Cargo collection and transport system, method and related devices

Abstract

Embodiments of the present application disclose a kind of freight transportation system, method and related device, freight transportation system includes conveying line handling module, for controlling conveying line handling module transmission material box transport server, for storing material box freight module, for handling material box handling robot, conveying line handling module can make material box between freight module and the warehouse mouth of freight warehouse circulation, handling robot can make material box between third level conveying line and shelf circulation;Conveying line handling module includes first level conveying line, second level conveying line and third level conveying line, one end of first level conveying line is located in the warehouse mouth of freight warehouse, the other end extends into freight warehouse, at least one second level conveying line is connected in the extension direction of first level conveying line, at least one third level conveying line is connected on each second level conveying line;The side of each third level conveying line in extension direction is provided with at least one freight module.The present application is favorable to improve the flexibility of freight transportation.

Description

Technical Field

[0001] This application relates to the field of intelligent warehousing technology, specifically to a cargo collection and transportation system, method, and related apparatus. Background Technology

[0002] Commonly used warehouse consolidation methods include zoned consolidation and non-zoned consolidation. Zoned consolidation involves dividing the storage space of the warehouse into sections, storing the same materials in specific areas. When order volumes are high, the handling robots in this method are prone to congestion. Non-zoned consolidation, on the other hand, does not divide the storage space of the warehouse into sections; all storage space can be used to store a specific material. However, when order volumes are low, the handling robots in this method still need to spend a significant amount of time moving around the warehouse, reducing efficiency. Summary of the Invention

[0003] This application provides a cargo collection and transportation system, method, and related apparatus to improve cargo collection and transportation efficiency.

[0004] In a first aspect, embodiments of this application provide a cargo collection and transportation system, which includes a transportation server, a conveyor line handling module, a handling robot, and multiple cargo collection modules;

[0005] The transport server is used to control the start and stop of the conveyor line handling module and the transport direction;

[0006] The conveyor line handling module is used to transfer material boxes so that the material boxes can flow between the collection module and the opening of the collection warehouse. The conveyor line handling module includes a first-level conveyor line, a second-level conveyor line, and a third-level conveyor line. One end of the first-level conveyor line is located at the opening of the collection warehouse, and the other end extends into the collection warehouse. At least one second-level conveyor line is connected to the extension direction of the first-level conveyor line, and at least one third-level conveyor line is connected to each second-level conveyor line. Each third-level conveyor line has at least one collection module on its side in the extension direction.

[0007] The collection module is used to store material boxes, and the collection module is equipped with shelves on which the material boxes are stored.

[0008] The transport robot is used to transport the bins so that they can move between the third-level conveyor line and the shelf.

[0009] As can be seen, in this embodiment, multiple bins in the same batch can be transported and merged out of the warehouse by the conveyor line handling module, or multiple bins can be diverted and transported into the warehouse by the conveyor line handling module. The handling robot only needs to perform handling-related operations in the target collection module, which can reduce the path length that the handling robot needs to travel, thereby improving the movement efficiency of the handling robot and the efficiency of bin handling. At the same time, in the specific implementation, the extension direction and number of each level of conveyor line in the conveyor line handling module can be adjusted according to actual needs, thereby improving the flexibility of the collection and transportation system deployment.

[0010] In conjunction with the first aspect, in one possible implementation, each inlet of the second-level conveyor line is connected to one of the third-level conveyor lines, and the collection module is located on at least one side of the third-level conveyor line in the direction of extension.

[0011] In conjunction with the first aspect, in one possible implementation, each inlet of the second-level conveyor line is connected to two parallel third-level conveyor lines, and the collection module is located on the opposite side of the two third-level conveyor lines.

[0012] In conjunction with the first aspect, in one possible implementation, each of the third-level conveyor lines is provided with a bullet outlet and a transfer device for each collection module in the extension direction of the third-level conveyor line, the transfer device being used to transfer the material box on the third-level conveyor line to the bullet outlet; or, the transfer device being used to transfer the material box at the bullet outlet to the third-level conveyor line.

[0013] In conjunction with the first aspect, in one possible implementation, the shelving arrangement of the collection module forms at least one aisle, and one of the handling robots manages at least one aisle.

[0014] In conjunction with the first aspect, in one possible implementation, when one of the transport robots manages one of the channels, the third-level conveyor line is provided with the transfer device and the ejector outlet for each of the channels.

[0015] In conjunction with the first aspect, in one possible implementation, each of the plurality of collection modules is equipped with a charging pile for charging the handling robot.

[0016] Secondly, embodiments of this application provide a cargo collection and transportation method applied to a handling server in a cargo collection and transportation system. The handling server controls a handling robot in the cargo collection and transportation system. The cargo collection and transportation system includes the handling server, a conveyor line handling module, a cargo collection module, and the handling robot. The conveyor line handling module includes a first-level conveyor line, a second-level conveyor line, and a third-level conveyor line. One end of the first-level conveyor line is located at the entrance of the cargo collection warehouse, and the other end extends into the cargo collection warehouse. At least one second-level conveyor line is connected in the extension direction of the first-level conveyor line, and at least one third-level conveyor line is connected in each second-level conveyor line. At least one cargo collection module is provided on the side of each third-level conveyor line in the extension direction. The method includes:

[0017] Obtain multiple bins for the same wave;

[0018] Identify at least one target collection module corresponding to the plurality of bins;

[0019] Control the handling robot corresponding to the at least one target collection module to perform a first inbound operation or a first outbound operation for the plurality of bins;

