial numbers of two adjacent preset layers differ by 1.

[0073] Exemplarily, assuming that it is necessary to carry two bins to be transported on preset layers, the two preset layers may be the first layer and the second layer of the unloader, or the fourth layer and the fifth layer, and they need to be two adjacent layers on the unloader.

[0074] Exemplarily, it is assumed that it is necessary to transport the to-be-transported bins of 4 preset layers. These 4 preset layers can be the first to fourth layers of the unloader, or the second and fifth layers, and they need to be 4 consecutive layers on the unloader. And the number of layers of this multi-layer elevator needs to be at least 4 layers.

[0075] When each preset layer is a consecutive preset layer on the unloader, the interval between each layer of the conveying mechanism 430 of the multi-layer elevator can be set to be non-adjustable, that is, the conveying mechanism 430 of the multi-layer elevator can only move up and down as a whole, and the layers inside cannot move relative to each other. This simplifies the mechanical structure and control logic of the multi-layer elevator and reduces the cost.

[0076] Step S202: Based on each layer of the multi-layer elevator, transport the to-be-transported bins on each layer of the multi-layer elevator to transport the to-be-transported bins on each layer of the multi-layer elevator to their respective corresponding operating platforms.

[0077] Among them, different layers of the multi-layer elevator correspond to different operating platforms.

[0078] Specifically, after the to-be-transported bins placed on each preset layer of the unloader are transported to each layer of the multi-layer elevator, the multi-layer elevator transports each to-be-transported bin placed thereon to the conveyor line or the operating platform, so that the operator at the operating platform sorts the to-be-transported bins, or relevant equipment at the operating platform processes them, such as detection, sorting, etc., to complete the corresponding order.

[0079] The bin transportation method provided by the present disclosure is based on a multi-layer elevator. When unloading the to-be-transported bins on each layer of the unloader, it realizes simultaneously transporting or receiving the to-be-transported bins corresponding to different operating platforms on each preset layer of the unloader, and once transports each to-be-transported bin placed on the multi-layer elevator to its corresponding operating platform, realizing simultaneous unloading of multiple bins, reducing the waiting time for bin unloading, greatly improving the efficiency of unloading bins on the transportation line, and improving the efficiency of order processing in the warehousing system.

[0080] Figure 4 It is a flowchart of the bin transportation method provided by another embodiment of the present disclosure. This embodiment further refines step S202 on the basis of the Figure 2 shown embodiment, and adds relevant steps for determining each preset layer before step S201, such as Figure 4 shown. The bin transportation method provided by this embodiment includes the following steps:

[0081] Step S401: Obtain the bin attributes of the to-be-transported bins placed on each layer of the unloader.

[0082] Among them, the bin attributes may include the type and quantity of the goods in the bin, and may also include the size and number of the bin, etc.

[0083] Optionally, the bin attribute includes the operation console corresponding to the bin to be transported.

[0084] Specifically, the bin attributes of all bins in the warehouse of the storage system can be pre-stored, or the bin attributes of each bin to be transported can be collected in real time. For example, each bin and its bin attributes, or each bin to be transported and its bin attributes are stored in the manner of the first correspondence. Then, when there is a transportation task, the corresponding bins to be transported in the transportation task are placed on each layer of the unloader, and then based on this first correspondence, the bin attributes of the bins to be transported placed on each layer of the unloader are obtained.

[0085] Step S402, determine each preset layer according to the bin attributes of each bin to be transported.

[0086] Specifically, each preset layer can be determined according to the operation console corresponding to each bin to be transported.

[0087] Exemplarily, Figure 5 For the present disclosure Figure 4 The schematic diagram of the placement of bins on the unloader in the illustrated embodiment is shown. As Figure 5 shown, the unloader 510 includes 6 layers, on which bins 501 to 506 to be transported are placed respectively, and the bins corresponding to the first operation console 530 and the second operation console 540 are alternately placed from top to bottom. That is, the bins 501, 503, and 505 to be transported correspond to the first operation console 530, while the bins 502, 504, and 506 to be transported correspond to the second operation console 540. The double-layer elevator 520 needs to transport two bins to be transported at the same time each time, and these two bins to be transported correspond to different operation consoles, that is, the first operation console 530 and the second operation console 540. Then, each time the double-layer elevator 520 transports, it can determine two preset layers according to the operation console corresponding to the bin to be transported to meet the different operation consoles corresponding to the bins to be transported. For example, any two adjacent layers can be selected, or any odd layer and even layer.

