Goods handling method, device, robot, sorting device and warehousing system

Abstract

An embodiment of the present disclosure provides a method, device, robot, sorting device, and warehousing system for handling goods. The method for handling goods is applied to a handling robot, and the method for handling goods includes: the handling robot transports a target good corresponding to a processing instruction placed on a warehousing shelf to a position corresponding to the sorting device, wherein the temporary storage shelf of the handling robot includes at least one idle layer; when there is a first good that has been processed on a first preset layer of the conveying shelf of the sorting device, the handling robot transports the first good to the idle layer of the temporary storage shelf, and then places the target good on a second preset layer of the conveying shelf of the sorting device, so as to transport the target good to the working range of the manipulator through the conveying mechanism on the second preset layer of the conveying shelf, and to perform processing on the target good based on the manipulator, achieving two-way handling of goods by one robot and improving the efficiency of goods handling.

Description

Technical Field

[0001] The present disclosure relates to the technical field of intelligent warehousing, and particularly to a method and apparatus for handling goods, a robot, a sorting apparatus, and a warehousing system. Background Art

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

[0003] Based on the process of handling goods in a warehousing system, it is necessary to use a robot to transport the goods stored on a warehousing shelf to a conveyor line, and then transport the goods to a corresponding operating table through the conveyor line, so as to complete the handling of the goods. When the goods need to flow back, the robot is controlled to transport the goods that need to flow back to the warehousing shelf of the warehousing system.

[0004] In the prior art, usually one robot is used to transport the goods in the warehousing shelf to the conveyor line, and another robot is used to transport the goods on the conveyor line to the warehousing shelf. The handling of goods occupies a large number of robots. Moreover, since it takes a certain amount of time to handle the goods, the robot needs to wait for a long time at the goods outlet of the conveyor line, or the robot needs to frequently travel back and forth between the conveyor line and the warehousing shelf, and the walking distance is long, resulting in low working efficiency of the robot, low goods handling efficiency, and high goods handling cost. Summary of the Invention

[0005] The present disclosure provides a method and apparatus for handling goods, a robot, a sorting apparatus, and a warehousing system. A sorting apparatus with a relatively small size is arranged in the warehousing system to replace the traditional conveyor line, improving the space utilization rate of the warehousing system. And based on the same handling robot, the extraction and storage of goods on the sorting apparatus are realized, accelerating the speed of goods handling and improving the goods handling efficiency.

[0006] In a first aspect, an embodiment of the present disclosure provides a goods handling method, which is applied to a handling robot for handling goods in a warehousing system. The warehousing system includes a warehousing shelf, a handling robot, and a sorting device. The sorting device includes a conveying shelf and a manipulator. The conveying shelf has at least two conveying layers, and at least two conveying layers are indented upward in sequence away from the manipulator at one end close to the manipulator to form a stepped shape; a conveying mechanism is provided on the conveying layer, and the conveying mechanism moves the goods on the conveying layer along the conveying direction. The method includes: when receiving a processing instruction, transporting the target goods corresponding to the processing instruction placed on the warehousing shelf to the corresponding position of the sorting device via the handling robot, where the temporary storage shelf of the handling robot includes at least one idle layer; when there is a first good that has been processed on the first preset layer of the conveying shelf of the sorting device, transporting the first good to the idle layer of the temporary storage shelf via the handling robot; after the first good is placed on the idle layer of the temporary storage shelf, placing the target goods on the second preset layer of the conveying shelf of the sorting device via the handling robot, so as to transport the target goods to the working range of the manipulator through the conveying mechanism on the second preset layer of the conveying shelf, and processing the target goods based on the manipulator.

[0007] Optionally, transporting the target goods corresponding to the processing instruction placed on the warehousing shelf to the corresponding position of the sorting device via the handling robot includes: determining a target storage location on the warehousing shelf where the target goods are placed according to the processing instruction; after the handling robot moves to the position corresponding to the target storage location, transporting the target goods from the target storage location to the temporary storage shelf of the handling robot; transporting the target goods to the corresponding position of the sorting device via the handling robot.

[0008] Optionally, after the handling robot moves to the position corresponding to the target storage location, the method further includes:

[0009] obtaining the storage location detection information of the target storage location; based on the storage location detection information, determining whether the goods placed at the target storage location are the target goods; if so, transporting the target goods from the target storage location to the temporary storage shelf of the handling robot.

[0010] Optionally, obtaining the storage location detection information of the target storage location includes: collecting a storage location detection image of the target storage location based on an image sensor of the handling robot, so as to determine whether the goods placed at the target storage location are the target goods based on the storage location detection image.

[0011] Optionally, based on the bin detection information, determining whether the goods placed in the target bin are the target goods includes: based on the bin detection information, determining the goods identifier of the goods placed in the target bin; determining whether the goods identifier is a preset identifier; if the goods identifier is a preset identifier, determining that the goods placed in the target bin are the target goods.

[0012] Optionally, when the goods placed in the target bin are not the target goods, the method further includes: determining each associated good associated with the target good; via a handling robot, transporting each associated good to the goods import / export of the warehousing system to determine abnormal goods from each associated good; via the handling robot, placing each second good in the original bin corresponding to each second good, where the second good is the other associated goods except the abnormal goods among the associated goods; and / or, if the target good is included in the abnormal goods, placing the target good in the target bin via the handling robot to transport the target good to the position corresponding to the sorting device via the handling robot.

[0013] Optionally, when the goods placed in the target bin are not the target goods, the method further includes: determining each associated good associated with the target good; determining whether the target good exists among the associated goods, where the target good is placed in the first bin of the warehousing shelf, and the goods corresponding to the first bin are the goods placed in the target bin; if so, placing the target good in the target bin and placing the goods placed in the target bin in the first bin via the handling robot to transport the target good to the position corresponding to the sorting device via the handling robot.

[0014] Optionally, after obtaining the bin detection information of the target bin, the method further includes: based on the bin detection information, determining the bin status of the target bin; if the bin status of the target bin is an occupied status, based on the goods detection information in the bin detection information, determining whether the goods placed in the target bin are the target goods.

[0015] Optionally, if the bin status of the target bin is an idle status, the method further includes: determining whether the target good is included in each recycled good, where the recycled good is an empty cargo box transported to the production line by the manipulator; if so, generating a recycling prompt message.

[0016] Optionally, if the target goods are not included in the recycled goods, the method further includes: obtaining shelf detection information of each layer of the conveying shelf of the sorting device; based on the shelf detection information, determining whether the target goods are detained on the conveying shelf; if so, using a handling robot to move the target goods detained on the conveying shelf to the goods import and export to detect whether the target goods are damaged.

[0017] Optionally, if the target goods are not detained on the conveying shelf, the method further includes: patrolling each storage location of the storage shelf; according to the patrol result, determining whether the target goods are stored in the second storage location of the storage shelf; if so, determining each associated good associated with the target good; performing an abnormal inventory check based on the historical processing flow of the target good and each associated good to determine an abnormal processing node; generating a first abnormal prompt message according to the abnormal processing node.

[0018] Optionally, the method further includes: based on the handling robot, storing each to-be-instored good located at the goods import and export of the storage system in each preset storage location of the storage shelf, where the warehousing instruction includes the preset storage location corresponding to each to-be-instored good.

[0019] Optionally, storing each to-be-instored good located at the goods import and export of the storage system in each preset storage location of the storage shelf according to the warehousing instruction includes: when receiving the warehousing instruction, the handling robot moves to the position corresponding to the goods import and export, and sequentially moves each to-be-instored good placed at each pick-up point corresponding to the goods import and export in the warehousing instruction to the temporary storage shelf of the handling robot; based on the handling robot, storing each to-be-instored good in the preset storage location corresponding to each to-be-instored good.

[0020] Optionally, after the handling robot moves to the position corresponding to the goods import and export, the method further includes: determining the storage conditions of each picking point of the goods import and export; judging whether there are surplus goods or abnormal picking points according to the storage conditions of each picking point, where the abnormal picking point is an idle picking point, and in the warehousing instruction, the abnormal picking point corresponds to one of the goods to be warehoused; if there are surplus goods, determining each second associated good associated with the surplus goods, where the second associated good includes one or more of the goods placed on the storage shelf associated with the surplus goods, the goods placed on the conveying shelf associated with the surplus goods, and the goods placed on the temporary storage shelf of the handling robot associated with the surplus goods; transporting each of the second associated goods to the goods import and export; performing an abnormal check based on the historical processing flow of each of the second associated goods to determine an abnormal processing node; and generating a second abnormal prompt message according to the abnormal processing node.

[0021] Optionally, if there is an abnormal picking point, the method further includes: generating a third abnormal prompt message according to the abnormal picking point and the goods to be warehoused corresponding to the abnormal picking point in the warehousing instruction.

[0022] Optionally, after placing the target goods on the second preset layer of the conveying shelf of the sorting device, the method further includes: receiving a first abnormal message sent by the sorting device, where the first abnormal message includes surplus goods on the second preset layer of the conveying shelf of the sorting device; according to the first abnormal message, transporting the surplus goods on the second preset layer to the production line via the handling robot, and generating a fourth abnormal prompt message.

[0023] Optionally, after placing the target goods on the second preset layer of the conveying shelf of the sorting device, the method further includes: receiving a second abnormal message sent by the sorting device, where the second abnormal message includes a second target good, and the second target good is the target good corresponding to the processing instruction that has not been transported to the second preset layer of the conveying shelf of the sorting device; according to the second abnormal message, placing the second target good on the second preset layer of the conveying shelf of the sorting device via the handling robot, so as to transport the second target good to the working range of the manipulator through the second preset layer of the conveying shelf, so as to process the second target good based on the manipulator.

[0024] Second aspect, embodiments of the present disclosure further provide a method for handling goods. The method for handling goods is applied to a sorting device, and the sorting device includes a conveying shelf and a manipulator. The conveying shelf has at least two conveying layers, and at least two conveying layers are indented away from the manipulator in sequence from bottom to top at one end close to the manipulator to form a stepped shape; a conveying mechanism is provided on the conveying layer, and the conveying mechanism moves the goods on the conveying layer along the conveying direction. The method includes: when there is a first good that has been processed on a first preset layer of the conveying shelf of the sorting device, transporting the first good through the conveying mechanism of the first preset layer, so as to transport the first good to an idle layer of the temporary storage shelf of the handling robot via the handling robot; after the handling robot places a target good on a second preset layer of the conveying shelf of the sorting device, transporting the target good to the working range of the manipulator through the conveying mechanism of the second preset layer, where the target good is the good corresponding to the processing instruction; handling the target good based on the manipulator; if the processed target good is not an empty cargo box, then transferring the target good to the first preset layer of the conveying shelf.

[0025] Optionally, the method further includes: if the processed good is an empty cargo box, determining that the good is a recycled good; transporting the recycled good to the production line via the manipulator, and recording the goods information of the recycled good.

[0026] Optionally, the method further includes: when there are surplus goods on the second preset layer of the conveying shelf of the sorting device, generating first abnormal information according to the surplus goods, and sending the first abnormal information to the handling robot.

[0027] Optionally, the method further includes: when there is no second target good on the second preset layer of the conveying shelf of the sorting device, generating second abnormal information according to the second target good, and sending the second abnormal information to the handling robot, where the second target good is the target good corresponding to the processing instruction that has not been transported to the second preset layer of the conveying shelf of the sorting device.

[0028] Third aspect, embodiments of the present disclosure further provide a goods handling device. The goods handling device is applied to a handling robot, and the handling robot is used to handle goods in a warehousing system. The warehousing system includes a warehousing shelf, a handling robot, and a sorting device. The sorting device includes a conveying shelf and a manipulator. The conveying shelf has at least two conveying layers, and at least two conveying layers are indented away from the manipulator in sequence from bottom to top at one end close to the manipulator to form a stepped shape; a conveying mechanism is provided on the conveying layer, and the conveying mechanism moves the goods on the conveying layer along the conveying direction. The goods handling device includes:

[0029] A goods transportation module, configured to, when receiving a processing instruction, transport, via a handling robot, a target good corresponding to the processing instruction placed on the storage shelf to a position corresponding to the sorting device. Wherein, the temporary storage shelf of the handling robot includes at least one idle layer; a first handling module, configured to, when there is a first good that has been processed on a first preset layer of the conveying shelf of the sorting device, handle, via the handling robot, the first good to an idle layer of the temporary storage shelf; a first placing module, configured to, after the first good is placed on the idle layer of the temporary storage shelf, place, via the handling robot, the target good on a second preset layer of the conveying shelf of the sorting device, so as to transport the target good to the working range of the manipulator through the conveying mechanism on the second preset layer of the conveying shelf, and perform processing on the target good based on the manipulator.

[0030] In a fourth aspect, an embodiment of the present disclosure further provides a goods processing device, which is applied to a sorting device. The sorting device includes a conveying shelf and a manipulator. The conveying shelf has at least two conveying layers, and at least two conveying layers are indented away from the manipulator in sequence from bottom to top at one end close to the manipulator and form a stepped shape; a conveying mechanism is arranged on the conveying layer, and the conveying mechanism enables goods to move along the conveying direction on the conveying layer. The goods processing device includes:

[0031] A second transportation module, configured to, when there is a first good that has been processed on a first preset layer of the conveying shelf of the sorting device, transport the first good through the conveying mechanism on the first preset layer, so as to handle, via a handling robot, the first good to an idle layer of the temporary storage shelf of the handling robot; a third transportation module, configured to, after the handling robot places a target good on a second preset layer of the conveying shelf of the sorting device, transport the target good to the working range of the manipulator through the conveying mechanism on the second preset layer, where the target good is a good corresponding to a processing instruction; a goods processing module, configured to process the target good based on the manipulator; a goods return module, configured to, if the processed target good is not an empty cargo box, transfer the target good to the first preset layer of the conveying shelf.