[0020] The first warehousing operation includes: when the multiple boxes are diverted and transported from the warehouse entrance of the collection warehouse to the respective second-level conveyor lines corresponding to the at least one target collection module via the first-level conveyor lines, and then diverted and transported to the respective third-level conveyor lines corresponding to the at least one target collection module via the respective third-level conveyor lines, and then transported to the location of the at least one target collection module via the respective third-level conveyor lines, controlling the handling robot corresponding to the at least one target collection module to move the multiple boxes from the respective third-level conveyor lines to the at least one target collection module;

[0021] The first outbound operation includes: controlling the handling robot corresponding to the at least one target collection module to take out the plurality of boxes from the shelf of the at least one target collection module, and transferring the plurality of boxes to the respective third-level conveyor lines corresponding to the at least one target collection module, so that the plurality of boxes are transported to the respective second-level conveyor lines corresponding to the at least one target collection module via the respective third-level conveyor lines, and then transported to the first-level conveyor line via the respective second-level conveyor lines, and finally transported to the warehouse opening via the first-level conveyor line.

[0022] As can be seen, in this embodiment, by allocating multiple boxes to at least one target collection module according to the number of boxes corresponding to each wave, the flexibility of allocating the location of the target collection modules for box entry and exit is improved. This helps reduce the workload of a single target collection module, allowing multiple target collection modules to operate synchronously, thereby improving the overall collection efficiency. Simultaneously, by using a conveyor line transport module to merge and exit the boxes from each target collection module, or by using a conveyor line transport module to divert and enter multiple boxes, the path length required for the transport robot can be reduced, thereby improving the robot's movement efficiency and the efficiency of box transport.

[0023] In conjunction with the second aspect, in one possible implementation, determining at least one target collection module corresponding to the plurality of bins includes:

[0024] Obtain the single transport volume of the handling robot corresponding to the target collection module;

[0025] Compare the single transport volume with the number of the multiple containers;

[0026] When the number of multiple bins is greater than the single transport volume, at least two collection modules are identified as the target collection modules.

[0027] In conjunction with the second aspect, in one possible implementation, determining at least one target collection module corresponding to the plurality of bins further includes:

[0028] The handling tasks of the multiple bins in the same batch are evenly distributed to the at least two collection modules.

[0029] Thirdly, embodiments of this application provide a cargo collection and transportation method applied to a transportation server in a cargo collection and transportation system. The transportation server controls a conveyor line handling module in the cargo collection and transportation system. The cargo collection and transportation system includes the transportation server, a handling server, the conveyor line handling module, a cargo collection module, and a handling robot. The handling server controls the handling robot. The conveyor line handling module includes a first-level conveyor line, a second-level conveyor line, and a third-level conveyor line. One end of the first-level conveyor line is located at the entrance of the cargo collection warehouse, and the other end extends into the cargo collection warehouse. At least one second-level conveyor line is connected in the extension direction of the first-level conveyor line, and at least one third-level conveyor line is connected to each second-level conveyor line. At least one cargo collection module is provided on the side of each third-level conveyor line in the extension direction. The method includes:

[0030] Obtain at least one target collection module, wherein the at least one target collection module is a collection module corresponding to multiple bins in the same wave;

[0031] The conveyor line handling module is controlled by the at least one target collection module to perform a second inbound operation or a second outbound operation for the plurality of material boxes;

[0032] The second warehousing operation includes: controlling the first-level conveyor line to divert and transport the multiple boxes from the warehouse entrance to the respective second-level conveyor lines corresponding to the at least one target collection module, controlling the respective second-level conveyor lines to divert and transport the multiple boxes to the respective third-level conveyor lines corresponding to the at least one target collection module, and controlling the respective third-level conveyor lines to transport the multiple boxes to the location of the at least one target collection module, so that the handling robot corresponding to the at least one target collection module can move the multiple boxes from the respective third-level conveyor lines to the at least one target collection module;

[0033] The second outbound operation includes: when the handling robot corresponding to the at least one target collection module takes out the plurality of boxes from the shelf of the at least one target collection module and transfers the plurality of boxes to the respective third-level conveyor lines, controlling the respective third-level conveyor lines to transport the plurality of boxes to the respective second-level conveyor lines corresponding to the at least one target collection module, controlling the respective second-level conveyor lines to transport and merge the plurality of boxes to the first-level conveyor line, and controlling the first-level conveyor line to transport the plurality of boxes to the warehouse opening.

[0034] As can be seen, in this embodiment, by allocating multiple boxes to at least one target collection module according to the number of boxes corresponding to each wave, the flexibility of allocating the location of the target collection modules for box entry and exit is improved. This helps reduce the workload of a single target collection module, allowing multiple target collection modules to operate synchronously, thereby improving the overall collection efficiency. Simultaneously, by using a conveyor line transport module to merge and exit the boxes from each target collection module, or by using a conveyor line transport module to divert and enter multiple boxes, the path length required for the transport robot can be reduced, thereby improving the robot's movement efficiency and the efficiency of box transport.

[0035] In conjunction with the third aspect, in one possible implementation, each of the third-level conveyor lines is provided with a spring outlet and a transfer device for each collection module corresponding to the extension direction of the third-level conveyor line, and the method further includes:

[0036] When the third-level conveyor lines transport the multiple boxes to the location of the at least one target collection module, the transfer devices corresponding to the at least one target collection module are controlled to transfer the multiple boxes from the third-level conveyor lines to the ejector outlets corresponding to the at least one target collection module, so that the handling robot can move the multiple boxes from the ejector outlets to the shelf of the at least one target collection module.

[0037] When the handling robot moves the multiple boxes from the shelf of the at least one target collection module to the respective bullet outlet, the respective transfer devices are controlled to transfer the multiple boxes from the respective bullet outlets to the respective third-level conveyor lines, so that the multiple boxes can be transported to the warehouse opening of the collection warehouse through the conveyor line handling module.