[0088] Further, each preset layer can also be determined according to the operation console corresponding to each bin to be transported and the bin priority.

[0089] Among them, the bin priority can be pre-customized, or can be determined by the deadline of the order corresponding to the bin to be transported, or can be determined by the deadline and the order priority. The present disclosure does not limit the determination method of the priority.

[0090] Specifically, when there are multiple bins to be transported corresponding to a certain operating platform on the unloader, that is, among the bins to be transported placed on the unloader, the number of bins corresponding to at least one operating platform is multiple. It is necessary to determine each preset layer based on the operating platforms corresponding to each bin to be transported and the bin priority. On the premise of ensuring that the bins to be transported corresponding to different operating platforms are extracted each time, the bins with higher priority are preferentially transported.

[0091] Further, each layer of the conveying mechanism of the multi-layer elevator can be controlled independently, so that each layer of the multi-layer elevator can be docked with its corresponding preset layer. For example, the first layer of the multi-layer elevator is docked with the first preset layer, and the second layer is docked with the fourth preset layer.

[0092] Take Figure 5 the situation shown as an example. Assume that among the bins to be transported corresponding to the first operating platform 530, the priorities from high to low are the bins to be transported 501, 505, and 503, and among the bins to be transported corresponding to the second operating platform 540, the priorities from high to low are the bins to be transported 504, 502, and 506. The double-layer elevator 520 needs to transport each of the bins to be transported placed on these 6 layers to the conveyor line or the operating platform through 3 transports. In the first transport, the two preset layers determined are the first layer and the fourth layer of the unloader to transport the bin to be transported 501 and the bin to be transported 504; in the second transport, the two preset layers determined are the fifth layer and the second layer of the unloader to transport the bin to be transported 505 and the bin to be transported 502; in the third transport, the two preset layers determined are the third layer and the sixth layer of the unloader to transport the bin to be transported 503 and the bin to be transported 506.

[0093] Step S403: Based on each layer of the multi-layer elevator, receive or carry the bins to be transported on each preset layer of the unloader.

[0094] Step S404: Based on each layer of the multi-layer elevator, transfer the bins to be transported on each layer of the multi-layer elevator to the corresponding conveyor line respectively, so as to transport each of the bins to be transported to the corresponding operating platform through each of the conveyor lines.

[0095] Specifically, the conveyor line is located between the multi-layer elevator and the corresponding operating platform, so as to transport the bins to be transported placed on each layer of the multi-layer elevator to the corresponding operating platform based on each conveyor line.

[0096] In this embodiment, each preset layer corresponding to each transportation is determined through the bin attributes, and then each layer of the multi-layer elevator is lifted to its corresponding preset layer to carry or receive the bins to be transported corresponding to each preset layer, improving the flexibility of the multi-layer elevator and the flexibility of bin transportation; by transporting the bins to be transported corresponding to multiple different operating platforms each time, the waiting time during bin transportation is greatly reduced, the efficiency of bin transportation is improved, and thus the order processing efficiency is improved.

[0097] Figure 6 The flowchart of the bin transportation method provided by another embodiment of the present disclosure is executed by a warehousing system, and the warehousing system includes a discharging machine and a multi-layer elevator. As Figure 6 shown, the bin transportation method includes the following steps:

[0098] Step S601, based on the discharging machine or the multi-layer elevator, respectively transport the bins to be transported on each preset layer of the discharging machine to each layer of the multi-layer elevator.

[0099] Step S602, based on the multi-layer elevator, respectively transport the bins to be transported on each layer of the multi-layer elevator to each corresponding operating platform.