[0032] In a fifth aspect, an embodiment of the present disclosure further provides a handling robot, including a robot main body, a temporary storage shelf, a handling device, and at least one processor; wherein, the temporary storage shelf is used for storing goods; the handling device is used for handling goods to the temporary storage shelf or extracting goods stored in the temporary storage shelf; the at least one processor is used to execute the goods processing method provided in any embodiment corresponding to the first aspect of the present disclosure.

[0033] Sixth aspect, an embodiment of the present disclosure further provides a sorting device, including a conveying shelf, a manipulator, and at least one processor; wherein, the conveying shelf has at least two conveying layers, and at least two conveying layers are indented away from the manipulator in sequence from bottom to top at one end close to the manipulator and form a stepped shape; a conveying mechanism is arranged on the conveying layer, and the conveying mechanism moves goods on the conveying layer along the conveying direction; the at least one processor is configured to execute the goods processing method provided in any embodiment corresponding to the second aspect of the present disclosure.

[0034] Seventh aspect, an embodiment of the present disclosure further provides a warehousing system, including a warehousing shelf, a handling robot provided in the embodiment corresponding to the fifth aspect of the present disclosure, and a sorting device provided in the embodiment corresponding to the sixth aspect of the present disclosure.

[0035] Eighth aspect, an embodiment of the present disclosure further provides a computer-readable storage medium, in which computer-executable instructions are stored, and when the processor executes the computer-executable instructions, the goods processing method provided in any embodiment of the present disclosure is implemented.

[0036] Ninth aspect, an embodiment of the present disclosure further provides a computer program product, including a computer program, and when the computer program is executed by a processor, the goods processing method provided in any embodiment of the present disclosure is implemented.

[0037] The goods processing method, device, robot, sorting device, and warehousing system provided by the embodiments of the present disclosure. The goods processing method is directed to a warehousing system including a warehousing shelf, a handling robot, and a sorting device. The handling robot transports the target goods on the warehousing shelf to the corresponding position of the sorting device based on the received processing instruction, and the handling robot reserves an idle layer. When there is a first good that has been processed on the first preset layer of the sorting device, the handling robot transports the first good to the reserved idle layer, and then places a target good on the second preset layer of the sorting device. Thus, the target good is transported to the working range of the manipulator through the conveying mechanism on the second preset layer, and the manipulator completes the processing of the target good. Furthermore, if the processed target good needs to be returned to the warehousing shelf, the target good is transported to the first preset layer, and is transported back to the warehousing shelf through the idle layer of the temporary storage shelf of the handling robot. The sorting device has the function of two-way transportation, and the handling robot can complete the goods picking and placing in an alternating manner at the same position, reducing the walking distance and waiting time of the handling robot, improving the efficiency of goods handling, and thus improving the efficiency of goods processing. Description of the Drawings

[0038] To more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are some embodiments of the present disclosure. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can also be obtained based on these drawings.

[0039] Figure 1 Structural schematic of a sorting device provided by an embodiment of the present disclosure Figure 1 ;

[0040] Figure 2 Structural schematic of a sorting device provided by an embodiment of the present disclosure Figure 2 ;

[0041] Figure 3 Structural schematic of a sorting device provided by an embodiment of the present disclosure Figure 3 ;

[0042] Figure 4 Structural schematic of another sorting device provided by an embodiment of the present disclosure Figure 1 ;

[0043] Figure 5 Structural schematic of another sorting device provided by an embodiment of the present disclosure Figure 2 ;

[0044] Figure 6 Structural schematic of another sorting device provided by an embodiment of the present disclosure Figure 3 ;

[0045] Figure 7 Structural schematic diagram of a warehousing system provided by an embodiment of the present disclosure;

[0046] Figure 8 Top view of the docking of a handling robot and a conveying shelf in the warehousing system provided by an embodiment of the present disclosure;

[0047] Figure 9 Side view of the docking of a handling robot and a conveying shelf in the warehousing system provided by an embodiment of the present disclosure;

[0048] Figure 10 An application scenario diagram of a goods handling method provided by an embodiment of the present disclosure;

[0049] Figure 11 Flowchart of a goods handling method provided by an embodiment of the present disclosure;

[0050] Figure 12 Flowchart of a goods handling method provided by another embodiment of the present disclosure;

[0051] Figure 13 Flow chart of the goods handling method provided by another embodiment of the present disclosure;

[0052] Figure 14 Flow chart of the goods handling method provided by another embodiment of the present disclosure;

[0053] Figure 15 Flow chart of the goods handling method provided by another embodiment of the present disclosure;

[0054] Figure 16 Flow chart of the goods handling method provided by another embodiment of the present disclosure;

[0055] Figure 17 Flow chart of the goods handling method provided by another embodiment of the present disclosure;

[0056] Figure 18 Flow chart of the goods handling method provided by another embodiment of the present disclosure;

[0057] Figure 19 Schematic structural diagram of the goods handling device provided by an embodiment of the present disclosure;

[0058] Figure 20 Schematic structural diagram of the goods handling device provided by another embodiment of the present disclosure;

[0059] Figure 21 Schematic structural diagram of the handling robot provided by an embodiment of the present disclosure;

[0060] Figure 22 Schematic structural diagram of the sorting device provided by another embodiment of the present disclosure.

[0061] Explanation of reference numerals:

[0062] 1 - Conveyor shelf; 12 - Conveyor layer; 121 - Conveyor line; 1211 - Transfer mechanism; 1212 - Rolling transfer member;

[0063] 2 - Manipulator; 21 - First connecting arm; 22 - Second connecting arm; 23 - Support base; 231 - Stability - enhancing base; 232 - Support column; 24 - Gripping component;

[0064] 3 - Handling robot;

[0065] 4 - Storage shelf; 41 - Goods inlet and outlet;

[0066] 5 - Conveyor bin.

[0067] Through the above-mentioned accompanying drawings, specific embodiments of the present disclosure have been shown, and will be described in more detail hereinafter. These drawings and the written description 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 reference to specific embodiments. Detailed Description of the Embodiments

[0068] Here, the exemplary embodiments will be described in detail, and examples are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numerals 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.

[0069] The technical solutions of the present disclosure and how the technical solutions of the present disclosure solve the above technical problems will be described in detail below with specific embodiments. These several specific embodiments below 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 with reference to the accompanying drawings.

[0070] A warehousing system generally consists of a management device, robots, warehousing shelves, a conveyor line, and an operating platform. The conveyor line is often arranged in a single layer to convey the goods on the warehousing shelves located in various places to the corresponding operating platforms through the robots, or to transport the goods on the operating platforms to the corresponding positions of the various warehousing shelves, and then the robots carry the goods to the warehousing shelves. Since the conveyor line is relatively long, its floor area is relatively large, thus reducing the warehousing density of the warehousing system.

[0071] To solve the above problems, the embodiments of the present disclosure provide a sorting device. The conveyor shelf of the sorting device has at least two conveying layers, and one end of the at least two conveying layers close to the manipulator is indented away from the manipulator in sequence from bottom to top to form a stepped shape. First, the at least two conveying layers can not only increase the storage space of the conveyor shelf, but also reduce the floor area of the conveyor shelf, thus being beneficial to reducing the space occupied by the sorting device, improving the warehousing density, and reducing the warehousing cost. Second, the end of the conveying layer close to the manipulator is set in a stepped shape, which is convenient for the manipulator to pick up goods from the end of each conveying layer close to the manipulator, or to place goods at the end of each conveying layer close to the manipulator, thereby avoiding collision interference between the manipulator and the conveying layer during the process of picking up and placing goods, and realizing the two-way circular conveying of goods, improving the goods conveying efficiency.

[0072] To make the objectives, technical solutions, and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure. Apparently, the described embodiments are some, but not all, of the embodiments of the present disclosure. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present disclosure without creative efforts shall fall within the scope of protection of the present disclosure.

[0073] Figure 1 Structural schematic of a sorting device provided by an embodiment of the present disclosure Figure 1 ; Figure 2 Structural schematic of a sorting device provided by an embodiment of the present disclosure Figure 2 ; Figure 3 Structural schematic of a sorting device provided by an embodiment of the present disclosure Figure 3 ; Figure 4 Structural schematic of another sorting device provided by an embodiment of the present disclosure Figure 1 ; Figure 5 Structural schematic of another sorting device provided by an embodiment of the present disclosure Figure 2 ; Figure 6 Structural schematic of another sorting device provided by an embodiment of the present disclosure Figure 3 。

[0074] Referring to Figures 1 to 6 as shown, an embodiment of the present disclosure provides a sorting device. The sorting device includes a conveying shelf 1 and a manipulator 2, and the manipulator 2 is disposed at a first end of the conveying shelf 1 along the conveying direction. The conveying shelf 1 is used for conveying goods, and the manipulator 2 is used for picking up goods from the conveying shelf 1, or the manipulator 2 is used for placing the picked-up goods on the conveying shelf 1.

[0075] Specifically, the conveying shelf 1 has at least two conveying layers 12, and one end of at least two conveying layers 12 close to the manipulator 2 is indented upward in sequence away from the manipulator 2 to form a stepped shape. The conveying layer 12 can be provided with two, three, four or more layers according to actual needs. Exemplarily, the conveying shelf 1 includes support legs and the conveying layer 12 mounted on the support legs. At least two conveying layers 12 can share a set (for example, four) of support legs; or at least two conveying layers 12 can each have a set (for example, four) of support legs; or at least two conveying layers 12 can share some support legs at the end away from the manipulator 2 and each have support legs at the end close to the manipulator.

[0076] A conveying mechanism 1211 is provided on the conveying layer 12. The conveying mechanism 1211 moves the goods on the conveying layer 12 along the conveying direction. Exemplarily, the conveying mechanism 1211 can convey the goods from one end far from the manipulator 2 to one end close to the manipulator 2, so that the manipulator 2 can pick up the goods from the conveying shelf 1; or, the conveying mechanism 1211 can convey the goods placed by the manipulator 2 at one end close to the manipulator 2 on the conveying shelf 1 to one end far from the manipulator 2, so that a handling robot, a worker or other equipment can pick up the goods from one end far from the manipulator 2 of the conveying shelf 1.

[0077] In the sorting device provided by the embodiment of the present disclosure, the conveying shelf 1 has at least two conveying layers 12. One end of at least two conveying layers 12 close to the manipulator 2 is indented upward in sequence from bottom to top in a direction away from the manipulator 2 and forms a stepped shape. First, at least two conveying layers 12 can not only increase the storage space of the conveying shelf 1, but also reduce the floor area of the conveying shelf 1, thereby being beneficial to reducing the space occupied by the sorting device. Second, the end of the conveying layer 12 close to the manipulator is set in a stepped shape, which is convenient for the manipulator 2 to pick up or place goods at one end of each conveying layer 12 close to the manipulator 2, thereby avoiding collision interference between the manipulator 2 and the conveying layer 12 during the process of picking up and placing goods.

[0078] Meanwhile, by providing the conveying mechanism 1211 on the conveying layer 12, the conveying mechanism 1211 moves the goods on the conveying layer 12 along the conveying direction. On the one hand, the conveying mechanism can convey the goods on the conveying layer 12 towards one end close to the manipulator 2, so as to facilitate the manipulator 2 to pick up; on the other hand, the conveying mechanism can convey the goods placed by the manipulator 2 at one end close to the manipulator 2 on the conveying layer 12 towards one end far from the manipulator 2, so as to facilitate making room for the manipulator 2 to place goods, thereby being beneficial to improving the working efficiency of the sorting device.

[0079] Optionally, the conveying layer 12 includes at least two conveying lines 121. At least two conveying lines 121 are arranged in parallel along a direction perpendicular to the conveying direction. Exemplarily, the conveying lines 121 can be set to two, three, four or more according to actual needs. The conveying mechanism 1211 is provided on the conveying line 121, so that the conveying layer 12 can convey goods through at least two conveying lines 121 at the same time, thereby being beneficial to improving the conveying efficiency of the conveying shelf 1, and further being beneficial to improving the sorting efficiency of the sorting device.

[0080] Optionally, a conveying bin 5 is placed on the conveying line 121. The conveying bin 5 is used to accommodate goods, facilitating the conveyance of the goods, thereby helping to avoid jamming of small or irregularly shaped goods during conveyance. The width of the conveying line 121 perpendicular to the conveying direction is greater than or equal to the width of the conveying bin 5 perpendicular to the conveying direction, so as to prevent the conveying bin 5 from protruding beyond both sides of the conveying line 121 and interfering with other structures, which helps to ensure that the entire conveying bin 5 is located on the conveying line 121, and further helps to ensure the smooth conveyance of the conveying bin 5.

[0081] Optionally, in two adjacent conveying layers 12, compared with the end of the upper conveying layer 12 close to the manipulator 2, the end of the upper conveying layer 12 close to the manipulator 2 is indented by a first length value in a direction away from the manipulator 2. The first length value is greater than or equal to the width of the conveying bin 5 in the conveying direction. On the one hand, it is ensured that the end of the upper conveying layer close to the manipulator 2 does not block the conveying bin 5 placed at the end of the lower conveying layer close to the manipulator 2, facilitating the manipulator 2 to pick up goods from the conveying bin 5 or place goods into the conveying bin 5. On the other hand, it is convenient for the manipulator 2 to directly remove the conveying bin 5 from the end of the conveying layer 12 close to the manipulator 2 or directly place the conveying bin 5 at the end of the conveying layer 12 close to the manipulator 2.