[0038] Fourthly, this application provides a cargo collection and transportation device applied to a handling server in a cargo collection and transportation system. The handling server controls a handling robot in the cargo collection and transportation system. The cargo collection and transportation system includes the handling server, a conveyor line handling module, a cargo collection module, and the handling robot. The conveyor line handling module includes a first-level conveyor line, a second-level conveyor line, and a third-level conveyor line. One end of the first-level conveyor line is located at the entrance of the cargo collection warehouse, and the other end extends into the cargo collection warehouse. At least one second-level conveyor line is connected in the extension direction of the first-level conveyor line, and at least one third-level conveyor line is connected to each second-level conveyor line. At least one cargo collection module is provided on the side of each third-level conveyor line in the extension direction. The device includes:

[0039] The first acquisition unit is used to acquire multiple bins for the same wave.

[0040] The first determining unit is used to determine at least one target collection module corresponding to the plurality of bins;

[0041] A first control unit is used to control the handling robot corresponding to the at least one target collection module to perform a first inbound operation or a first outbound operation for the plurality of bins.

[0042] The first warehousing operation includes: when the multiple boxes are diverted and transported from the warehouse entrance of the collection warehouse to the respective second-level conveyor lines corresponding to the at least one target collection module via the first-level conveyor lines, and then diverted and transported to the respective third-level conveyor lines corresponding to the at least one target collection module via the respective third-level conveyor lines, and then transported to the location of the at least one target collection module via the respective third-level conveyor lines, controlling the handling robot corresponding to the at least one target collection module to move the multiple boxes from the respective third-level conveyor lines to the at least one target collection module;

[0043] The first outbound operation includes: controlling the handling robot corresponding to the at least one target collection module to take out the plurality of boxes from the shelf of the at least one target collection module, and transferring the plurality of boxes to the respective third-level conveyor lines corresponding to the at least one target collection module, so that the plurality of boxes are transported to the respective second-level conveyor lines corresponding to the at least one target collection module via the respective third-level conveyor lines, and then transported to the first-level conveyor line via the respective second-level conveyor lines, and finally transported to the warehouse opening via the first-level conveyor line.

[0044] Fifthly, this application provides a cargo collection and transportation device applied to a transportation server in a cargo collection and transportation system. The transportation server controls a conveyor line handling module in the cargo collection and transportation system. The cargo collection and transportation system includes the transportation server, a handling server, the conveyor line handling module, a cargo collection module, and a handling robot. The handling server controls the handling robot. The conveyor line handling module includes a first-level conveyor line, a second-level conveyor line, and a third-level conveyor line. One end of the first-level conveyor line is located at the entrance of the cargo collection warehouse, and the other end extends into the cargo collection warehouse. At least one second-level conveyor line is connected in the extension direction of the first-level conveyor line, and at least one third-level conveyor line is connected to each second-level conveyor line. At least one cargo collection module is provided on the side of each third-level conveyor line in the extension direction. The device includes:

[0045] The second acquisition unit is used to acquire at least one target collection module, wherein the at least one target collection module is a collection module corresponding to multiple bins in the same wave;

[0046] The second control unit is used to control the conveyor line handling module to perform a second inbound operation or a second outbound operation for the plurality of bins according to the at least one target collection module.

[0047] The second warehousing operation includes: controlling the first-level conveyor line to divert and transport the multiple boxes from the warehouse entrance to the respective second-level conveyor lines corresponding to the at least one target collection module, controlling the respective second-level conveyor lines to divert and transport the multiple boxes to the respective third-level conveyor lines corresponding to the at least one target collection module, and controlling the respective third-level conveyor lines to transport the multiple boxes to the location of the at least one target collection module, so that the handling robot corresponding to the at least one target collection module can move the multiple boxes from the respective third-level conveyor lines to the at least one target collection module;

[0048] The second outbound operation includes: when the handling robot corresponding to the at least one target collection module takes out the plurality of boxes from the shelf of the at least one target collection module and transfers the plurality of boxes to the respective third-level conveyor lines, controlling the respective third-level conveyor lines to transport the plurality of boxes to the respective second-level conveyor lines corresponding to the at least one target collection module, controlling the respective second-level conveyor lines to transport and merge the plurality of boxes to the first-level conveyor line, and controlling the first-level conveyor line to transport the plurality of boxes to the warehouse opening.

[0049] In a sixth aspect, embodiments of this application provide a server including a processor, a memory, a communication interface, and one or more programs, the one or more programs being stored in the memory and configured to be executed by the processor, the programs including instructions for performing the steps in the first aspect of embodiments of this application.

[0050] In a seventh aspect, embodiments of this application provide a computer storage medium storing a computer program for electronic data interchange, wherein the computer program causes a computer to perform some or all of the steps described in the first aspect of this embodiment. Attached Figure Description

[0051] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0052] Figure 1a This is a schematic diagram of the architecture of a cargo collection and transportation system provided in an embodiment of this application;

[0053] Figure 1b This is a schematic diagram of another cargo collection and transportation system provided in the embodiments of this application;

[0054] Figure 1c This is an example diagram illustrating the structural composition of an electronic device provided in an embodiment of this application;

[0055] Figure 2 This is a schematic diagram of the layout of a collection warehouse provided in an embodiment of this application;

[0056] Figure 3 This is a schematic diagram of another warehouse layout provided in an embodiment of this application;

[0057] Figure 4 This is a schematic diagram of the layout of a cargo collection module provided in an embodiment of this application;

[0058] Figure 5 This is a schematic flowchart of a cargo collection and transportation method provided in an embodiment of this application;

[0059] Figure 6 This is a schematic flowchart of another cargo collection and transportation method provided in an embodiment of this application;

[0060] Figure 7a This is a functional unit block diagram of a cargo collection and transportation device provided in an embodiment of this application;

[0061] Figure 7b This is a functional unit block diagram of another cargo collection and transportation device provided in the embodiments of this application;

[0062] Figure 7c This is a functional unit block diagram of another cargo collection and transportation device provided in the embodiments of this application.