[0100] In this embodiment, based on the multi-layer elevator, when unloading the bins to be transported on each layer of the discharging machine, it is possible to simultaneously carry or receive the bins to be transported corresponding to different operating platforms on each preset layer of the discharging machine, and at one time transport each of the bins to be transported placed on the multi-layer elevator to its corresponding operating platform, realizing the simultaneous unloading of multiple bins, reducing the waiting time for bin unloading, greatly improving the efficiency of unloading bins on the transportation line, and improving the order processing efficiency of the warehousing system.

[0101] Optionally, the warehousing system further includes a handling robot, and the handling robot corresponds to multiple target operating platforms. Before respectively transporting the bins to be transported on each preset layer of the discharging machine to each layer of the multi-layer elevator, the method further includes:

[0102] Obtain each bin to be transported; based on the handling robot, transport each bin to be transported to each layer of the storage shelf of the handling robot; based on the handling robot, transport each of the bins to be transported to the position corresponding to the discharging machine; based on the handling robot or the discharging machine, unload the bins to be transported placed on each layer of the handling robot to the corresponding layer of the discharging machine.

[0103] Among them, the bins to be transported include the bins corresponding to each of the target operating platforms.

[0104] Specifically, one order can correspond to multiple bins. A handling robot can only carry the number of bins to be transported corresponding to the number of layers of its storage rack at a time. Therefore, a handling plan needs to be formulated for each order, and each bin corresponding to the order is transported through a discharging machine and a multi-layer elevator by means of a robot carrying multiple times or multiple robots carrying multiple times to complete the order.

[0105] Specifically, for each robot, before it starts carrying, it is necessary to first determine or obtain each bin to be carried or transported. Then, the handling robot transports each bin to be transported to each layer of its storage rack according to the bin positions of each bin to be transported and transports it to the position corresponding to the discharging machine, so as to carry out the subsequent transportation process.

[0106] Specifically, the bins to be transported placed on two adjacent layers of the storage rack of the handling robot correspond to different operating tables.

[0107] Optionally, the bins to be transported placed on the continuously set layers of the storage rack of the handling robot respectively correspond to different operating tables, where the number of the continuously set layers is the same as the number of layers of the multi-layer elevator.

[0108] Specifically, the bins to be transported placed on each layer of the storage rack of the handling robot adopt the alternating placement principle to evenly place the bins to be transported corresponding to each operating table.

[0109] Specifically, the number of bins to be transported placed on the storage rack corresponding to each target operating table is equal, or the difference between the maximum value and the minimum value is 1.

[0110] Exemplarily, the storage rack of the handling robot has 4 layers, and its corresponding target operating tables are operating table A and operating table B. Then, the bins to be transported corresponding to operating table A, operating table B, operating table A, and operating table B can be placed in sequence from top to bottom of its storage rack, or the bins to be transported corresponding to operating table B, operating table A, operating table B, and operating table A can be placed in sequence. By analogy, the placement situations in other cases can be obtained. That is, the bins to be transported corresponding to each target operating table are placed alternately to evenly place the bins to be transported corresponding to each target operating table as much as possible.

[0111] Optionally, transporting each bin to be transported to each layer of the storage rack of the handling robot includes:

[0112] Determining the handling sequence of each bin to be transported and the position of the corresponding storage rack according to the operating table and / or bin position corresponding to each bin to be transported; and sequentially transporting each bin to be transported to each layer of the storage rack of the handling robot based on the handling sequence.

[0113] Specifically, when an order task is issued, the operation table corresponding to each bin to be transported is pre-planned. To improve the unloading efficiency of the bins, the positions of the bins to be transported corresponding to each operation table on the storage shelf can be preset, that is, which layer of the storage shelf they are located on. For each handling robot, after obtaining the respective bins to be transported corresponding to it, it is necessary to determine the position of the corresponding storage shelf according to the operation table corresponding to each bin to be transported, and then formulate an optimal handling sequence in combination with the bin positions, so as to transport each bin to be transported to the corresponding layers of the storage shelf, thereby reducing the operation time of the handling robot and improving the operation efficiency.