[0082] In an alternative implementation, the conveying mechanism 1211 is provided with a rolling conveyor 1212. The rolling conveyor 1212 has an outer contour surface that rolls in contact with the conveyed object placed on it; the rolling conveyor 1212 rotates about its own axis of rotation in the conveying direction to convey the conveyed object in the conveying direction. Exemplarily, the rolling conveyor 1212 can be a rotating roller, and the outer peripheral surface of the rotating roller rolls in contact with the conveyed object and conveys the conveyed object in the conveying direction.

[0083] Furthermore, there can be multiple rolling conveyors 1212. The multiple rolling conveyors 1212 are arranged in parallel in the conveying direction, and the axes of rotation of the multiple rolling conveyors 1212 are parallel to each other, so as to convey the goods placed on the conveying layer 12 more flexibly and smoothly.

[0084] In another alternative implementation, the conveying mechanism 1211 is provided with a reciprocating conveyor belt. The reciprocating conveyor belt reciprocates in the conveying direction to convey the conveyed object placed on the reciprocating conveyor belt in the conveying direction.

[0085] Optionally, one ends of at least two conveying layers 12 away from the manipulator 2 are flush, so as to facilitate the docking of the handling robot with one ends of at least two conveying layers 12 away from the manipulator 2, which is conducive to ensuring that the handling robot can smoothly transfer the goods on the handling robot to the conveying layer 12, or transfer the goods on the conveying layer 12 to the handling robot.

[0086] Optionally, the manipulator 2 includes a support base 23, a first connecting arm 21 and a picking component 24. The first end of the first connecting arm 21 is rotatably connected to the top end of the support base 23. Exemplarily, the first end of the first connecting arm 21 and the top end of the support base 23 can be rotatably connected through a universal shaft or a ball joint, which is conducive to improving the flexibility of the rotation of the first connecting arm 21 relative to the support base 23. The picking component 24 is installed at the second end of the first connecting arm 21, and the picking component 24 is used to pick up goods from one end of at least two conveying layers 12 close to the manipulator 2. Specifically, the first connecting arm 21 rotates and adjusts the positional relationship between the picking component 24 and the goods to be picked up, so that the picking component 24 can smoothly dock with the goods to be picked up.

[0087] Furthermore, the manipulator 2 further includes a second connecting arm 22. The first end of the second connecting arm 22 is rotatably connected to the second end of the first connecting arm 21. Exemplarily, the first end of the second connecting arm 22 and the second end of the first connecting arm 21 can be rotatably connected through a universal shaft or a ball joint, which is conducive to improving the flexibility of the rotation of the second connecting arm 22 relative to the first connecting arm 21. The picking component 24 is installed at the second end of the second connecting arm 22. Specifically, both the first connecting arm 21 and the second connecting arm 22 can rotate flexibly, so as to more precisely adjust the relative positional relationship between the picking component 24 and the goods to be picked up, so that the picking component 24 can smoothly and precisely dock with the goods to be picked up.

[0088] In an optional implementation manner, the picking component 24 is a suction cup component. The suction cup component includes a suction cup connecting piece and a suction cup. The top end of the suction cup connecting piece is rotatably connected to the second end of the second connecting arm 22. Exemplarily, the top end of the suction cup connecting piece and the second end of the second connecting arm 22 can be rotatably connected through a universal shaft or a ball joint, which is conducive to improving the flexibility of the rotation of the suction cup connecting piece relative to the second connecting arm 22. The suction cup is installed at the bottom end of the suction cup connecting piece, and the suction cup is used to suck the goods. Optionally, the suction cup connecting piece can be set as a telescopic structure to increase the flexibility of the suction cup adjustment.

[0089] In another alternative implementation, the picking component 24 is a robotic gripper component, which includes a robotic gripper connecting member and a robotic gripper. The top end of the robotic gripper connecting member is rotatably connected to the second end of the second connecting arm 22. Exemplarily, the top end of the robotic gripper connecting member and the second end of the second connecting arm 22 can be rotatably connected through a universal joint or a ball joint, which is beneficial to improving the flexibility of the rotation of the robotic gripper connecting member relative to the second connecting arm 22. The robotic gripper is installed at the bottom end of the robotic gripper connecting member; the robotic gripper has at least two robotic fingers, and the robotic gripper is used to grasp goods. Exemplarily, the robotic gripper can be provided with two, three, four or more robotic fingers according to actual needs, and the robotic fingers can make the robotic gripper grasp goods more reliably. Optionally, the robotic gripper connecting member can be set as a telescopic structure to increase the flexibility of the adjustment of the robotic gripper.

[0090] Optionally, the support base 23 includes a stability-enhancing base 231 and a support column 232. The bottom end of the support column 232 is installed on the stability-enhancing base 231, and the first end of the first connecting arm 21 is rotatably connected to the top end of the support column 232. Exemplarily, the stability-enhancing base 231 can be laid flat on the ground, and the shape of the stability-enhancing base 231 can be square, circular or other shapes. The stability-enhancing base 231 is beneficial to reducing the center of gravity of the manipulator 2, thereby improving the stability and reliability of the manipulator 2.

[0091] Optionally, a target recognition device is provided on the picking component 24, and the target recognition device is used to identify the target to be picked up by the picking component. Exemplarily, the target recognition device can be a barcode scanning device, and an identification code, such as a barcode or a QR code, can be attached to the goods to be picked up. The barcode scanning device can identify the identification code on the goods to find out the target to be picked up. Of course, the target recognition device can also be an image recognition device, and the image recognition device can directly find out the target from the goods to be picked up.

[0092] Optionally, an anti-collision detection device is provided on the picking component 24, and the anti-collision detection device is used to prevent the picking component from colliding with the conveying shelf 1. Exemplarily, the anti-collision detection device includes a distance measuring sensor and a proximity sensor. The distance measuring sensor and the proximity sensor can detect the distance between the picking component 24 and the conveying shelf 1. Specifically, when the distance between the picking component 24 and the conveying shelf 1 is less than a preset value, an alarm can be issued to remind the operator, or the distance can be transmitted back to the main control system of the manipulator 2, so that the main control system of the manipulator 2 controls the movement of the picking component 24 of the manipulator 2.

[0093] Figure 7 Schematic structural diagram of the storage system provided by the embodiment of the present disclosure; Figure 8 Top view of the docking of the handling robot and the conveying shelf in the storage system provided by the embodiment of the present disclosure;Figure 9 Side view of the docking of the handling robot and the conveying shelf in the warehousing system provided by the embodiments of the present disclosure.

[0094] Based on the above embodiments, with reference to Figures 7 to 9 As shown, the embodiments of the present disclosure provide a warehousing system. The warehousing system includes a warehousing shelf 4, a handling robot 3, and a sorting device. The handling robot 3 is configured to move the goods on the warehousing shelf 4 to the conveying shelf 1 of the sorting device, or move the goods on the conveying shelf 1 to the warehousing shelf 4.

[0095] Exemplarily, the warehousing shelf 4, the handling robot 3, and the sorting device are all arranged in the warehouse. The warehouse can be divided into an inventory area and a sorting area. The warehousing shelves 4 are arranged in the inventory area, and aisles for the handling robot 3 to pass through are left between the warehousing shelves 4; the inventory area has a goods inlet / outlet 41 for transporting goods into or out of the inventory area. The sorting device is arranged between the inventory area and the sorting area so that the goods in the inventory area can be transported and sorted by the sorting device and stored in the sorting area, or the goods in the sorting area can be sorted by the sorting device and transported and stored in the inventory area.

[0096] Optionally, the goods inlet / outlet of the handling robot 3 is docked with the second end of the conveying shelf 1 along the conveying direction to transfer the goods from the handling robot 3 to the conveying shelf 1, or transfer the goods from the conveying shelf 1 to the handling robot 3. Combining the description of the above embodiments, the second end of the conveying shelf 1 along the conveying direction is the end of the conveying shelf away from the manipulator.

[0097] Optionally, there are at least two handling robots 3. Exemplarily, the handling robots 3 can be set to two, three, four or more according to the scale of the warehousing system, which is beneficial to improving the working efficiency of the warehousing system.

[0098] Optionally, there are at least two sorting devices. Exemplarily, the sorting devices can be set to two, three, four or more according to the scale of the warehousing system, which is beneficial to improving the working efficiency of the sorting devices. At least two sorting devices are arranged at intervals on the same side of the warehousing shelf 4, so that a sorting conveyor line can be arranged on the side of the sorting device away from the warehousing shelf 4, which is beneficial to ensuring the compactness of the sorting conveyor line, reducing the setting range of the sorting conveyor line, and saving costs.

[0099] The warehousing system provided by the embodiments of the present disclosure includes the sorting device of the above embodiments. Therefore, the warehousing system also has the advantages of the sorting device of the above embodiments. For details, reference can be made to the description of the above embodiments, which will not be elaborated here.

[0100] The embodiments of the present disclosure also provide a method for handling goods. The application scenarios of the embodiments corresponding to the method for handling goods of the present disclosure are explained below:

[0101] Figure 10 FIG. is an application scenario diagram of the method for handling goods provided by the embodiments of the present disclosure. As Figure 10 shown, the method for handling goods provided by the embodiments of the present disclosure can be executed by the above-mentioned handling robot or sorting device. Generally, the warehousing system 100 mainly consists of a management device 110, warehousing shelves 120, a handling robot 130, a conveyor line 140, and an operation console. Figure 10 Taking 3 warehousing shelves 120 as an example, the management device 110 is used to record information of each good stored on the warehousing shelves 120, and is also used to plan a path for the handling robot 130; the conveyor line 140 includes a robot docking interface I. After the handling robot 130 transports the goods to the robot docking interface I, the conveyor line 140 is used to transport the goods from the robot docking interface I to the operation console for corresponding processing, such as sorting, packing, etc. If the goods need to be returned to the warehousing shelves 120, the conveyor line 140 transports the goods to the goods outlet, and another handling robot 130 returns the goods to the warehousing shelves 120.

[0102] In the prior art, different handling robots are required to pick up and place goods respectively, which occupies a large number of robots. And when picking up goods, since it takes a certain amount of time for goods handling, the handling robot often needs to wait for a long time at the goods outlet, or needs to frequently travel back and forth between the conveyor line and the warehousing shelves, resulting in low handling efficiency of the handling robot 130.

[0103] To improve the efficiency of goods handling, the embodiments of the present disclosure provide a method for handling goods. Through the cooperation between the handling robot and the sorting device, when handling goods, the handling robot transports the first good that needs to be returned to the warehousing shelves after being processed on the first preset layer of the sorting device to the idle layer of its temporary storage shelf, and then places the target goods on other layers of the temporary storage shelf on the second preset layer of the sorting device, so as to process the target goods through the manipulator of the sorting device. After the processing is completed, if the target goods need to be returned to the warehousing shelves, the manipulator will... Thus, two-way transportation of goods is realized based on the sorting device, and by alternately picking up and placing goods at the sorting device by the handling robot, picking up and placing goods are completed by the same robot, reducing the walking distance and waiting time of the handling robot, improving the efficiency of goods handling, and thus improving the efficiency of goods processing.

[0104] Figure 11 FIG. is a flowchart of the method for handling goods provided by an embodiment of the present disclosure. As Figure 11As shown, the goods handling method is applicable to a warehousing system, which can be an unmanned warehousing system, that is, the processes of goods warehousing, sorting, and outbound are not participated by humans, and can be completed only through the warehousing system. The goods handling method can be executed by a handling robot. The warehousing system includes a warehousing shelf, a handling robot, and a sorting device. The sorting device includes a conveying shelf and a manipulator. The conveying shelf has at least two conveying layers, and at least two conveying layers are indented upward in sequence from bottom to top in a direction away from the manipulator at one end close to the manipulator to form a stepped shape; a conveying mechanism is arranged on the conveying layer, and the conveying mechanism moves the goods on the conveying layer along the conveying direction. The goods handling method provided in this embodiment includes the following steps:

[0105] Step S201, when a processing instruction is received, the target goods corresponding to the processing instruction placed on the warehousing shelf are transported to the corresponding position of the sorting device via the handling robot.

[0106] Among them, the temporary storage shelf of the handling robot has multiple layers, and when the handling robot moves to the corresponding position of the sorting device, the temporary storage shelf of the handling robot includes at least one idle layer.

[0107] In some embodiments, the idle layer can be the lowest layer of the temporary storage shelf or the highest layer.

[0108] In some embodiments, the handling robot can be the handling robot 3 in the above embodiment.

[0109] In some embodiments, the number of target goods can be multiple, and when a handling robot makes a single handling, the number of corresponding target goods should be less than the number of layers of the temporary storage shelf of the handling robot.

[0110] Specifically, the processing instruction can be issued by the management device, scheduling device, or order receiving device of the warehousing system. The processing instruction can include each target good and can also include the target storage location corresponding to each target good.

[0111] In some embodiments, the processing instruction can be a sorting instruction, and the sorting instruction can also include the sorting task of each target good.

[0112] Furthermore, when the order receiving device of the warehousing system receives an order, processing instructions for each handling robot are generated based on the order to complete the order based on each handling robot.

[0113] Specifically, after receiving a processing instruction, the handling robot decodes the processing instruction to obtain each target good and the target storage location corresponding to each target good, and then moves to the position corresponding to each target storage location in a set order, transports each target good to each layer of the temporary storage shelf of the handling robot, and reserves an idle layer. After all target goods are transported to the temporary storage shelf of the handling robot, the handling robot moves to the position corresponding to the sorting device to process each target good based on the sorting device.