[0063] Some of the icon symbols:

[0064] 200. Handling robot; 300. Conveyor line handling module; 310. First-level conveyor line; 320. Second-level conveyor line; 330. Third-level conveyor line; 400. Collection module; 400a. Aisle; 410. Shelf; 420. Charging pile. Detailed Implementation

[0065] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0066] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0067] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0068] The embodiments of this application will now be described with reference to the accompanying drawings.

[0069] Please see Figure 1a , Figure 1a This is a schematic diagram of the architecture of a cargo collection and transportation system provided in an embodiment of this application. Figure 1a The cargo collection and transportation system 10 shown may specifically include a handling server 100, a handling robot 200, and a conveyor line handling module 300. The handling server 100 can control the actions of the handling robot 200 and the conveyor line handling module 300. For example, it can control the handling robot 200 to move to a specific location (e.g., the location of the material box in the cargo collection module, the location of the ejector outlet corresponding to the cargo collection module on the third-level transport line, and the location of the charging pile, etc.), and control the handling robot 200 to pick up or place the material box. It can also control the start / stop and transport direction of the conveyor line handling module 300. The handling robot 200 and the conveyor line handling module 300 can perform corresponding operations according to the control of the handling server 100.

[0070] like Figure 1a As shown, both the handling robot 200 and the conveyor line handling module 300 can be controlled by the handling server 100. Specifically, the handling server 100 can be communicatively connected to the handling robot 200 and the conveyor line handling module 300. The handling server 100 controls the handling robot 200 and the conveyor line handling module 300 by sending control commands to them. The control commands instruct the handling robot 200 and the conveyor line handling module 300 to perform the required operations. After receiving the control commands, the handling robot 200 and the conveyor line handling module 300 can perform the corresponding operations according to the control commands.

[0071] Please see Figure 1b , Figure 1b This is a schematic diagram of the architecture of another cargo collection and transportation system provided in an embodiment of this application. Figure 1b The cargo collection and transportation system 10 shown may specifically include a transportation server 100a, a handling server 100b, a handling robot 200, and a conveyor line handling module 300. The transportation server 100a controls the conveyor line handling module 300, and the handling server 100b controls the actions of the handling robot 200. For example, the transportation server 100a controls the start / stop and transportation direction of the conveyor line handling module 300, and the conveyor line handling module 300 can perform corresponding operations according to the control of the transportation server 100a. Similarly, the handling server 100b can control the actions of the handling robot 200, such as controlling the handling robot 200 to move to a specific location (e.g., the location of the material bin in the cargo collection module, the location of the ejector outlet corresponding to the cargo collection module on the third-level transport line, and the location of the charging pile), and controlling the handling robot 200 to pick up or place material bins, etc. The handling robot 200 can perform corresponding operations according to the control of the handling server 100b.

[0072] like Figure 1b As shown, the conveyor line handling module 300 and the handling robot 200 can be controlled by the transport server 100a and the handling server 100b, respectively. Specifically, the handling robot 200 and the handling server 100b are communicatively connected, and the conveyor line handling module 300 and the transport server 100a are communicatively connected. The transport server 100a and the handling server 100b can control the conveyor line handling module 300 or the handling robot 200 by sending control commands to the conveyor line handling module 300 or the handling robot 200. The control commands instruct the conveyor line handling module 300 or the handling robot 200 to perform the required operations. After receiving the control commands, the conveyor line handling module 300 or the handling robot 200 can perform the corresponding operations according to the control commands.

[0073] The electronic device in this application can be structured as follows: Figure 1c As shown, electronic devices can be as follows: Figure 1a The transfer server 100 shown is as follows: Figure 1b The transport server 100a shown is as follows: Figure 1bThe handling server 100b, handling robot 200, or conveyor line handling module 300 shown may include an electronic device such as a processor 110, a memory 120, a communication interface 130, and one or more programs 121, wherein the one or more programs 121 are stored in the memory 120 and configured to be executed by the processor 110, and the one or more programs 121 include instructions for performing any step in the above method embodiments.

[0074] The communication interface 130 is used to support communication between the electronic device 100 and other devices. The processor 110 may be, for example, a central processing unit (CPU), a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute various exemplary logic blocks, units, and circuits described in conjunction with the embodiments of this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0075] The memory 120 can be volatile memory or non-volatile memory, or it can include both. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate synchronous DRAM (DDR SDRAM), enhanced synchronous DRAM (ESDRAM), synchronous linked DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0076] In a specific implementation, the processor 110 is used to execute any step performed by the electronic device in the following method embodiments, and when performing data transmission such as sending, it may selectively call the communication interface 130 to complete the corresponding operation.

[0077] It should be noted that the above schematic diagram of the electronic device is only an example, and the actual number of components included may be more or less, and no single limitation is made here.