[0114] Exemplarily, the handling robot needs to transport 4 bins to be transported, namely a, b, c, and d. The bins to be transported a, b, c, and d correspond to operation table A, operation table B, operation table A, and operation table B respectively. When the handling robot is transporting, it transports each bin to be transported to the first to fourth layers of the storage shelf. The operation tables corresponding to the first to fourth layers of the storage shelf are operation table A, operation table B, operation table A, and operation table B respectively. The bins to be transported a, b, c, and d can respectively correspond to the first to fourth layers of the storage shelf, and their handling sequence can be defaulted to the bins to be transported a, b, c, and d, or the handling sequence with the highest handling efficiency can be determined according to the positions of the respective bins to be handled, such as the handling sequence with the shortest distance for the handling robot.

[0115] Optionally, obtaining each bin to be transported includes:

[0116] According to the order task, determine each task bin; for each handling robot, determine each target bin corresponding to the respective target operation tables from each of the task bins according to the respective target operation tables corresponding to the handling robot; determine a preset number of bins to be transported from each of the target bins according to the bin scores of each target bin.

[0117] Wherein, the preset number is the number of layers of the storage shelf of the handling robot.

[0118] Specifically, an order task may include multiple task bins, such as 10, 20, 50, or other values. The number of task bins that each handling robot can transport at one time is limited, which is determined by the number of layers of its storage shelf.

[0119] To determine each bin to be transported by each handling machine, it is necessary to first obtain each target operation console corresponding to the handling robot, that is, a handling robot can correspond to at least two specified target operation consoles. Furthermore, based on each target operation console corresponding to the handling robot, each target bin corresponding to each target operation console is screened out from the task bins. When the number of target bins is greater than the number of layers of the storage rack of the handling robot, it is also necessary to determine a preset number of target bins with the highest bin scores from each target bin according to the bin scores of each target bin as each bin to be transported. When the number of target bins is less than or equal to the number of layers of the storage rack of the handling robot, that is, the preset number, there is no need to perform the subsequent steps, and each target bin can be directly regarded as each bin to be transported.

[0120] Optionally, the bin score of the target bin is determined by at least one of the priority of the target bin, the bin position, and the corresponding operation console.

[0121] Among them, the priority of the target bin can be determined by the deadline of the target bin.

[0122] Optionally, after determining each task bin according to the order task, the method further includes:

[0123] For each handling robot, according to the position of the handling robot and the number of layers of the storage rack, determine each target operation console corresponding to the handling robot.

[0124] Specifically, the number of layers of the storage rack of the handling robot can be 2 layers, 3 layers, 6 layers or other numbers of layers, and the number of layers of the multi-layer elevator can also be 2 layers, 3 layers, 4 layers or other numbers of layers. Since the number of layers of the unloader is the same as the number of layers of the storage rack of the handling robot, and each unloader corresponds to a multi-layer elevator, and each layer of the multi-layer elevator corresponds to an operation console. In order to improve the handling efficiency, it is necessary to consider the matching problem between the number of layers of the handling robot and the number of layers of the multi-layer elevator. When the ratio of the number of layers of the handling robot to the number of layers of the multi-layer elevator is an integer, it is determined that the number of layers of the two matches. Therefore, for each handling robot, it is also necessary to determine each target operation console corresponding to the handling robot.

[0125] Furthermore, each operation console with the number of layers of the corresponding multi-layer elevator matching the number of layers of the storage rack of the handling robot can be selected as each target operation console corresponding to the handling robot.

[0126] Exemplarily, the warehousing system includes a double-layer elevator and a triple-layer elevator. The double-layer elevator corresponds to operation consoles A and B, and the triple-layer elevator corresponds to operation consoles B, C, and D. If the 4 layers of the storage shelves of the handling robot R match the number of layers of the double-layer elevator, the corresponding target operation consoles are operation consoles A and B.

[0127] Optionally, after determining each task bin according to the order task, the method further includes:

[0128] For each of the handling robots, determine the corresponding target operation consoles of the handling robot according to the priorities of each task bin and the operations corresponding to each task bin.