[0114] Step S202, when there is a first good that has been processed on the first preset layer of the conveying shelf of the sorting device, the first good is transported to the idle layer of the temporary storage shelf via the handling robot.

[0115] Wherein, the first good is the previous target good that has been processed by the sorting device and needs to be returned to the storage shelf.

[0116] The conveying shelf of the sorting device may include at least two layers, a first preset layer and a second preset layer. The first preset layer can be used to convey the first goods that have been processed and need to be returned to the storage shelf, and the second preset layer is used to convey each target good that needs to be processed by the manipulator of the sorting device.

[0117] In some embodiments, the first preset layer can also be used to convey each target good that needs to be processed by the manipulator of the sorting device. The conveying direction of the first preset layer can be changed, and the conveying direction of the first preset layer can be the same as or opposite to the conveying direction of the second preset layer.

[0118] In some embodiments, the sorting device can be the sorting device provided in any of the above embodiments.

[0119] In some embodiments, the conveying direction of the first preset layer of the conveying shelf of the sorting device is opposite to that of the second preset layer, and the first preset layer is located below the second preset layer.

[0120] Specifically, the sorting device transports the first good through the second preset layer to the working range of the manipulator, and then the manipulator processes the first good, such as sorting and packing the goods. After processing, if the first good needs to be returned to the storage system, such as there are still items in the first good or the first good is not an empty cargo box, the first good is transported to the first preset layer so that the handling robot can extract the first good and store the first good in the storage shelf.

[0121] Specifically, when the first good is processed, the manipulator of the sorting device can transport the first good to the first preset layer of the conveying shelf of the sorting device.

[0122] Specifically, the handling robot can place the first cargo on the idle layer of its temporary storage shelf through its picking and placing device.

[0123] Step S203: After the first cargo is placed on the idle layer of the temporary storage shelf, the target cargo is placed on the second preset layer of the conveying shelf of the sorting device via the handling robot, so that the target cargo is transported to the working range of the manipulator through the conveying mechanism on the second preset layer of the conveying shelf, and the manipulator processes the target cargo based on this.

[0124] Specifically, if there are multiple first cargos and multiple target cargos, after the handling device places one first cargo on the reserved idle layer of its temporary storage shelf, it can place one target cargo on the second preset layer of the conveying shelf of the sorting device through the picking and placing device, so that a new idle layer appears on the temporary storage shelf of the handling robot, that is, the layer where the target cargo was originally placed. Then the handling robot places another first cargo on this new idle layer, and so on. The handling robot alternately extracts one first cargo from the first preset layer and places one target cargo on the second preset layer of the temporary storage shelf, thus simultaneously meeting the handling of cargos in two transportation directions, namely, the outbound sorting of cargos and the return of cargos after sorting. This greatly shortens the time for cargo handling and improves the cargo handling efficiency.

[0125] Specifically, after the target cargo is placed on the second preset layer of the conveying shelf of the sorting device, the target cargo is transported through the transmission mechanism on this second preset layer. When the target cargo is transported to the working range of the manipulator of the sorting device, the manipulator processes the target cargo based on the processing instruction corresponding to the target cargo, such as sorting the target cargo based on the sorting task in the sorting instruction. After the processing is completed, if the target cargo is not an empty cargo box, the manipulator transports the target cargo to the first preset layer of the conveying shelf of the sorting device, and through the handling robot, the target cargo is placed back on the storage shelf, and it can be placed back in the original storage location of the target cargo or the reallocated storage location.

[0126] The goods handling method, device, robot, sorting device and warehousing system provided by the embodiments of the present disclosure. The goods handling method is directed to a warehousing system including a warehousing shelf, a handling robot and a sorting device. The handling robot transports the target goods on the warehousing shelf to the position corresponding to the sorting device based on the received handling instruction, and the handling robot reserves an idle layer. When there are first goods that have been processed on the first preset layer of the sorting device, the handling robot transports the first goods to the reserved idle layer, and then places a target goods on the second preset layer of the sorting device. Thus, the target goods are transported to the working range of the manipulator through the conveying mechanism of the second preset layer, and the manipulator completes the handling of the target goods. Furthermore, if the processed target goods need to be returned to the warehousing shelf, the target goods are transported to the first preset layer to be transported back to the warehousing shelf through the idle layer of the temporary storage shelf of the handling robot. The sorting device has the function of two-way transportation, and the handling robot can complete the loading and unloading of goods in an alternating manner at the same position, reducing the walking distance and waiting time of the handling robot, improving the efficiency of goods handling, and thus improving the efficiency of goods processing.

[0127] Figure 12 The flowchart of the goods handling method provided by another embodiment of the present disclosure. The goods handling method provided by this embodiment is a further refinement of step S201 and adds steps related to target goods determination on the basis of the embodiment shown in Figure 11 As shown, the goods handling method provided by this embodiment may include the following steps: Figure 12 As shown, the goods handling method provided by this embodiment may include the following steps:

[0128] Step S301, when receiving a handling instruction, via the handling robot, determine the target storage location of the warehousing shelf for placing the target goods according to the handling instruction.

[0129] Specifically, the handling instruction may be decoded, and then based on the decoded handling instruction, each target goods and the target storage location corresponding to each target goods are determined.

[0130] Specifically, each target goods may be determined according to the handling instruction, such as obtaining the goods identifier of each target goods, and then based on the stored first correspondence relationship, according to the goods identifier of each target goods, the target storage location corresponding to each target goods is determined. Wherein, the first correspondence relationship is used to describe the correspondence relationship between each storage location of the warehousing shelf of the warehousing system and the goods identifier.

[0131] Step S302, after the handling robot moves to the position corresponding to the target storage location, obtain the storage location detection information of the target storage location.

[0132] Wherein, the storage location detection information may be the recognition result of the goods identifier of the goods stored in the target storage location.

[0133] In some embodiments, the storage location detection information may be the goods identification, the size information of the goods, the goods type, etc., and may also be the type, quantity, etc. of the items stored in the goods.

[0134] Specifically, after determining the target storage location of the target goods, obtain the walking path, and move from the current location to the location corresponding to the target storage location based on this walking path.

[0135] Specifically, the handling robot can perform path planning based on the pre-established map of the warehousing system, the current location of the handling robot, and the target storage location, so as to determine the walking path.

[0136] Specifically, after the handling robot moves or walks to the location corresponding to the target storage location, turn on the sensors set on the handling robot, such as infrared sensors, ultrasonic sensors, image sensors, etc., to collect the storage location detection information of the target storage location.

[0137] Further, after the handling robot moves or walks to the location corresponding to the target storage location, position calibration can also be performed. After the calibration is completed or during the process, turn on the sensors set on the handling robot to collect the storage location detection information of the target storage location.

[0138] Step S303, based on the storage location detection information, determine whether the goods placed in the target storage location are the target goods.

[0139] Specifically, it can be determined whether the storage location detection information meets the preset information corresponding to the target goods. If so, it is determined that the goods placed in the target storage location are the target goods. If the goods type in the storage location detection information is inconsistent with the preset goods type of the target goods, it is determined that the goods placed in the target storage location are not the target goods.

[0140] In some embodiments, the size information corresponding to different types of storage locations is different, then the above storage location detection information may be the size information of the goods placed in the target storage location, such as width, length, etc., so as to determine whether the goods placed in the target storage location are the target goods based on this size information.

[0141] Specifically, the storage location detection information may be the goods identification of the goods placed in the target storage location, and it is determined whether the goods placed in the target storage location are the target goods based on this goods identification.

[0142] Specifically, a goods identification code may be pasted on the set area of the target goods, and its form may be a two-dimensional code, a bar code, a code, etc. The set area can be identified by the sensors set on the handling robot, so as to obtain the goods identification of the goods placed in the target storage location.

[0143] Optionally, obtaining the storage location detection information of the target storage location includes:

[0144] Based on the image sensor of the handling robot, collect the storage location detection image of the target storage location, so as to judge whether the goods placed in the target storage location are the target goods based on the storage location detection image.

[0145] Among them, the image sensor can be a 2D or 3D image sensor.

[0146] Specifically, it is possible to judge whether the goods placed in the target storage location are the target goods based on the recognition result by recognizing the storage location detection image of the target storage location.

[0147] Further, after collecting the storage location detection image of the target storage location, it is also possible to perform image segmentation on the storage location detection image, so as to obtain a segmented image of a set area including the goods placed in the target storage location, recognize the goods identification code in the segmented image, obtain the goods identification of the goods placed in the target storage location, and judge whether the goods placed in the target storage location are the target goods based on the goods identification.

[0148] Optionally, judging whether the goods placed in the target storage location are the target goods based on the storage location detection information includes:

[0149] Based on the storage location detection information, determine the goods identification of the goods placed in the target storage location; judge whether the goods identification is a preset identification; if the goods identification is a preset identification, then determine that the goods placed in the target storage location are the target goods.

[0150] Among them, the preset identification is the goods identification of the target goods.

[0151] Specifically, when the goods identification corresponding to the storage location detection information of the target storage location is the preset identification, it is determined that the goods placed in the target storage location are the target goods; on the contrary, that is, the goods identification is not the preset identification, then it is determined that the goods placed in the target storage location are not the target goods.

[0152] Step S304, if so, then transport the target goods from the target storage location to the temporary storage rack of the handling robot.

[0153] Specifically, after it is determined that the goods placed on the target storage location are the target goods, the target goods are transported from the target storage location to the first layer of the temporary storage rack of the handling robot through the goods picking and placing device.

[0154] By verifying the goods placed on the target storage location, it is avoided that due to system failures, wrong goods are transported to the sorting device, resulting in incorrect goods sorting, affecting the completion of orders and causing losses to customers.

[0155] Step S305: Transport the target goods to the position corresponding to the sorting device via the handling robot.

[0156] Step S306: When there are processed first goods on the first preset layer of the conveying shelf of the sorting device, transport the first goods to the idle layer of the temporary storage shelf via the handling robot.

[0157] Step S307: After the first goods are placed on the idle layer of the temporary storage shelf, place the target goods on the second preset layer of the conveying shelf of the sorting device via the handling robot, so as to transport the target goods to the working range of the manipulator through the conveying mechanism on the second preset layer of the conveying shelf, and process the target goods based on the manipulator.

[0158] After the manipulator of the sorting device completes the sorting task of the target goods in the historical time, it can be judged whether all the items in the target goods have been taken out, or whether the target goods are empty boxes. If so, the target goods are recovered through the suction cup assembly of the manipulator of the sorting device. For example, the empty box is transferred to the production line by the manipulator, so as to recover the empty box through the production line.

[0159] After the target goods are processed, such as after being packed, they need to be transferred to the production line through the manipulator of the sorting device for the outbound of the target goods. Specifically, the manipulator can pick up the target goods through its suction cup assembly and place the target goods on the production line.

[0160] In some embodiments, due to the failure of the manipulator, software failure or hardware failure, the suction of the target goods that need to be transferred to the production line fails, resulting in the target goods becoming redundant goods and remaining on the second preset layer of the conveying shelf of the sorting device. For example, when the recovery of the empty box fails, that is, when the suction cup assembly fails to suck the empty box, the empty box remains on the second preset layer of the conveying shelf of the sorting device. The sorting device generates the first abnormal information based on the redundant goods.

[0161] Optionally, after placing the target goods on the second preset layer of the conveying shelf of the sorting device, the method further includes:

[0162] Receiving the first abnormal information sent by the sorting device; according to the first abnormal information, transporting the redundant goods on the second preset layer to the production line via the handling robot, and generating the fourth abnormal prompt information.

[0163] Among them, the first abnormal information includes the redundant goods on the second preset layer of the conveying shelf of the sorting device, such as the goods identification, position, etc. of the redundant goods. The redundant goods can be empty containers not recycled by the manipulator, or the first goods not removed by the previous handling robot. The fourth abnormal prompt information is used to remind the operator to check the sorting device for the abnormal situation of the redundant goods to determine the cause of the abnormality. The fourth abnormal prompt information may include information corresponding to the redundant goods, such as the goods identification, and may also include a time stamp to facilitate tracing back to determine the cause of the abnormality.

[0164] Specifically, the manipulator of the sorting device can detect whether there are redundant goods on the second preset layer of the conveying shelf. If there are, it generates the first abnormal information based on the redundant goods and sends the first abnormal information to the handling robot. After receiving the first abnormal information, the handling robot transports the redundant goods on the second preset layer to the production line based on the goods identification or position of the redundant goods in the first abnormal information, thereby completing the abnormal handling of the redundant goods.

[0165] Optionally, after placing the target goods on the second preset layer of the conveying shelf of the sorting device, the method further includes:

[0166] Receiving the second abnormal information sent by the sorting device; according to the second abnormal information, via the handling robot, placing the second target goods on the second preset layer of the conveying shelf of the sorting device, so as to transport the second target goods to the working range of the manipulator through the second preset layer of the conveying shelf, and based on the manipulator to process the second target goods.

[0167] Among them, the second abnormal information includes the second target goods, and the second target goods are the target goods corresponding to the processing instruction that have not been transported to the second preset layer of the conveying shelf of the sorting device. That is, the second target goods are the target goods that need to be transported to the second preset layer of the sorting device corresponding to the processing instruction, but the sorting device does not detect the second target goods in its second preset layer, that is, when the handling robot responds to the processing instruction, it does not transport the second target goods to the second preset layer of the sorting device.