[0078] This invention provides a cargo collection and transportation system, comprising a transportation server, a conveyor line handling module, a handling robot, and multiple cargo collection modules. The transportation server controls the start, stop, and transportation direction of the conveyor line handling modules. The conveyor line handling modules transport boxes, allowing the boxes to flow between the cargo collection modules and the opening of the cargo collection warehouse. Each conveyor line handling module includes a first-level conveyor line, a second-level conveyor line, and a third-level conveyor line. One end of the first-level conveyor line is located at the opening of the cargo collection warehouse, and the other end extends into the warehouse. At least one second-level conveyor line is connected to the extension direction of the first-level conveyor line, and at least one third-level conveyor line is connected to each second-level conveyor line. Each third-level conveyor line has at least one cargo collection module on its side in the extension direction. Each cargo collection module stores boxes and is equipped with shelves on which the boxes are stored. The handling robot handles the boxes, allowing them to flow between the third-level conveyor lines and the shelves.

[0079] In this example, the transport server can be... Figure 1a The migration server 100 in the middle can also be Figure 1b The transport server 100a in the middle.

[0080] The first-stage conveyor line, the second-stage conveyor line, and the third-stage conveyor line can be conveying equipment such as conveyor belts.

[0081] The first-level conveyor line refers to the main transmission section extending from the entrance of the collection warehouse into the warehouse. The second-level conveyor line refers to the transmission section formed by the branching of the first-level conveyor line, which does not have a collection module on its side. The third-level conveyor line refers to the transmission section connected to the second-level conveyor line, which has a collection module on its side.

[0082] The number of second-level conveyors connected to the first-level conveyor line, the number of third-level conveyors connected to each second-level conveyor line, and the number of collection modules on the third-level conveyor line can all be adjusted according to actual needs, without further restrictions. The extension direction and length of the first, second, and third-level conveyor lines can also be adjusted according to the terrain of the collection warehouse. This improves the flexibility of the collection and transportation system deployment.

[0083] In this context, a collection module refers to a unit module formed by at least one shelf for storing material bins. Each collection module includes shelves and charging stations, etc. The number of shelves, charging stations, and handling robots configured in each collection module are not further limited and can be flexibly adjusted according to user flow requirements. For example, by increasing the number of collection modules along the extension direction of each third-level conveyor line, or by adding third-level conveyors to the second-level conveyor lines, the number of collection modules along the extension direction of the third-level conveyors and on the side perpendicular to the extension direction on the ground can be increased, thereby increasing the inbound and outbound flow of the collection warehouse. Alternatively, for example, by reducing the number of shelves in a single collection module, the movement range of handling robots within that module can be reduced, thereby improving the movement efficiency of the handling robots within a single collection module, and thus increasing the inbound and outbound efficiency of the collection module and the overall system's inbound and outbound efficiency.

[0084] As can be seen, multiple bins in the same batch can be transported and merged out of the warehouse from various target collection modules via the conveyor line handling module, or multiple bins can be separately transported into the warehouse via the conveyor line handling module. The handling robot only needs to perform handling-related operations within the target collection module, which can reduce the path length that the handling robot needs to travel, thereby improving the movement efficiency of the handling robot and the efficiency of bin handling. At the same time, in the specific implementation, the extension direction and number of each level of the conveyor line in the conveyor line handling module can be adjusted according to actual needs, thereby improving the flexibility of the collection and transportation system deployment.

[0085] For example, see Figures 2 to 4 The collection warehouse is equipped with a conveyor line handling module 300, a handling robot 200, and a collection module 400, which are part of the collection and transportation system. The conveyor line handling module 300 includes a first-level conveyor line 310, a second-level conveyor line 320, and a third-level conveyor line 330. Figures 2 to 4 In the example shown, the third-level conveyor line 330 extends laterally and is arranged longitudinally at least once. Each collection module 400 can dock with a third-level conveyor line 330 so that the handling robot 200 managing each collection module 400 can pick up the material box from the corresponding third-level conveyor line 330 and transport it to the shelf 410 of each collection module 400 to complete the material box storage; or, the handling robot 200 managing each collection module 400 can transport the material box on the shelf 410 of each collection module 400 to the corresponding third-level conveyor line 330 to transport the material box out of the warehouse. Figures 2 to 4In the example shown, the second-stage conveyor line 320 can extend longitudinally and at least one of the third-stage conveyor lines 330 is arranged on the same end side. The end of the third-stage conveyor line 330 is connected to any one of the second-stage conveyor lines 320 to allow the hopper to be transferred between the second-stage conveyor lines 320 and the third-stage conveyor lines 330. All the second-stage conveyor lines 320 will merge into the first-stage conveyor line 310 to allow the hopper to be transferred between the second-stage conveyor line 320 and the first-stage conveyor line 310. The other end of the first-stage conveyor line 310 can be located at the opening of the collection bin so that the hopper can be transferred into or out of the collection bin via the first-stage conveyor line 310, thereby completing the hopper's outbound or inbound process.

[0086] In a further example, the warehouse entrance can serve as both an inbound and outbound port. In specific implementations, such as... Figure 1a In the transfer server or Figure 1b The transport server in the system can control the transmission direction of the first-level, second-level, and third-level conveyor lines in different time periods when completing the inbound and outbound operations of the bins in the collection warehouse. For example, during the inbound operation, the warehouse opening can be the inbound entrance, and the transmission direction of each conveyor line can be: from the first-level conveyor line to the second-level conveyor line, and from the second-level conveyor line to the third-level conveyor line. During the outbound operation, the warehouse opening can be the inbound entrance, and the transmission direction of each conveyor line can be: from the third-level conveyor line to the second-level conveyor line, and from the second-level conveyor line to the first-level conveyor line. With this configuration, the collection and transport system requires a smaller area of ​​collection warehouse, increasing its applicability. At the same time, this configuration also requires less equipment, reducing the cost of bin handling.