[0129] Specifically, when the number of layers of each multi-layer elevator in the warehousing system is the same and all match the number of layers of the storage shelves of the handling robot, when determining the corresponding target operation consoles of the handling robot, it is necessary to determine one or more task bins with the highest priority as one or more bins to be transported by the handling robot according to the priorities of each task bin, and determine the operation consoles corresponding to the one or more task bins with the highest priority as one or more target operation consoles of the handling robot.

[0130] Furthermore, a target multi-layer elevator can be determined according to the priorities of each task bin and the operation consoles corresponding to each task bin. Among the operation consoles corresponding to the target multi-layer elevator, it includes the operation console corresponding to the task bin with the highest priority.

[0131] Furthermore, a matching multi-layer elevator can be determined based on the operation console corresponding to the task bin with the highest priority. The operation consoles corresponding to the multi-layer elevator are the corresponding target operation consoles of the handling robot. If there are multiple matching multi-layer elevators, for each matching multi-layer elevator, obtain the operation consoles corresponding to the matching multi-layer elevator, obtain the priorities of the task bins corresponding to each operation console, and regard the multi-layer elevator corresponding to the operation console with the highest priority of the task bin as the target multi-layer elevator.

[0132] Figure 7 The structural schematic diagram of the bin transportation device provided by an embodiment of the present disclosure is as Figure 7 shown. The bin transportation device includes: a first bin handling module 710 and a first bin transportation module 720.

[0133] Among them, the first bin handling module 710 is configured to receive or handle the bins to be transported on each preset layer of the unloader based on each layer of the multi-layer elevator; the first bin transportation module 720 is configured to transport the bins to be transported on each layer of the multi-layer elevator based on each layer of the multi-layer elevator, so as to transport the bins to be transported on each layer of the multi-layer elevator to the respective operating platforms respectively, where different layers of the multi-layer elevator correspond to different operating platforms.

[0134] Optionally, the device further includes:

[0135] A preset layer determination module, configured to obtain the bin attributes of the bins to be transported placed on each layer of the unloader before receiving or handling the bins to be transported on each preset layer of the unloader based on each layer of the multi-layer elevator; and determine each preset layer according to the bin attributes of each of the bins to be transported.

[0136] Optionally, the first bin transportation module 720 is specifically configured to:

[0137] Based on each layer of the multi-layer elevator, transfer the bins to be transported on each layer of the multi-layer elevator to the corresponding conveyor lines respectively, so as to transport each of the bins to be transported to the respective operating platforms through each of the conveyor lines.

[0138] The bin transportation device provided by the embodiments of the present disclosure can execute the bin transportation method provided by any of the corresponding embodiments of the first aspect of the present disclosure, and has the corresponding functional modules and beneficial effects for executing the method.

[0139] Figure 8 For the structural schematic diagram of the bin transportation device provided by another embodiment of the present disclosure, as Figure 8 described, the bin transportation device includes: a second bin handling module 810 and a second bin transportation module 820.

[0140] Among them, the second bin handling module 810 is configured to respectively handle the bins to be transported on each preset layer of the unloader to each layer of the multi-layer elevator based on the unloader or the multi-layer elevator; the second bin transportation module 820 is configured to transport the bins to be transported on each layer of the multi-layer elevator to the respective operating platforms respectively based on the multi-layer elevator.

[0141] Optionally, the device further includes:

[0142] A module for obtaining bins to be transported, which obtains each bin to be transported, where the bins to be transported include the bins corresponding to each of the target operation platforms; a third bin handling module, which is used to transport each bin to be transported to each layer of the storage shelf of the handling robot based on the handling robot, where the handling robot corresponds to multiple target operation platforms; a third bin transportation module, which is used to transport each bin to be transported to the position corresponding to the unloader based on the handling robot; a bin unloading module, which is used to unload the bins placed on each layer of the handling robot to the corresponding layer of the unloader based on the handling robot or the unloader.