[0168] Specifically, the manipulator of the sorting device processes each target good placed on the second preset layer corresponding to the processing instruction. When it is determined that one of the target goods is missing, that is, the second target good, or when the second target good does not exist on the second preset layer, the second abnormal information is generated based on the second target good, and the second abnormal information is sent to the handling robot. The handling robot can be any robot, such as the robot corresponding to the processing instruction for processing the second target good or other robots. After receiving the second abnormal information, the handling robot determines the second target storage location of the second target good based on the second target good in the second abnormal information, such as the good identifier of the second target good, and transports the second target storage location of the second target good placed at the second target storage location to the second preset layer of the conveying shelf of the sorting device, so as to complete the processing of the second target good through the manipulator of the sorting device, thereby ensuring the smooth completion of each order.

[0169] In this embodiment, after the handling robot moves to the target storage location based on the processing instruction, the storage location detection information of the target storage location is obtained, and then it is determined whether the good placed on the target storage location is the preset target storage location based on the storage location detection information, that is, the target good is verified. If so, the target good is transported to the corresponding position of the sorting device by the handling robot, which improves the accuracy of goods handling and avoids processing the wrong goods, resulting in order errors; after the handling robot extracts each target good, at least one idle layer remains in its temporary storage shelf, so as to support the handling robot to extract a first good and place a target good in an alternating manner, thereby enabling one handling robot to complete the two tasks of picking up and placing goods of the sorting device, greatly shortening the time required for goods handling and improving the efficiency of goods handling and processing.

[0170] Optionally, Figure 13 The flowchart of the goods processing method provided for another embodiment of the present disclosure. This embodiment is based on the previous embodiment, that is, Figure 12 On the basis of the corresponding embodiment, for the case where the good placed on the target storage location is not the target good, such as Figure 13 As shown, when the good placed on the target storage location is not the target good, the goods processing method may further include the following steps:

[0171] Step S401, determining each associated good associated with the target good.

[0172] Among them, the associated goods can be each good that is warehoused or processed in the same batch as the target good, or each good that is warehoused within a preset time period before the time when the target good is warehoused, such as 10 minutes.

[0173] Specifically, when the handling robot determines that the goods placed in the target storage location are not the target goods, it can determine the goods identifiers of each associated good associated with the target good according to the goods identifier of the target good.

[0174] Step S402: Via the handling robot, transport each of the associated goods to the goods import / export of the warehousing system to determine abnormal goods from each of the associated goods.

[0175] Among them, the goods import / export is the window for the warehousing system to receive and output goods. Abnormal goods may include each associated good with inconsistent storage locations, such as the goods placed in the target storage location.

[0176] Specifically, after determining each associated good, each associated good can be transported to the goods import / export of the warehousing system through the handling robot and the storage location where each associated good is stored. Among them, the storage location where the associated good is stored can be determined based on the operation record of the warehousing system. In this operation record, the process of each good being processed is recorded, including the original storage location corresponding to when the goods are put into storage and the new storage location corresponding to after subsequent goods processing.

[0177] Furthermore, the processing flow of each associated good can be restored based on the operation record, so as to determine one or more abnormal goods.

[0178] Furthermore, after the handling robot transports each associated good to the goods import / export, the operator can determine the abnormal goods from each of the associated goods.

[0179] Step S403: Via the handling robot, place each second good in the original storage location corresponding to each second good.

[0180] Among them, the second good is the other associated goods except the abnormal goods among the associated goods.

[0181] Specifically, for each associated good with an accurate storage location, that is, the above-mentioned second good, it is put back to the original storage location by the handling robot.

[0182] Step S404: If the target good is included in the abnormal goods, then via the handling robot, place the target good in the target storage location, so as to transport the target good to the position corresponding to the sorting device via the handling robot.

[0183] For the abnormal goods among the associated goods, that is, the associated goods with inconsistent storage locations, if the target goods corresponding to the target storage location in the processing instruction are included, the handling robot is used to place the target goods at the target storage location, and then the target goods placed at the target storage location are transported by the robot to the position corresponding to the sorting device, and the target goods are transported to the working range of the manipulator through the second preset layer of the conveying shelf of the sorting device, and the target goods are processed by the manipulator.

[0184] If the target goods do not exist in the abnormal goods, it is necessary to conduct an overall inspection of the storage shelves of the warehousing system to identify more abnormal goods and determine whether the target goods exist among them. If so, the handling robot is used to place the target goods at the target storage location, and then the target goods placed at the target storage location are transported by the robot to the position corresponding to the sorting device.

[0185] Furthermore, a fifth abnormal prompt message can be generated based on each abnormal good and the storage location where each abnormal good is stored, so as to conduct an abnormal screen check on the warehousing system based on this abnormal information to determine the cause of the abnormality.

[0186] Optionally, Figure 14 The flowchart of the goods handling method provided by another embodiment of the present disclosure. This embodiment is based on the Figure 12 corresponding embodiment. In the case where the goods placed at the target storage location are not the target goods, as Figure 14 shown, when the goods placed at the target storage location are not the target goods, the goods handling method may further include the following steps:

[0187] Step S501, determine each associated good associated with the target good.

[0188] Among them, the associated goods may be each good that is warehoused or processed in the same batch as the target good, or each good that is warehoused within a preset time period before the target good is warehoused, such as 10 minutes.

[0189] Specifically, when the handling robot determines that the goods placed at the target storage location are not the target goods, the goods identification of each associated good associated with the target good can be determined according to the goods identification of the target good.

[0190] Step S502, determine whether the target good exists among the associated goods.

[0191] Among them, the target good is placed at the first storage location of the storage shelf, and the good corresponding to the first storage location is the good placed at the target storage location.

[0192] Specifically, after determining each associated good associated with the target good, based on the goods identification, check whether the target good exists among each associated good.

[0193] Step S503. If so, via the handling robot, place the target goods at the target storage location and place the goods placed at the target storage location at the first storage location, so as to transport the target goods to the position corresponding to the sorting device via the handling robot.

[0194] If there is a target good among the associated goods, determine the storage location where the target good is stored, that is, the above-mentioned first storage location. The handling robot exchanges the goods placed at the first storage location and the target storage location, that is, places the goods placed at the target storage location at the first storage location, and places the target good at the target storage location, so as to ensure the accuracy of the goods placed at the target storage location.

[0195] After the target good is placed at the target storage location, that is, after it is put in place, the handling robot transports the target good to the position corresponding to the sorting device. After placing the first good on the idle layer of the temporary storage shelf of the handling robot, place the target good on the second preset layer of the sorting device, so as to complete the processing of the target good, such as sorting, packing, etc., by the manipulator of the sorting device.

[0196] Figure 15 The flowchart of the goods handling method provided by another embodiment of the present disclosure. The goods handling method provided by this embodiment is based on Figure 12 the embodiment shown, and adds steps related to the determination of the storage location status after step S302. As Figure 15 shown, the goods handling method provided by this embodiment includes the following steps:

[0197] Step S601. When receiving a processing instruction, via the handling robot, according to the processing instruction, determine the target storage location where the target good is placed on the storage shelf.

[0198] Step S602. After the handling robot moves to the position corresponding to the target storage location, obtain the storage location detection information of the target storage location.

[0199] Among them, the storage location detection information can be the storage location weight of the target storage location, or can be the storage location detection image of the target storage location.

[0200] Step S603. According to the storage location detection information, judge the storage location status of the target storage location; if the storage location status of the target storage location is the occupied state, execute step S604; if the storage location status of the target storage location is the idle state, execute step S608.

[0201] Among them, there are goods stored on the target storage location in the occupied state, and there are no goods stored on the target storage location in the idle state, which is an idle storage location.

[0202] Specifically, if the bin weight in the bin detection information is greater than the reference weight, the bin status of the target bin is determined to be the occupied state; conversely, if the bin weight of the target bin is less than or equal to the reference weight, the bin status of the target bin is determined to be the idle state.

[0203] Among them, the reference weight can be the average value of the bin weights of multiple target bins in the idle state collected at historical times.

[0204] Specifically, it is possible to determine whether there is goods stored in the target bin based on identifying the bin detection image of the target bin; if so, the bin status of the target bin is determined to be the occupied state; if not, the bin status of the target bin is determined to be the idle state.

[0205] Step S604, if the bin status of the target bin is the occupied state, then based on the goods detection information in the bin detection information, determine whether the goods placed in the target bin are the target goods.

[0206] Step S605, if so, move the target goods from the target bin to the temporary storage shelf of the handling robot; and via the handling robot, transport the target goods to the position corresponding to the sorting device.

[0207] Step S606, when there is a first processed good on the first preset layer of the conveyor shelf of the sorting device, via the handling robot, move the first good to the idle layer of the temporary storage shelf.

[0208] Step S607, after the first good is placed on the idle layer of the temporary storage shelf, via the handling robot, place the target goods on the second preset layer of the conveyor shelf of the sorting device, so as to transport the target goods to the working range of the manipulator through the conveying mechanism on the second preset layer of the conveyor shelf, so as to process the target goods based on the manipulator.

[0209] Step S608, if the bin status of the target bin is the idle state, determine whether the target goods are included in each of the recycled goods.

[0210] Among them, the recycled goods are the empty bins transported to the production line by the manipulator. The recycled goods are the target goods processed by the sorting device at historical times, and after being processed, the recycled goods are empty bins.

[0211] Specifically, when the manipulator of the sorting device sorts goods, if all the items stored in the current target goods are taken out by the manipulator, it is determined that the target goods are empty bins, and the target goods are recycled by the manipulator.

[0212] Specifically, based on the storage information of the target goods and the task information in the processing instruction, it can be determined whether the target goods are empty containers after being processed. That is, if the storage quantity of the items in the storage information is equal to the sorting quantity in the task information, it is determined that the target goods are empty containers after sorting.

[0213] For example, if there are 100 pieces of clothing C stored in the target goods and the sorting instruction for the target goods is to sort 100 pieces of clothing C, then after sorting, the target goods are empty containers.

[0214] In some embodiments, an image acquisition device may be provided on the sorting device, and it can be determined whether each target good is an empty container after being processed by the image acquired by the image acquisition device. If so, the target good is recycled by the manipulator.

[0215] Specifically, each time the manipulator recycles an empty container or goods, it will update the recycling record, and the goods information of the recycled goods, such as the goods identifier, and the recycling time and other information are recorded in the recycling record.

[0216] Specifically, based on the recycling record and the goods identifier of the target goods, that is, the above-mentioned preset identifier, it can be determined whether the recycled goods include the target goods.

[0217] Step S609, if so, generate a recycling prompt message.

[0218] If the target good is one of the recycled goods, that is, the target good is an empty container recycled by the manipulator, a recycling prompt message is generated to prompt that the target good has been recycled, so that the operator can determine a new target good based on the recycling prompt message and issue a new processing instruction based on the new target good to complete the corresponding order.

[0219] Furthermore, if the target good does not exist among the recycled goods, a full inspection of the storage shelf and the conveyor shelf needs to be carried out to determine whether the target good exists in other storage locations of the storage shelf and whether the target good exists on the conveyor shelf.

[0220] If the target good exists in other storage locations of the storage shelf, such as the second storage location, the associated goods associated with the target good are determined. Based on the operation record, the abnormal goods are determined from the associated goods, and a sixth abnormal prompt message is generated based on the second storage location, each abnormal good and its corresponding storage location. The target good on the second storage location is transported to the target storage location by the handling robot, and each associated good except the abnormal goods among the associated goods is returned to its original storage location. Then, the target good on the target storage location is transported to the position corresponding to the sorting device by the handling robot to process the target good. The specific method can refer to Figure 11 The description of the corresponding part will not be repeated here.

[0221] If there is a target good on the conveying shelf, a goods retention prompt message is generated, and the target good staying at the conveying shelf is carried to the goods import and export via the handling robot to detect whether the target good is damaged.

[0222] In this embodiment, after the handling robot moves to the target storage location based on the processing instruction, it first determines the storage location status of the target storage location. When there is a good on the target storage location, that is, when the storage location status is occupied, it determines whether the good placed on the target storage location is the target good. If so, the target good is carried to the sorting device for processing, realizing the verification of the target good and avoiding mis-carrying goods, which may lead to the failure to complete the order. If the target storage location is in an idle state, the target good is searched for among the various recycled goods. If the target good is recycled, a recycling prompt message is generated to facilitate timely replacement of the target good, ensuring the smooth completion of the order. At the same time, the abnormal handling efficiency and intelligence level of the unmanned warehousing system are improved.

[0223] Optionally, Figure 16 is a flowchart of the goods handling method provided for another embodiment of the present disclosure. This embodiment is based on the previous embodiment, that is, Figure 15 on the basis of the corresponding embodiment, for the case where the recycled goods do not include the target good. As Figure 16 shown, when the recycled goods do not include the target good, the goods handling method may further include the following steps:

[0224] Step S701, obtain the shelf detection information of each layer of the conveying shelf of the sorting device.

[0225] Among them, the shelf detection information may be the shelf detection image of each layer of the conveying shelf, or the shelf detection information may be the goods identifier of the goods transported on each layer of the identified conveying shelf.

[0226] Specifically, the shelf detection information of each layer of the goods conveying shelf can be obtained through a manipulator or a detection device provided on the conveying shelf.

[0227] Step S702, based on the shelf detection information, determine whether the target good stays on the conveying shelf; if so, execute step S703; if not, execute step S704.

[0228] Specifically, it can be determined whether the target good exists on the conveying shelf by identifying the shelf detection image. If so, it is determined that the target good stays on the conveying shelf.

[0229] Specifically, it can be determined whether the goods identifier of the target goods, i.e., the preset identifier, exists in the goods identifiers in the shelf detection information. If so, it is determined that the target goods are detained on the conveying shelf. If not, it is determined that the target goods are not detained on the conveying shelf.

[0230] Step S703, if so, then via the handling robot, the target goods detained on the conveying shelf are transported to the goods import and export to detect whether the target goods are damaged.