[0087] Alternatively, in other examples, the collection warehouse can have two openings: an inlet and an outlet. At least one second-level conveyor and one first-level conveyor can be installed at each end of the third-level conveyor line. In this case, each end of the third-level conveyor line can be connected to one of the second-level conveyor lines on each side, and the second-level conveyor lines on each side can merge into the corresponding first-level conveyor line. In this example, one end of each of the two first-level conveyor lines can be connected to the inlet and outlet of the collection warehouse, respectively, to handle the inbound and outbound operations of the material bins in the collection warehouse. Specifically, as shown... Figure 1a In the transfer server or Figure 1bThe transport server in the system can control the start or stop of two primary conveyor lines, the corresponding secondary conveyor lines, and each of the tertiary conveyor lines when the warehousing and retrieval of boxes in the collection warehouse needs to be completed. For example, when the warehousing of boxes in the collection warehouse needs to be completed, the primary conveyor line connected to the warehousing port, the corresponding secondary conveyor line, and the tertiary conveyor line can be started to cooperate in completing the warehousing of boxes. With this setup, the collection and transport system can simultaneously perform warehousing and retrieval of boxes for different batches, thereby improving the flexibility of the collection warehouse layout and the efficiency of box transportation in the entire collection and transport system.

[0088] Alternatively, in other examples, the collection warehouse can have at least two openings for inbound and outbound operations, respectively. The conveyor belt handling modules can be arranged in at least two layers on a plane parallel to the ground. At least one layer of conveyor belt handling modules is used for inbound operations, with one end of the first-stage conveyor line in each layer connected to an inbound opening. At least one layer of conveyor belt handling modules is used for outbound operations, with one end of the first-stage conveyor line in each layer connected to an outbound opening. In this configuration, such as... Figure 1a In the transfer server or Figure 1b The transport server in the system can simultaneously control the conveyor transport modules on each layer to perform inbound and outbound operations, thereby further improving the efficiency of the cargo collection and transport system in handling material boxes.

[0089] See Figure 2 In one possible example, each inlet on the second-level conveyor line is connected to one of the third-level conveyor lines, and the collection module is located on at least one side of the third-level conveyor line in the direction of extension.

[0090] The inlet on the second-level conveyor line refers to the interface on the second-level conveyor line used to connect to the third-level conveyor line.

[0091] Specifically, multiple collection modules can be configured for each third-level conveyor line, and these modules can be arranged on the same side of the third-level conveyor line along its extension direction. Alternatively, multiple collection modules can be arranged on opposite sides of the third-level conveyor line along its extension direction.

[0092] As can be seen in this example, by connecting each inlet of the second-level conveyor line to a third-level conveyor line and setting multiple collection modules on one or both sides of the third-level conveyor line in the extension direction, the capacity of the storage bins for the third-level conveyor line and the efficiency of handling the bins can be improved.

[0093] In one possible example, each inlet on the second-level conveyor line is connected to two parallel third-level conveyor lines, with the collection module located on the opposite side of the two third-level conveyor lines.

[0094] Specifically, such as Figure 3 and Figure 4 As shown, two third-level conveyor lines 330 can be arranged side by side and converge at the same inlet of the second-level conveyor line 320. Each of the two side-by-side third-level conveyor lines 330 has multiple collection modules 400 arranged on its side away from the other.

[0095] In practice, when a bin enters the warehouse, it can be assigned to at least one of two third-level conveyor lines connected to the same inlet. Specifically, when a bin arrives at the target inlet via the second-level conveyor line, it can be diverted from that inlet to the corresponding third-level conveyor line, which then transports the bin to the corresponding collection module. When both collection modules corresponding to the two third-level conveyor lines connected to the same inlet have bins needing to be shipped out, the handling robot moves the bin from the shelf of the collection module to the third-level conveyor line, and can then control the corresponding third-level conveyor lines to transport the bin to the target inlet, where they converge and enter the second-level conveyor line.

[0096] In practice, two third-level conveyor lines connected to the same inlet can be connected at their ends facing away from the inlet, forming a loop conveyor line. Thus, when a bin enters the loop conveyor line formed by the two third-level conveyor lines during warehousing and retrieval, the loop conveyor line can transport the bin to its corresponding target collection module upon entry, or to the inlet connected to the two third-level conveyor lines upon retrieval. If the target collection module or inlet is processing other bins, the loop conveyor line can continue transporting the bin, completing a loop along the loop and returning it to the target collection module or inlet, thus completing the bin's warehousing or retrieval. In this way, if the conveyor line handling module is congested, or if the handling robot is handling other bins, causing delays, the conveyor line handling module can be controlled to continue transporting the bin, allowing it to continue its loop transport on the loop conveyor line and thus avoiding congestion.

[0097] As can be seen in this example, by connecting each inlet of the second-level conveyor line to two third-level conveyor lines, when the transport flow is low, the transport server can control the activation of one of the third-level conveyor lines matched with a specific inlet, thereby reducing the energy consumption of the conveyor module while ensuring the transport of the material boxes. When the transport flow is high, the transport server can simultaneously control the activation of two third-level conveyor lines connected to the same inlet. This allows the two parallel third-level conveyor lines to transport material boxes simultaneously, thereby increasing the flow rate of material boxes transported by the third-level conveyor lines and thus improving the efficiency of material box transport. Furthermore, in this example, by connecting the ends of the two third-level conveyor lines to form a loop conveyor line connecting to the second-level conveyor line, it is beneficial to increase the buffer positions for material boxes. This allows material boxes that cannot be transported to the second-level conveyor line or the collection module in a timely manner to continue transporting on the loop conveyor line formed by the two third-level conveyor lines, thereby avoiding congestion in material box transport.