[0143] Optionally, the third bin handling module is specifically used for:

[0144] Determine the handling order of each bin to be transported and the position of the corresponding storage shelf according to the operation platform and / or bin position corresponding to each bin to be transported; and sequentially transport each bin to be transported to each layer of the storage shelf of the handling robot based on the handling order.

[0145] Optionally, the module for obtaining bins to be transported is specifically used for:

[0146] Determine each task bin according to the order task; for each handling robot, determine each target bin corresponding to each target operation platform from each of the task bins; and determine a preset number of bins to be transported from each of the target bins according to the bin scores of each target bin, where the preset number is the number of layers of the storage shelf of the handling robot.

[0147] Optionally, the device further includes:

[0148] A first target operation platform determination module, which is used to determine each target operation platform corresponding to the handling robot according to the position of the handling robot and the number of layers of the storage shelf for each handling robot.

[0149] Optionally, the device further includes:

[0150] A second target operation platform determination module, which is used to determine each target operation platform corresponding to the handling robot according to the priorities of each task bin and the operations corresponding to each task bin for each handling robot.

[0151] The bin transportation device provided by the embodiments of the present disclosure can execute the bin transportation method provided by any of the corresponding embodiments in the second aspect of the present disclosure, and has the corresponding functional modules and beneficial effects of the execution method.

[0152] Figure 9Schematic diagram of the structure of a multi-layer elevator provided by an embodiment of the present disclosure, as Figure 9 shown, the multi-layer elevator includes: a base 910, a lifting structure 920, a multi-layer transportation structure 930, and a first transportation controller 940 disposed on the base 910.

[0153] Among them, the first transportation controller 940 is configured to generate a first control signal to control the lifting structure 920 and the multi-layer transportation structure 930 to execute the Figure 2 or Figure 4 bin transportation method provided by any corresponding embodiment of the present disclosure.

[0154] For relevant descriptions, reference can be made to the Figure 2 or Figure 4 corresponding relevant descriptions and effects of the steps, and details are not elaborated herein.

[0155] Figure 10 Schematic diagram of the structure of a warehousing system provided by an embodiment of the present disclosure, as Figure 10 shown, the warehousing system includes: a discharging machine 1010, a plurality of operation platforms 1020, and a multi-layer elevator 1030.

[0156] Among them, the multi-layer elevator 1030 is the Figure 9 multi-layer elevator provided in the embodiment shown.

[0157] Figure 11 Schematic diagram of the structure of a warehousing system provided by another embodiment of the present disclosure, as Figure 11 shown, the warehousing system includes: a handling robot 1110, a discharging machine 1120, a multi-layer elevator 1130, and a second transportation controller 1140;

[0158] Among them, the second transportation controller 1140 is configured to control one or more of the handling robot 1110, the discharging machine 1120, and the multi-layer elevator 1130 to implement the Figure 2 , Figure 4 or Figure 6 bin transportation method provided by any corresponding embodiment of the present disclosure.

[0159] For relevant descriptions, reference can be made to the Figure 2 , Figure 4 or Figure 6 corresponding relevant descriptions and effects of the steps, and details are not elaborated herein.

[0160] In some embodiments, the warehousing system further includes a warehousing shelf, a warehouse management device, etc.

[0161] An embodiment of the present disclosure provides a computer-readable storage medium, on which a computer program is stored, and the computer program is executed by a processor to implement the present disclosureFigure 2 , Figure 4 or Figure 6 the bin transportation method provided by any one of the corresponding embodiments.

[0162] Among them, the computer-readable storage medium can be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0163] The present disclosure also provides a program product, which includes executable instructions stored in a readable storage medium. At least one processor of the multi-layer elevator or the warehousing system can read the execution instructions from the readable storage medium, and the execution of the execution instructions by at least one processor enables the bin transportation device to implement the bin transportation methods provided by the above various embodiments.

[0164] In several embodiments provided by the present disclosure, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the modules is only a logical function division, and there may be other division methods in actual implementation. For example, multiple modules can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces, and the indirect couplings or communication connections of devices or modules can be in electrical, mechanical or other forms.