[0231] Step S704, if not, then patrol each storage location of the storage shelf.

[0232] When the target goods do not exist at the conveying shelf of the sorting device, a full inspection needs to be carried out on the storage shelf to determine whether the target goods are stored in other storage locations of the storage shelf, that is, each storage location except the target storage location.

[0233] Step S705, according to the patrol result, determine whether the target goods are stored in the second storage location of the storage shelf.

[0234] Among them, the second storage location is any storage location except the target storage location.

[0235] Step S706, if so, then determine each associated goods associated with the target goods.

[0236] Among them, the associated goods can be each goods that is warehoused or processed in the same batch as the target goods, or each goods that is warehoused within a preset time period before the time when the target goods are warehoused, such as 10 minutes.

[0237] Specifically, if the target goods are stored in the second storage location of the storage shelf, that is, the target goods are placed in the wrong storage location, it is determined that there is an abnormality in the storage system, and it is necessary to determine each associated goods associated with the target goods.

[0238] Specifically, based on operation records, warehousing records, etc., each associated goods associated with the target goods can be determined, such as determining the goods identifiers of each associated goods.

[0239] Step S707, based on the historical processing flow of the target goods and each associated goods, conduct an abnormal inventory check to determine the abnormal processing node.

[0240] Among them, the historical processing flow can be stored in the above operation records and can include the processing flow of each goods at historical times.

[0241] Specifically, the abnormal processing node can be determined by restoring the historical processing flow of the target goods and each associated goods.

[0242] Step S708: Generate a first exception prompt message based on the exception handling node.

[0243] Specifically, the first exception prompt message can be generated based on the associated goods corresponding to the exception handling node and the device executing the exception handling node, to assist the maintenance personnel in determining the reason for the exception in the warehousing system.

[0244] Optionally, the handling robot is also used to perform goods warehousing based on the warehousing instruction. This goods handling method may further include:

[0245] Based on the handling robot, according to the warehousing instruction, store each incoming goods located at the goods import and export of the warehousing system in each preset storage location of the warehousing shelf.

[0246] Among them, goods warehousing means moving the goods located outside the warehousing system to the warehousing shelf in the warehousing system for storage. The warehousing instruction includes each incoming goods and its corresponding preset storage location.

[0247] Specifically, when receiving the warehousing instruction, one or more handling robots move to the goods import and export of the warehousing system, and then extract the incoming goods corresponding to the warehousing instruction at each window or picking point at the goods import and export, and store them in the corresponding preset storage location of the warehousing shelf.

[0248] Figure 17 The flowchart of the goods handling method provided by another embodiment of the present disclosure. This embodiment is based on any of the above embodiments, and aims at the situation where an exception occurs during goods warehousing, such as Figure 17 As shown, this goods handling method may further include the following steps:

[0249] Step S801: When receiving the warehousing instruction, the handling robot moves to the position corresponding to the goods import and export, and determines the storage situation of each picking point at the goods import and export.

[0250] Among them, the storage situation is used to indicate whether there is goods stored at the picking point and the goods identifier of the stored goods.

[0251] Specifically, the storage situation of each picking point at the goods import and export can be determined by collecting detection information of each picking point, such as detection images.

[0252] Step S802: According to the storage situation of each picking point, determine whether there are redundant goods or abnormal picking points.

[0253] Specifically, the warehousing instruction further includes the picking points corresponding to each warehousing item to be warehoused, and the surplus goods are the goods stored at the picking points not involved in the warehousing instruction. The abnormal picking point refers to the picking point corresponding to the warehousing item to be warehoused in the warehousing instruction, and the storage situation of this picking point is that there is no goods stored, that is, the picking point is an idle picking point.

[0254] Specifically, for each picking point with goods stored, it is possible to determine whether each picking point is an abnormal picking point according to the goods identifier of the goods stored at each picking point and the goods identifier of each warehousing item to be warehoused in the warehousing instruction.

[0255] Specifically, if the goods identifier of the goods stored at the picking point is not any of the corresponding goods identifiers in the warehousing instruction, then it is determined that the picking point is an abnormal picking point; on the contrary, that is, the goods identifier of the goods stored at the picking point is one of the corresponding goods identifiers in the warehousing instruction, then it is determined that the picking point is not an abnormal picking point, that is, a normal picking point.

[0256] Exemplarily, if the instruction of the warehousing instruction is that the goods to be warehoused H1 - H5 are placed at picking points 1 - 5, and the placement order is not limited. If it is determined that the goods stored at picking point 7 are surplus goods, and if no goods are placed at picking point 3, then picking point 3 is an abnormal picking point.

[0257] If there are no surplus goods or abnormal picking points, then in sequence, each warehousing item to be warehoused corresponding to the picking points at the goods import and export in the warehousing instruction is carried to the temporary storage shelf of the handling robot. Based on the handling robot, each warehousing item to be warehoused is stored in the preset storage location corresponding to each warehousing item to be warehoused.

[0258] Step S803, if there are surplus goods, then determine each second associated goods associated with the surplus goods.

[0259] Among them, the second associated goods include one or more of the goods placed on the storage shelf associated with the surplus goods, the goods placed on the conveyor shelf associated with the surplus goods, and the goods placed on the temporary storage shelf of the handling robot associated with the surplus goods.

[0260] Among them, the second associated goods can be each of the goods warehoused in the same batch as the surplus goods, or can also be each of the goods within a set time range before and after the warehousing time of the surplus goods.

[0261] Specifically, it is possible to determine the goods identifier of each second associated goods according to the warehousing record and the goods identifier of the surplus goods.

[0262] Step S804, carry each of the second associated goods to the goods import and export.

[0263] Specifically, based on the goods identifiers of each second associated good, the storage locations where each second associated good is stored can be determined. Subsequently, the handling robot can transport each second associated good to the goods import and export based on the storage locations where each second associated good is stored.

[0264] Step S805: Based on the historical processing flows of each of the second associated goods, conduct an abnormal inventory check to determine the abnormal processing nodes.

[0265] Specifically, based on the operation records, the historical processing flows of each second associated good can be determined, and an abnormal inventory check can be conducted by means of restoring the historical processing flow to thereby determine the abnormal processing nodes.

[0266] Step S806: Generate a second abnormal prompt message according to the abnormal processing nodes.

[0267] Specifically, the second abnormal prompt message can be generated according to the goods, time, and execution equipment corresponding to the abnormal processing nodes, so as to assist the maintenance personnel in locating the cause of the abnormality.

[0268] Step S807: If there is an abnormal picking point, generate a third abnormal prompt message according to the abnormal picking point and the goods to be warehoused corresponding to the abnormal picking point in the warehousing instruction.

[0269] Specifically, if the picking point corresponding to the warehousing instruction is an abnormal picking point, that is, the goods corresponding to the warehousing instruction are not placed at this picking point and it is an idle picking point, then based on this abnormal picking point and the goods to be warehoused that should be stored at this abnormal picking point, generate a third abnormal prompt message, so as to place the missing goods to be warehoused at this abnormal picking point based on this second abnormal prompt message.

[0270] Furthermore, after the goods to be warehoused corresponding to the warehousing instruction are placed at the abnormal picking point, the handling robot sequentially transports the goods to be warehoused placed at each picking point to the preset storage locations corresponding to the storage shelves, thereby realizing the smooth warehousing of the goods.

[0271] Through the above method for solving the warehousing abnormality, the normal operation of the warehousing system in case of abnormality is ensured, the smooth warehousing of the goods is realized, and the intelligent level of the warehousing system is improved.

[0272] Figure 18 The flowchart of the goods handling method provided by another embodiment of the present disclosure. The goods handling method provided by this embodiment can be executed by a sorting device, as Figure 18 shown. This goods handling method includes the following steps:

[0273] Step S901, when there is a first processed good on the first preset layer of the conveying shelf of the sorting device, transport the first good through the conveying mechanism of the first preset layer, so as to transport the first good to an idle layer of the temporary storage shelf of the handling robot via the handling robot.

[0274] Step S902, after the handling robot places the target good on the second preset layer of the conveying shelf of the sorting device, transport the target good to the working range of the manipulator through the conveying mechanism of the second preset layer.

[0275] Wherein, the target good is the good corresponding to the processing instruction.

[0276] Step S903, process the target good based on the manipulator.

[0277] Step S904, if the processed target good is not an empty cargo box, transfer the target good to the first preset layer of the conveying shelf.

[0278] In this embodiment, the handling robot transports the target good on the storage shelf to the corresponding position of the sorting device based on the received processing instruction, and the handling robot reserves an idle layer. When there is a first processed good on the first preset layer of the sorting device, the handling robot transports the first good to the reserved idle layer, and then places a target good on the second preset layer of the sorting device, so as to transport the target good to the working range of the manipulator through the conveying mechanism of the second preset layer, and the manipulator completes the processing of the target good. Furthermore, if the processed target good needs to return to the storage shelf, the target good is transported to the first preset layer, so as to transport it back to the storage shelf through the idle layer of the temporary storage shelf of the handling robot. The sorting device has the function of two-way transportation, and the handling robot can complete the loading and unloading of goods in an alternating manner at the same position, reducing the walking distance and waiting time of the handling robot, improving the efficiency of goods handling, and thus improving the efficiency of goods processing.

[0279] Optionally, the method further includes:

[0280] If the processed good is an empty cargo box, determine that the good is a recycled good; transport the recycled good to the production line via the manipulator, and record the goods information of the recycled good.

[0281] Optionally, the method further includes:

[0282] When there are excess goods on the second preset layer of the conveying shelf of the sorting device, generate first exception information according to the excess goods, and send the first exception information to the handling robot.

[0283] Optionally, the method further includes:

[0284] When there is no second target good on the second preset layer of the conveying shelf of the sorting device, generating second exception information according to the second target good, and sending the second exception information to the handling robot, where the second target good is the target good corresponding to the processing instruction that has not been transported to the second preset layer of the conveying shelf of the sorting device.

[0285] Figure 19 The structural schematic diagram of a goods handling device provided by an embodiment of the present disclosure, the handling robot is used to handle goods in a warehousing system, the warehousing system includes a warehousing shelf, a handling robot and a sorting device, the sorting device includes a conveying shelf and a manipulator, the conveying shelf has at least two conveying layers, and at least two conveying layers are indented away from the manipulator in sequence from bottom to top at one end close to the manipulator to form a stepped shape; a conveying mechanism is arranged on the conveying layer, and the conveying mechanism moves the goods on the conveying layer along the conveying direction. As Figure 19 shown, the goods handling device includes: a goods transportation module 1910, a first handling module 1920 and a first placement module 1930.

[0286] Among them, the goods transportation module 1910 is used to, when receiving a processing instruction, transport the target good corresponding to the processing instruction placed on the warehousing shelf to the corresponding position of the sorting device via the handling robot, where the temporary storage shelf of the handling robot includes at least one idle layer; the first handling module 1920 is used to, when there is a first good that has been processed on the first preset layer of the conveying shelf of the sorting device, transport the first good to the idle layer of the temporary storage shelf via the handling robot; the first placement module 1930 is used to, after the first good is placed on the idle layer of the temporary storage shelf, place the target good on the second preset layer of the conveying shelf of the sorting device via the handling robot, so as to transport the target good to the working range of the manipulator through the conveying mechanism on the second preset layer of the conveying shelf, so as to process the target good based on the manipulator.

[0287] Optionally, the goods transportation module 1910 includes: a target storage location determination unit, which is used to, when receiving a processing instruction, determine the target storage location for placing the target good on the warehousing shelf according to the processing instruction via the handling robot; a first handling unit, which is used to, after the handling robot moves to the position corresponding to the target storage location, transport the target good from the target storage location to the temporary storage shelf of the handling robot; a goods transportation unit, which is used to transport the target good to the corresponding position of the sorting device via the handling robot.

[0288] Optionally, the device further includes: a detection information acquisition module, configured to acquire the bin detection information of the target bin after the handling robot moves to the position corresponding to the target bin; a goods verification module, configured to determine whether the goods placed in the target bin are the target goods based on the bin detection information.

[0289] Correspondingly, the first handling unit is specifically configured to: if the goods placed in the target bin are the target goods, move the target goods from the target bin to the temporary storage shelf of the handling robot.

[0290] Optionally, the detection information acquisition module is specifically configured to: after the handling robot moves to the position corresponding to the target bin, collect the bin detection image of the target bin based on the image sensor of the handling robot, so as to determine whether the goods placed in the target bin are the target goods based on the bin detection image.

[0291] Optionally, the goods verification module is specifically configured to: determine the goods identifier of the goods placed in the target bin based on the bin detection information; determine whether the goods identifier is a preset identifier; if the goods identifier is a preset identifier, determine that the goods placed in the target bin are the target goods.

[0292] Optionally, the device further includes: a first exception handling module, configured to, when the goods placed in the target bin are not the target goods, determine each associated good associated with the target good; through the handling robot, move each associated good to the goods import and export of the warehousing system to determine the abnormal goods from each associated good; through the handling robot, place each second good in its corresponding original bin, where the second good is the other associated goods except the abnormal goods among the associated goods; and / or, if the target good is included in the abnormal goods, place the target good in the target bin through the handling robot, so as to move the target good to the position corresponding to the sorting device through the handling robot.

[0293] Optionally, the device further includes: a second exception handling module, configured to, when the goods placed in the target bin are not the target goods, determine each associated good associated with the target good; determine whether the target good exists among the associated goods, where the target good is placed in the first bin of the warehousing shelf, and the goods corresponding to the first bin are the goods placed in the target bin; if so, through the handling robot, place the target good in the target bin and place the goods placed in the target bin in the first bin, so as to move the target good to the position corresponding to the sorting device through the handling robot.