[0098] In one possible example, each of the third-level conveyor lines has a spring outlet and a transfer device corresponding to each collection module in the direction of extension of the third-level conveyor line. The transfer device is used to transfer the material box on the third-level conveyor line to the spring outlet; or, the transfer device is used to transfer the material box at the spring outlet to the third-level conveyor line.

[0099] The ejector outlet is located on the side of the third-level conveyor line in the extension direction and can connect with the collection module. It is mainly used for temporary storage of material boxes. The ejector outlet can be a temporary storage rack for temporarily storing material boxes; or, the ejector outlet can be a temporary storage station protruding from the side of the third-level conveyor line in the extension direction, or it can be the conveyor line itself.

[0100] The transfer device is located on the side of the third-stage conveyor line in its extension direction, or on the side of the third-stage conveyor line away from the ground, and is used to transfer material boxes between the third-stage conveyor line and the projectile exit. The transfer device can be a conveyor belt with omnidirectional wheels, thus controlling whether the material box is transferred towards the projectile exit or continues to be transferred along the extension direction of the third-stage conveyor line. Alternatively, the transfer device can be a robotic arm, a lifting transfer device, etc., which is not limited here. The transfer device can move the material box between the third-stage conveyor line and the projectile exit by handling the material box.

[0101] In practice, during warehousing, when the third-level conveyor transports the bin to the corresponding collection module, the transfer equipment corresponding to that collection module transfers the bin from the third-level conveyor to the ejector outlet. Then, the handling robot corresponding to that collection module moves the bin from the ejector outlet to the shelf. During outbound warehousing, the handling robot first moves the bin from the shelf to the ejector outlet, and then the transfer equipment moves the bin from the ejector outlet to the third-level conveyor. The third-level conveyor then transports the bin to the second-level conveyor, and from there to the first-level conveyor, which in turn transports it to the entrance of the collection warehouse.

[0102] As can be seen in this example, by setting up the ejector outlet and transfer equipment in the corresponding collection module, the material box can be transferred out of the third-level conveyor line when it arrives at the collection module, and then transferred into the ejector outlet for buffering. Compared with the handling robot directly taking the material box from the third-level conveyor line, this avoids the problem of the handling robot's untimely handling affecting the efficiency of the third-level conveyor line in transporting material boxes, and can improve the overall transportation efficiency of the collection and transportation system.

[0103] In one possible example, the shelving arrangement of the collection module forms at least one aisle, and one of the handling robots manages at least one aisle.

[0104] In this context, a collection module refers to a unit module formed by at least one shelf for storing material boxes. When a collection module has multiple shelves, the multiple shelves can form at least one passageway for a handling robot to pass through. In specific implementations, a collection module can be configured with at least one handling robot, and each handling robot can manage at least one passageway formed by the collection module.

[0105] In the specific implementation, see Figure 4The collection module 400 is equipped with multiple shelves 410, which can be arranged to form at least one aisle 400a for the movement of the handling robot 200. Specifically, when the handling robot 200 picks up or places a box, the handling server can control the handling robot 200 to move within at least one aisle 400a according to the number of handling robots 200 configured in the collection module 400. For example, if the collection warehouse is equipped with one handling robot 200 for each aisle 400a, the handling server can control each handling robot 200 to move within its corresponding aisle 400a, and control the handling robot 200 to pick up a box from the shelf 410 forming the aisle 400a it manages or to place a box on the shelf 410 forming the aisle 400a it manages, thereby avoiding interference between the handling robots 200. Alternatively, in other examples, if the number of channels 400a managed by the collection module 400 is greater than the number of handling robots 200 configured for the collection module 400 by the collection warehouse, the handling server can control a single handling robot 200 to move within at least one channel 400a formed by the collection module 400, or control the handling robot 200 to move within the collection module 400, and control the handling robot 200 to pick up a bin from the shelf 410 forming the channel 400a it manages, or control the handling robot 200 to place a bin on the shelf 410 forming the channel 400a it manages.

[0106] In practice, the handling robot can be a single-material robot or a multi-material robot. A single-material robot has one temporary storage location and can transport one material box at a time. A multi-material robot has at least two temporary storage locations and can transport at least one material box at a time. In this example, a multi-material robot can be selected to further improve the handling efficiency of the collection module. Alternatively, a single-material robot can be selected to reduce the load on the handling robot, thereby improving the efficiency of the robot's movement and box handling.

[0107] As can be seen in this example, by having a handling robot manage at least one aisle, it can be ensured that the handling robot in the collection module can pick up the boxes on the shelves forming the aisle it manages, or control the handling robot to place the boxes on the shelves forming the aisle it manages. This ensures that the handling robot only needs to move within the collection module it manages, without having to move within the entire collection warehouse, thereby improving the movement efficiency of the handling robot and increasing the efficiency of box handling.

[0108] In one possible example, when one of the transport robots manages one of the channels, the third-level conveyor line is equipped with a transfer device and a spring outlet for each of the channels.

[0109] Specifically, when a handling robot manages one channel, and the third-level conveyor line is equipped with transfer equipment and ejector outlets for each channel, the handling robot in each channel only needs to move within the channel it manages to complete tasks such as taking out a material box from the ejector outlet, placing the material box at the ejector outlet, taking out a material box from the shelf, and placing the material box on the shelf.

[0110] As can be seen in this example, by providing transfer devices and ejection outlets for each channel when a handling robot manages one channel, the length of the working path of each handling robot can be further shortened, the efficiency of the cargo handling system in transporting containers can be improved, and the capacity of the cargo handling system can be further increased.