[0165] The modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical units, that is, they can be located in one place, or they can be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0166] In addition, in each embodiment of the present disclosure, the various functional modules can be integrated in a processing unit, or each module can exist physically alone, or two or more modules can be integrated in one unit. The units formed by the above modules can be implemented in the form of hardware, or in the form of hardware plus software functional units.

[0167] The above integrated modules implemented in the form of software functional modules can be stored in a computer-readable storage medium. The above software functional modules are stored in a storage medium, including several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (English: processor) to execute some steps of the methods described in various embodiments of the present disclosure.

[0168] It should be understood that the above-mentioned processor may be a Central Processing Unit (CPU), or it may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the method disclosed in combination with the invention can be directly embodied as being executed and completed by a hardware processor, or by a combination of hardware and software modules in the processor.

[0169] The memory may include high-speed RAM memory, and may also include non-volatile storage NVM, such as at least one disk memory, and may also be a USB flash drive, a mobile hard disk, a read-only memory, a magnetic disk, or an optical disc, etc.

[0170] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience in representation, the buses in the accompanying drawings of the present disclosure are not limited to only one bus or one type of bus.

[0171] The above storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disc. The storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0172] An exemplary storage medium is coupled to the processor, enabling the processor to read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an Application Specific Integrated Circuit (ASIC). Of course, the processor and the storage medium can also exist as discrete components in an electronic device or a main control device.

[0173] Those of ordinary skill in the art will understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions. The foregoing program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments; and the foregoing storage medium includes various media that can store program codes such as ROM, RAM, magnetic disks, or optical discs.

[0174] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A method for transporting a bin, characterized in that, The method is applied to a multi-layer elevator, and the method includes: Based on each layer of the multi-layer elevator, simultaneously receiving or handling the to-be-transported bins at each preset layer of the unloader; the operating platforms corresponding to the to-be-transported bins in each of the preset layers are different, and the number of the preset layers is less than or equal to the number of layers of the multi-layer elevator; Based on each layer of the multi-layer elevator, transporting the to-be-transported bins on each layer of the multi-layer elevator, so as to simultaneously transport the to-be-transported bins on each layer of the multi-layer elevator to their respective corresponding operating platforms, wherein different layers of the multi-layer elevator correspond to different operating platforms.

2. The method according to claim 1, wherein Before receiving or handling the to-be-transported bins at each preset layer of the unloader based on each layer of the multi-layer elevator, the method further includes: Obtaining the bin attributes of the to-be-transported bins placed on each layer of the unloader, where the bin attributes include the operating platforms corresponding to the to-be-transported bins; Determining each preset layer according to the bin attributes of each of the to-be-transported bins.

3. The method according to claim 1, wherein Transporting the to-be-transported bins on each layer of the multi-layer elevator to their respective corresponding operating platforms based on each layer of the multi-layer elevator includes: Based on each layer of the multi-layer elevator, respectively transmitting the to-be-transported bins on each layer of the multi-layer elevator to the corresponding conveyor lines, so as to transport each of the to-be-transported bins to its respective corresponding operating platform through each of the conveyor lines.

4. The method according to any one of claims 1 to 3, characterized in that The multi-layer elevator has two layers, each of the preset layers includes a first preset layer and a second preset layer, the operating platforms include a first operating platform and a second operating platform, the first layer of the multi-layer elevator corresponds to the first operating platform, and the second layer of the multi-layer elevator corresponds to the second operating platform.

5. A method for transporting a bin, characterized in that, The method is applied to a warehousing system, the warehousing system includes an unloader and a multi-layer elevator, and the method includes: Based on the unloader or the multi-layer elevator, simultaneously handling the to-be-transported bins at each preset layer of the unloader to each layer of the multi-layer elevator respectively; the operating platforms corresponding to the to-be-transported bins in each of the preset layers are different, and the number of layers of the preset layers is less than or equal to the number of layers of the multi-layer elevator; Based on the multi-layer elevator, simultaneously transporting the to-be-transported bins on each layer of the multi-layer elevator to their respective corresponding operating platforms.