[0294] Optionally, the device further includes: a bin status judgment module, configured to judge the bin status of the target bin according to the bin detection information after obtaining the bin detection information of the target bin.

[0295] Correspondingly, the goods verification module is specifically configured to: if the bin status of the target bin is an occupied state, judge whether the goods placed in the target bin are the target goods based on the goods detection information in the bin detection information.

[0296] Optionally, the device further includes: a recycling prompt module, configured to determine whether the target goods are included in each of the recycled goods if the bin status of the target bin is an idle state, where the recycled goods are empty bins transported to the production line by the manipulator; if so, generate a recycling prompt message.

[0297] Optionally, the device further includes: a retention judgment module, configured to, if the target goods are not included in the recycled goods, obtain the shelf detection information of each layer of the conveying shelf of the sorting device; based on the shelf detection information, judge whether the target goods are retained on the conveying shelf; if so, use the handling robot to transport the target goods retained on the conveying shelf to the goods import and export to detect whether the target goods are damaged.

[0298] Optionally, the device further includes: a second exception handling module, configured to, if the target goods are not retained on the conveying shelf, patrol each bin of the storage shelf; according to the patrol result, judge whether the target goods are stored in the second bin of the storage shelf; if so, determine each associated good associated with the target good; perform an exception inventory check based on the historical processing flow of the target good and each associated good to determine an exception handling node; according to the exception handling node, generate a first exception prompt message.

[0299] Optionally, the device further includes: a goods warehousing module, configured to, based on the handling robot, store each to-be-warehoused good located at the goods import and export of the warehousing system in each preset bin of the storage shelf according to a warehousing instruction, where the warehousing instruction includes the preset bin corresponding to each to-be-warehoused good.

[0300] Optionally, the goods warehousing module is specifically configured to: when receiving the warehousing instruction, the handling robot moves to the position corresponding to the goods import and export, and sequentially transports each to-be-warehoused good placed at each picking point corresponding to the goods import and export in the warehousing instruction to the temporary storage shelf of the handling robot; based on the handling robot, store each to-be-warehoused good in the preset bin corresponding to each to-be-warehoused good.

[0301] Optionally, the device further includes: a storage condition determination module, configured to determine the storage conditions of each picking point of the goods import and export after the handling robot moves to the position corresponding to the goods import and export; a picking point determination module, configured to determine whether there are surplus goods or abnormal picking points according to the storage conditions of each picking point, where the abnormal picking point is an idle picking point, and in the warehousing instruction, the abnormal picking point corresponds to one of the goods to be warehoused; a third exception handling module, configured to, if there are surplus goods, determine each second associated good associated with the surplus goods, where the second associated good includes one or more of the goods placed on the storage shelf associated with the surplus goods, the goods placed on the conveying shelf associated with the surplus goods, and the goods placed on the temporary storage shelf of the handling robot associated with the surplus goods, move each of the second associated goods to the goods import and export, perform an exception check based on the historical processing flow of each of the second associated goods to determine an exception handling node, and generate a second exception prompt message according to the exception handling node.

[0302] Optionally, the device further includes: a fourth exception handling module, configured to, if there is an abnormal picking point, generate a third exception prompt message according to the abnormal picking point and the goods to be warehoused corresponding to the abnormal picking point in the warehousing instruction.

[0303] Optionally, the device further includes: a fifth exception handling module, configured to receive a first exception message sent by the sorting device after placing the target goods on the second preset layer of the conveying shelf of the sorting device, where the first exception message includes surplus goods on the second preset layer of the conveying shelf of the sorting device; according to the first exception message, move the surplus goods on the second preset layer to the production line via the handling robot, and generate a fourth exception prompt message.

[0304] Optionally, the device further includes: a sixth exception handling module, configured to receive a second exception message sent by the sorting device after placing the target goods on the second preset layer of the conveying shelf of the sorting device, where the second exception message includes a second target good, and the second target good is the target good corresponding to the processing instruction that has not been moved to the second preset layer of the conveying shelf of the sorting device; according to the second exception message, place the second target good on the second preset layer of the conveying shelf of the sorting device via the handling robot, so as to transport the second target good to the working range of the manipulator through the second preset layer of the conveying shelf, so as to process the second target good based on the manipulator.

[0305] The goods handling device provided by the embodiments of the present disclosure can execute the goods handling method provided by any of the embodiments corresponding to the first aspect of the present disclosure, and has the corresponding functional modules and beneficial effects for executing the method.

[0306] Figure 20 FIG. 4 is a schematic structural diagram of a goods handling device provided by another embodiment of the present disclosure. The goods handling device is applied to a sorting device, and the sorting device includes a conveying shelf and a manipulator. The conveying shelf has at least two conveying layers, and at least two conveying layers are indented away from the manipulator in sequence from bottom to top at one end close to the manipulator to form a stepped shape; a conveying mechanism is arranged on the conveying layer, and the conveying mechanism moves the goods on the conveying layer along the conveying direction. As Figure 20 shown, the goods handling device includes: a second transportation module 2010, a third transportation module 2020, a goods handling module 2030, and a goods return module 2040.

[0307] Among them, the second transportation module 2010 is used to, when there is a first processed good on the first preset layer of the conveying shelf of the sorting device, transport the first good through the conveying mechanism of the first preset layer, so as to transport the first good to an idle layer of the temporary storage shelf of the handling robot via the handling robot; the third transportation module 2020 is used to, after the handling robot places a target good on the second preset layer of the conveying shelf of the sorting device, transport the target good to the working range of the manipulator through the conveying mechanism of the second preset layer, where the target good is the good corresponding to the processing instruction; the goods handling module 2030 is used to handle the target good based on the manipulator; the goods return module 2040 is used to, if the processed target good is not an empty container, transfer the target good to the first preset layer of the conveying shelf.

[0308] Optionally, the device further includes: an empty container recycling module, which is used to, if the processed good is an empty container, determine that the good is a recycled good; carry the recycled good to the production line via the manipulator, and record the goods information of the recycled good.

[0309] Optionally, the device further includes: a first abnormal information generation module, which is used to, when there are redundant goods on the second preset layer of the conveying shelf of the sorting device, generate first abnormal information according to the redundant goods, and send the first abnormal information to the handling robot.

[0310] Optionally, the device further includes: a second exception information generation module, configured to generate second exception information based on the second target goods when the second target goods do not exist on the second preset layer of the conveying shelf of the sorting device, and send the second exception information to the handling robot, where the second target goods are the target goods corresponding to the processing instruction that have not been transported to the second preset layer of the conveying shelf of the sorting device.

[0311] The goods handling device provided by the embodiments of the present disclosure can execute the goods handling 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 for executing the method.

[0312] Figure 21 FIG. is a schematic structural diagram of a handling robot provided by an embodiment of the present disclosure, as Figure 21 shown, the handling robot includes: a robot main body 2110, a temporary storage shelf 2120, a handling device 2130, and at least one processor 2140.

[0313] Among them, the temporary storage shelf 2120 is used to store goods, usually including multiple layers, such as 5 layers; the handling device 2130 is used to transport goods to the temporary storage shelf 2120 or extract goods stored in the temporary storage shelf 2120, and the handling device 2130 can also be called a pick-and-place device; at least one processor 2140 is used to execute the goods handling method provided by any of the corresponding embodiments in the first aspect of the present disclosure.

[0314] For relevant descriptions, reference can be made to Figures 11 to 17 the relevant descriptions and effects corresponding to the steps, and details are not described herein again.

[0315] In some embodiments, the handling robot can be the handling robot 3 in any of the above embodiments.

[0316] Figure 22 FIG. is a schematic structural diagram of a sorting device provided by another embodiment of the present disclosure, as Figure 22 shown, the sorting device includes: a conveying shelf 2210, a manipulator 2220, and at least one processor 2230.

[0317] Among them, the conveying shelf 2210 has at least two conveying layers, and at least two conveying layers are indented away from the manipulator 2220 in sequence from bottom to top at one end close to the manipulator 2220 to form a stepped shape; a conveying mechanism is arranged on the conveying layer, and the conveying mechanism moves the goods on the conveying layer along the conveying direction; at least one processor 2230 is used to execute the goods handling method provided by any of the corresponding embodiments in the second aspect of the present disclosure.

[0318] For relevant descriptions, reference can be made to Figure 18For the relevant descriptions and effects corresponding to the steps, no further elaboration will be made here.

[0319] The embodiments of the present disclosure also provide a warehousing system, which includes: a warehousing shelf, a handling robot provided by the embodiment corresponding to the fifth aspect of the present disclosure, and a sorting device provided by the embodiment corresponding to the sixth aspect of the present disclosure.

[0320] An embodiment of the present disclosure provides a computer-readable storage medium, on which a computer program is stored. The computer program is executed by a processor to implement the Figures 11 to 18 cargo handling method provided by any one of the embodiments corresponding to the present disclosure.

[0321] 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.

[0322] The present disclosure also provides a program product, which includes an executable computer program. The executable computer program is stored in a readable storage medium. At least one processor of the handling robot, the sorting device, or the warehousing system can read the computer program from the readable storage medium, and at least one processor executes the computer program to enable the cargo handling device to implement the cargo handling methods provided by the above various embodiments.

[0323] 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 only illustrative. For example, the division of the modules is only a logical function division. In actual implementation, there may be other division methods. 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 coupling or direct coupling or communication connection to each other can be through some interfaces. The indirect coupling or communication connection of the device or module can be in electrical, mechanical or other forms.

[0324] The modules described as separate components may or may not be physically separated. 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.

[0325] In addition, in each embodiment of the present disclosure, the 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 unit formed by the above modules can be implemented in the form of hardware, or in the form of a hardware plus software functional unit.

[0326] The integrated modules implemented in the form of software function modules can be stored in a computer-readable storage medium. The above software function modules are stored in a storage medium and include several instructions to enable a computer device (which may 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.

[0327] It should be understood that the above processor may be a central processing unit (Central Processing Unit, abbreviated as CPU), or may also be other general-purpose processors, digital signal processors (Digital Signal Processor, abbreviated as DSP), application specific integrated circuits (Application Specific Integrated Circuit, abbreviated as ASIC), etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in combination with the present disclosure can be directly implemented by a hardware processor, or can be implemented by a combination of hardware and software modules in the processor.

[0328] 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.

[0329] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus, or 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 convenience of representation, the bus in the drawings of the present disclosure is not limited to only one bus or one type of bus.

[0330] 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, a magnetic disk, or an optical disc. The storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0331] An exemplary storage medium is coupled to a 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 Circuits (ASIC). Of course, the processor and the storage medium can also exist as discrete components in an electronic device or a master device.

[0332] Those of ordinary skill in the art can 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 including the above method embodiments; and the foregoing storage medium includes: various media such as ROM, RAM, magnetic disks, or optical discs that can store program codes.

[0333] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure, and not 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 make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A method for handling goods, characterized in that, The method is applied to a handling robot, which is used for handling goods in a warehousing system. The warehousing system includes a warehousing shelf, a handling robot, and a sorting device. The sorting device includes a conveying shelf and a manipulator. The conveying shelf has at least two conveying layers, and at least two conveying layers are indented away from the manipulator in sequence from bottom to top at one end close to the manipulator and form a stepped shape; A conveying mechanism is arranged on the conveying layer, and the conveying mechanism moves the goods on the conveying layer along the conveying direction. The method includes: When receiving a processing instruction, via the handling robot, transport the target goods corresponding to the processing instruction placed on the warehousing shelf to the corresponding position of the sorting device, wherein the temporary storage shelf of the handling robot includes at least one idle layer; When there is a first good that has been processed on the first preset layer of the conveying shelf of the sorting device, via the handling robot, carry the first good to the idle layer of the temporary storage shelf; After the first good is placed on the idle layer of the temporary storage shelf, via the handling robot, place the target goods on the second preset layer of the conveying shelf of the sorting device, so as to transport the target goods to the working range of the manipulator through the conveying mechanism on the second preset layer of the conveying shelf, and process the target goods based on the manipulator; Via the handling robot, transporting the target goods corresponding to the processing instruction placed on the warehousing shelf to the corresponding position of the sorting device includes: According to the processing instruction, determine the target storage location on the warehousing shelf where the target goods are placed; After the handling robot moves to the position corresponding to the target storage location, carry the target goods from the target storage location to the temporary storage shelf of the handling robot; Via the handling robot, transport the target goods to the corresponding position of the sorting device; After the handling robot moves to the position corresponding to the target storage location, the method further includes: judging whether the goods placed at the target storage location are the target goods; When the goods placed at the target storage location are not the target goods, the method further includes: Determine each associated good associated with the target good; Via the handling robot, carry each of the associated goods to the goods import and export of the warehousing system to determine abnormal goods from each of the associated goods; Via the handling robot, place each second good at the original storage location corresponding to each second good, where the second good is the other associated goods except the abnormal goods among the associated goods; and / or, If the target good is included in the abnormal goods, then via the handling robot, place the target good at the target storage location, so as to carry the target good to the corresponding position of the sorting device via the handling robot.

2. The method according to claim 1, characterized in that, The judging whether the goods placed at the target storage location are the target goods includes: Obtain the storage location detection information of the target storage location; Based on the storage location detection information, judge whether the goods placed at the target storage location are the target goods; If so, move the target goods from the target storage location to the temporary storage shelf of the handling robot.

3. The method according to claim 2, wherein Obtain the storage location detection information of the target storage location, including: Based on the image sensor of the handling robot, collect the storage location detection image of the target storage location, and based on the storage location detection image, determine whether the goods placed in the target storage location are the target goods.