6. The method according to claim 5, wherein The warehousing system further includes a handling robot, the handling robot corresponds to multiple target operating platforms, and the method further includes: Obtaining each to-be-transported bin, where the to-be-transported bin includes the bins corresponding to each of the target operating platforms; Based on the handling robot, transporting each to-be-transported bin to each layer of the storage rack of the handling robot; Based on the handling robot, transporting each of the to-be-transported bins to the position corresponding to the unloader; Based on the handling robot or the unloader, unloading the to-be-transported bins placed on each layer of the handling robot to the corresponding layer of the unloader.

7. The method according to claim 6, wherein Transporting each to-be-transported bin to each layer of the storage rack of the handling robot includes: Determining the handling sequence of each to-be-transported bin and the position of the corresponding storage rack according to the operating platform and / or bin position corresponding to each to-be-transported bin; According to the handling sequence, each to-be-transported bin is successively transported to each layer of the storage shelf of the handling robot.

8. The method according to claim 6, characterized in that, Obtaining each to-be-transported bin includes: Determining each task bin according to the order task; For each handling robot, according to each target operation table corresponding to the handling robot, determining each target bin corresponding to each target operation table from each of the task bins; Determining a preset number of to-be-transported bins from each of the target bins according to the bin scores of each target bin, where the preset number is the number of layers of the storage shelf of the handling robot.

9. The method according to claim 8, wherein The method further includes: For each handling robot, determining each target operation table corresponding to the handling robot according to the position of the handling robot and the number of layers of the storage shelf.

10. The method according to claim 8, characterized in that, The bin score of the target bin is determined by at least one of the priority of the target bin, the bin position, and the corresponding operation table.

11. The method according to claim 8, wherein The method further includes: For each handling robot, determining each target operation table corresponding to the handling robot according to the priority of each task bin and the operations corresponding to each task bin.

12. The method according to any one of claims 6-11, characterized in that, The to-be-transported bins placed on the continuously set layers of the storage shelf of the handling robot respectively correspond to different operation tables, where the number of the continuously set layers is the same as the number of layers of the multi-layer elevator.

13. A bin transportation device, characterized in that, It includes: A first bin handling module, configured to simultaneously receive or handle the to-be-transported bins on each preset layer of the unloader based on each layer of the multi-layer elevator; the operation tables corresponding to the to-be-transported bins in each of the preset layers are different, and the number of the preset layers is less than or equal to the number of layers of the multi-layer elevator; A first bin transportation module, configured to transport the to-be-transported bins on each layer of the multi-layer elevator based on each layer of the multi-layer elevator, so as to simultaneously transport the to-be-transported bins on each layer of the multi-layer elevator to each corresponding operation table respectively, where different layers of the multi-layer elevator correspond to different operation tables.

14. A bin transportation device, characterized in that, It includes: A second bin handling module, configured to simultaneously transport the to-be-transported bins on each preset layer of the unloader to each layer of the multi-layer elevator based on the unloader or the multi-layer elevator; the operation tables corresponding to the to-be-transported bins in each of the preset layers are different, and the number of the preset layers is less than or equal to the number of layers of the multi-layer elevator; A second bin transportation module, configured to simultaneously transport the to-be-transported bins on each layer of the multi-layer elevator to each corresponding operation table based on the multi-layer elevator.

15. A multi-layer elevator, characterized in that, It includes: A base and a lifting structure, a multi-layer transportation structure, and a first transportation controller provided on the base; Wherein, the first transportation controller is configured to generate a first control signal to control the lifting structure and the multi-layer transportation structure to execute the bin transportation method according to any one of claims 1-4.

16. A warehousing system, characterized in that, It includes an unloader, a plurality of operation tables, and the multi-layer elevator according to claim 15.

17. A storage system, characterized in that, It includes: A handling robot, an unloader, a multi-layer elevator, and a second transportation controller; Among them, the second transportation controller is used to control one or more of the handling robot, the discharging machine, and the multi-layer elevator to implement the bin transportation method according to any one of claims 1-12.

18. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, and when the processor executes the computer-executable instructions, the bin transportation method according to any one of claims 1-12 is implemented.

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