4. The method according to claim 2, wherein Based on the storage location detection information, determine whether the goods placed in the target storage location are the target goods, including: Based on the storage location detection information, determine the goods identifier of the goods placed in the target storage location; Determine whether the goods identifier is a preset identifier; If the goods identifier is a preset identifier, determine that the goods placed in the target storage location are the target goods.

5. The method according to claim 2, wherein After obtaining the storage location detection information of the target storage location, the method further includes: Based on the storage location detection information, determine the storage location status of the target storage location; If the storage location status of the target storage location is an occupied state, based on the goods detection information in the storage location detection information, determine whether the goods placed in the target storage location are the target goods.

6. The method according to claim 5, characterized in that, If the storage location status of the target storage location is an idle state, the method further includes: Determine whether the target goods are included in each of the recycled goods, where the recycled goods are empty cargo boxes carried by the manipulator to the production line; If so, generate a recycling prompt message.

7. The method according to claim 6, wherein If the target goods are not included in the recycled goods, the method further includes: Obtain the shelf detection information of each layer of the conveying shelf of the sorting device; Based on the shelf detection information, determine whether the target goods are detained on the conveying shelf; If so, via the handling robot, move the target goods detained on the conveying shelf to the goods import and export to detect whether the target goods are damaged.

8. The method according to claim 7, wherein If the target goods are not detained on the conveying shelf, the method further includes: Inspect each storage location of the storage shelf; Based on the inspection result, determine whether the target goods are stored in the second storage location of the storage shelf; If so, determine each associated goods associated with the target goods; Based on the historical processing flow of the target goods and each associated goods, perform an abnormal inventory check to determine the abnormal processing node; Based on the abnormal processing node, generate a first abnormal prompt message.

9. The method according to any one of claims 1-8, characterized in that, The method further includes: Based on the handling robot, according to the warehousing instruction, store each to-be-warehoused goods located at the goods import and export of the warehousing system in each preset storage location of the storage shelf, where the warehousing instruction includes the preset storage location corresponding to each to-be-warehoused goods.

10. The method according to claim 9, wherein According to the warehousing instruction, store each to-be-warehoused goods located at the goods import and export of the warehousing system in each preset storage location of the storage shelf, including: When receiving the warehousing instruction, the handling robot moves to the position corresponding to the goods import and export, and sequentially moves each to-be-warehoused goods placed at each pick-up point corresponding to the goods import and export in the warehousing instruction to the temporary storage shelf of the handling robot; Based on the handling robot, store each to-be-warehoused goods in the preset storage location corresponding to each to-be-warehoused goods.

11. The method according to claim 10, characterized in that, After the handling robot moves to the position corresponding to the goods import and export, the method further includes: Determine the storage conditions of each picking point of the goods import and export; According to the storage conditions of each picking point, determine whether there are surplus goods or abnormal picking points, where the abnormal picking point is an idle picking point, and in the warehousing instruction, the abnormal picking point corresponds to one of the goods to be warehoused; If there are surplus goods, determine each second associated good associated with the surplus goods, where the second associated good includes one or more of the goods placed on the storage shelf associated with the surplus goods, the goods placed on the conveying shelf associated with the surplus goods, and the goods placed on the temporary storage shelf of the handling robot associated with the surplus goods; Carry each of the second associated goods to the goods import and export; Based on the historical processing flow of each of the second associated goods, conduct an abnormal check to determine the abnormal processing node; Generate a second abnormal prompt message according to the abnormal processing node.

12. The method according to claim 11, wherein If there is an abnormal picking point, the method further includes: Generate a third abnormal prompt message according to the abnormal picking point and the goods to be warehoused corresponding to the abnormal picking point in the warehousing instruction.

13. The method according to any one of claims 1-8, 10-12, characterized in that, After placing the target goods on the second preset layer of the conveying shelf of the sorting device, the method further includes: Receive the first abnormal information sent by the sorting device, where the first abnormal information includes the surplus goods on the second preset layer of the conveying shelf of the sorting device; According to the first abnormal information, via the handling robot, carry the surplus goods on the second preset layer to the production line and generate a fourth abnormal prompt message.

14. The method according to any one of claims 1-8, 10-12, characterized in that After placing the target goods on the second preset layer of the conveying shelf of the sorting device, the method further includes: Receive the second abnormal information sent by the sorting device, where the second abnormal information includes a second target good, and the second target good is the target good corresponding to the processing instruction that has not been carried to the second preset layer of the conveying shelf of the sorting device; According to the second abnormal information, via the handling robot, place the second target good on the second preset layer of the conveying shelf of the sorting device, so as to transport the second target good to the working range of the manipulator through the second preset layer of the conveying shelf, so as to process the second target good based on the manipulator.

15. A method for handling goods, characterized in that, The method is applied to a sorting device, the sorting device includes a conveying shelf and a manipulator, the conveying shelf has at least two conveying layers, and at least two conveying layers are indented away from the manipulator in sequence from bottom to top at one end close to the manipulator and form a stepped shape; A conveying mechanism is arranged on the conveying layer, and the conveying mechanism moves the goods on the conveying layer along the conveying direction. The method includes: When there is a first good that has been processed on the first preset layer of the conveying shelf of the sorting device, transport the first good through the conveying mechanism of the first preset layer, so as to carry the first good to the idle layer of the temporary storage shelf of the handling robot via the handling robot; After the handling robot places the target goods on the second preset layer of the conveying shelf of the sorting device, the target goods are transported to the working range of the manipulator through the conveying mechanism of the second preset layer, where the target goods are the goods corresponding to the processing instruction; Based on the manipulator to process the target goods; If the processed target goods are not empty boxes, transfer the target goods to the first preset layer of the conveying shelf; Before the handling robot places the target goods on the second preset layer of the conveying shelf of the sorting device, it further includes: when receiving a processing instruction, through the handling robot, transporting the target goods corresponding to the processing instruction placed on the storage shelf to the corresponding position of the sorting device; Transporting the target goods corresponding to the processing instruction placed on the storage shelf to the corresponding position of the sorting device through the handling robot, including: According to the processing instruction, determine the target storage location of the storage shelf where the target goods are placed; After the handling robot moves to the position corresponding to the target storage location, move the target goods from the target storage location to the temporary storage shelf of the handling robot; Transport the target goods to the corresponding position of the sorting device through the handling robot; After the handling robot moves to the position corresponding to the target storage location, the method further includes: determining whether the goods placed in the target storage location are the target goods; When the goods placed in the target storage location are not the target goods, the method further includes: Determine each associated good associated with the target good; Through the handling robot, transport each associated good to the goods import and export of the storage system to determine abnormal goods from each associated good; Through the handling robot, place each second good in the corresponding original storage location of each second good, where the second good is the other associated goods except the abnormal goods among the associated goods; and / or, If the abnormal goods include the target goods, place the target goods in the target storage location through the handling robot, so as to transport the target goods to the corresponding position of the sorting device through the handling robot.

16. The method according to claim 15, wherein The method further includes: If the processed goods are empty boxes, determine that the goods are recycled goods; Transport the recycled goods to the production line through the manipulator and record the goods information of the recycled goods.

17. The method according to claim 15 or 16, characterized in that, The method further includes: When there are excess goods on the second preset layer of the conveying shelf of the sorting device, generate first abnormal information according to the excess goods and send the first abnormal information to the handling robot.

18. The method according to claim 15 or 16, characterized in that The method further includes: When there is no second target good on the second preset layer of the conveying shelf of the sorting device, generate second abnormal information according to the second target good and send the second abnormal information to the handling robot, where the second target good is the target good corresponding to the processing instruction that has not been transported to the second preset layer of the conveying shelf of the sorting device.

19. A cargo handling device, characterized in that, The described goods handling device is applied to a handling robot, which is used for handling goods in a warehousing system. The warehousing system includes a warehousing shelf, a handling robot, and a sorting device. The sorting device includes a conveying shelf and a manipulator. The conveying shelf has at least two conveying layers, and at least two conveying layers are indented away from the manipulator in sequence from bottom to top at one end close to the manipulator to form a stepped shape; a conveying mechanism is arranged on the conveying layer, and the conveying mechanism moves the goods on the conveying layer along the conveying direction. The goods handling device includes: A goods transportation module, which is used for, when receiving a processing instruction, transporting the target goods corresponding to the processing instruction placed on the warehousing shelf to the corresponding position of the sorting device via the handling robot. Among them, the temporary storage shelf of the handling robot includes at least one idle layer; A first handling module, which is used for, when there is a first goods that has been processed on the first preset layer of the conveying shelf of the sorting device, handling the first goods to the idle layer of the temporary storage shelf via the handling robot; A first placing module, which is used for, after the first goods is placed on the idle layer of the temporary storage shelf, placing the target goods on the second preset layer of the conveying shelf of the sorting device via the handling robot, so as to transport the target goods to the working range of the manipulator through the conveying mechanism on the second preset layer of the conveying shelf, and process the target goods based on the manipulator; The goods transportation module includes: a target storage location determination unit, which is used for determining the target storage location of the warehousing shelf for placing the target goods according to the processing instruction; a first handling unit, which is used for, after the handling robot moves to the position corresponding to the target storage location, handling the target goods from the target storage location to the temporary storage shelf of the handling robot; a goods transportation unit, which is used for transporting the target goods to the corresponding position of the sorting device via the handling robot; A goods verification module, which is used for, after the handling robot moves to the position corresponding to the target storage location, determining whether the goods placed at the target storage location is the target goods; A first exception handling module, which is used for, when the goods placed at the target storage location is not the target goods, determining each associated goods associated with the target goods; handling each of the associated goods to the goods import and export of the warehousing system via the handling robot to determine the abnormal goods from each of the associated goods; placing each second goods on the corresponding original storage location of each second goods via the handling robot, where the second goods are the other associated goods except the abnormal goods among the associated goods; and / or, if the abnormal goods include the target goods, placing the target goods on the target storage location via the handling robot, so as to transport the target goods to the corresponding position of the sorting device via the handling robot.

20. A cargo handling device, characterized in that, The described goods handling device is applied to a sorting device, which includes a conveying shelf and a manipulator. The conveying shelf has at least two conveying layers, and at least two conveying layers are indented away from the manipulator in sequence from bottom to top at one end close to the manipulator and form a stepped shape; A conveying mechanism is provided on the conveying layer, and the conveying mechanism moves the goods on the conveying layer along the conveying direction. The goods handling device includes: A second transportation module, which is used to transport the first goods on the first preset layer of the conveying shelf of the sorting device through the conveying mechanism of the first preset layer when there are processed first goods on the first preset layer, so as to transport the first goods to the idle layer of the temporary storage shelf of the handling robot via the handling robot; A third transportation module, which is used to transport the target goods to the working range of the manipulator through the conveying mechanism of the second preset layer after the handling robot places the target goods on the second preset layer of the conveying shelf of the sorting device, where the target goods are the goods corresponding to the processing instruction; A goods handling module, which is used to handle the target goods based on the manipulator; A goods return module, which is used to transfer the target goods to the first preset layer of the conveying shelf if the processed target goods are not empty boxes; A goods transportation module. Before the handling robot places the target goods on the second preset layer of the conveying shelf of the sorting device, when the goods transportation module receives a processing instruction, it is used to transport the target goods corresponding to the processing instruction placed on the storage shelf to the corresponding position of the sorting device via the handling robot; The goods transportation module includes: a target storage location determination unit, which is used to determine the target storage location of the storage shelf for placing the target goods according to the processing instruction; a first handling unit, which is used to handle the target goods from the target storage location to the temporary storage shelf of the handling robot after the handling robot moves to the position corresponding to the target storage location; a goods transportation unit, which is used to transport the target goods to the corresponding position of the sorting device via the handling robot; A goods verification module, which is used to determine whether the goods placed in the target storage location are the target goods after the handling robot moves to the position corresponding to the target storage location; A first exception handling module, which is used to determine each associated good associated with the target good when the good placed in the target storage location is not the target good; transport each associated good to the goods import and export of the storage system via the handling robot to determine the abnormal goods from each associated good; place each second good on the original storage location corresponding to each second good via the handling robot, where the second good is the other associated goods except the abnormal goods among the associated goods; and / or, if the abnormal goods include the target good, place the target good on the target storage location via the handling robot to transport the target good to the corresponding position of the sorting device via the handling robot.

21. A handling robot, characterized in that, comprising a robot body, a temporary storage rack, a handling device and at least one processor; wherein, the temporary storage rack is used for storing goods; the handling device is used for transporting goods to the temporary storage rack or retrieving goods stored in the temporary storage rack; the at least one processor is used for executing the goods handling method according to any one of claims 1-14.

22. A sorting device, characterized in that, comprising a conveying rack, a manipulator and at least one processor; wherein, the conveying rack has at least two conveying layers, and at least two conveying layers are indented away from the manipulator in sequence from bottom to top at one end close to the manipulator to form a stepped shape; a conveying mechanism is arranged on the conveying layer, and the conveying mechanism moves goods on the conveying layer along the conveying direction; the at least one processor is used for executing the goods handling method according to any one of claims 15-18.

23. A storage system, characterized in that, including: a storage rack, the handling robot according to claim 21 and the sorting device according to claim 22.

24. A computer-readable storage medium, characterized in that, A computer-executable instruction is stored in the computer-readable storage medium, and when the processor executes the computer-executable instruction, the goods handling method according to any one of claims 1-18 is implemented.

25. A computer program product comprising a computer program, characterized in that, When the computer program is executed by the processor, the goods handling method according to any one of claims 1-18 is implemented.

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