[0111] Please see Figure 5 , Figure 5 This is a schematic flowchart of a cargo collection and transportation method provided in an embodiment of this application. This method can be applied to, for example... Figure 1a The handling server 100 in the cargo transportation system shown Figure 1b The handling server 100b in the cargo collection and transportation system shown is, for example Figure 5 As shown, the cargo collection and transportation method includes:

[0112] S510: Obtain multiple bins for the same wave.

[0113] In this context, a "wave" refers to a set of orders that constrain the outbound behavior of multiple bins based on at least one of the following factors: time, location, material attributes of the bins, and quantity of bins. Time can be a time period or a specific moment. A wave includes at least one order. Each order corresponds to information such as the material attributes of the bins, the quantity of bins, and wave information. Multiple bins within the same wave can have different material attributes.

[0114] Specifically, waves can be divided according to time periods. For example, all orders placed between 8:00 and 10:00 correspond to the same wave, while orders placed between 10:00 and 12:00 correspond to another wave. Alternatively, waves can be divided according to quantity. For example, all the boxes corresponding to the first cumulative number of orders belong to the same wave. For instance, when the current order quantity accumulates to two thousand orders, all the boxes corresponding to these two thousand orders belong to the same wave. Or, waves can be divided according to region. For example, all the boxes corresponding to all orders placed in City A belong to one wave. Furthermore, waves can be divided according to both time and region; for example, all boxes to be shipped to City A at 9:00 belong to the same wave, and all boxes to be shipped to City B at 10:00 belong to the same wave.

[0115] S520, determine at least one target collection module corresponding to the plurality of bins;

[0116] When there are multiple target cargo collection modules, these modules can be connected to the same tertiary transportation line or to different tertiary transportation lines.

[0117] In practice, when the material bins are put into storage, after the handling server obtains multiple material bins in the same batch, the handling server can first obtain the storage status of each collection module in the current collection warehouse, and then determine the collection module with available storage space as the pre-selected target. Then, based on the number of material bins, the positional relationship between the pre-selected targets, and the positional relationship between the pre-selected targets and the warehouse entrance, at least one target collection module is determined from the pre-selected targets.

[0118] Alternatively, in a specific implementation, when the material bins are being dispatched, once the handling server obtains multiple material bins from the same batch, it can directly locate the position of the collection module where the multiple material bins from that batch are located, thereby identifying these collection modules as at least one target collection module.

[0119] S530, control the handling robot corresponding to the at least one target collection module to perform a first warehousing operation for the plurality of boxes; the first warehousing operation includes: when the plurality of boxes are diverted and transported from the warehouse entrance of the collection warehouse to each of the second-level conveyors corresponding to the at least one target collection module via the first-level conveyor line, and diverted and transported to each of the third-level conveyors corresponding to the at least one target collection module via the third-level conveyor line, and transported to the location of the at least one target collection module via the third-level conveyor line, control the handling robot corresponding to the at least one target collection module to transport the plurality of boxes from the third-level conveyor line to the at least one target collection module.

[0120] In practice, each bin can be equipped with an identification code. Scanning this code allows access to the bin's material attributes, wave information, and the corresponding target collection module. A barcode scanner is installed upstream of each inlet on the first-level conveyor line connecting to the second-level conveyor line, and upstream of each inlet on the second-level conveyor line connecting to the third-level conveyor line. Here, "upstream" refers to the side of the conveyor line's handling module before the diversion point.

[0121] Specifically, after a bin enters the collection warehouse via the first-level conveyor line, it can be transported by the first-level conveyor line. A barcode scanner on the first-level conveyor line scans the bin to identify the corresponding target collection module, thus diverting the bin to the second-level conveyor line belonging to that target collection module. Once the bin enters the second-level conveyor line, since there may be multiple bins on this line, a barcode scanner on the second-level conveyor line can further identify the target collection module, diverting the bin to the third-level conveyor line belonging to that target collection module. The third-level conveyor line then transports the bin to the location of the corresponding target collection module, thereby controlling the handling robot of the target collection module to move the bin onto the shelf of that module.

[0122] S540, control the handling robot corresponding to the at least one target collection module to perform a first outbound operation for the plurality of boxes; the first outbound operation includes: controlling the handling robot corresponding to the at least one target collection module to take the plurality of boxes from the shelf of the at least one target collection module, and transferring the plurality of boxes to the respective third-level conveyor lines corresponding to the at least one target collection module, so that the plurality of boxes are transported to the respective second-level conveyor lines corresponding to the at least one target collection module via the respective third-level conveyor lines, and then transported to the first-level conveyor line via the respective second-level conveyor lines, and finally transported to the warehouse opening via the first-level conveyor line.

[0123] In practice, when the material bins are being shipped out, once the handling server determines the location of the target collection module containing multiple material bins, it can directly control the handling robots of these target collection modules to transport the multiple material bins to the corresponding third-level conveyor line. This allows the third-level conveyor line to collect the multiple material bins to the corresponding second-level conveyor line, and then the second-level conveyor line to collect the multiple material bins to the first-level conveyor line. Finally, the first-level conveyor line transports the multiple material bins to the outbound port for shipment.

[0124] Specifically, during outbound or inbound operations, the handling robot's work of moving the boxes can be controlled in parallel with the conveyor line's work of transporting the boxes. That is, the handling robot and the conveyor line can work in parallel, which improves the efficiency of box transport and prevents boxes from piling up on the conveyor line.

[0125] In practical implementation, if there are only inbound and outbound operations for this specific wave, the transport server can control only the third-level conveyor line corresponding to the target collection module, the second-level conveyor line corresponding to that third-level conveyor line, and the first-level conveyor line to start operating. The remaining second-level and third-level conveyor lines remain inactive. This allows for precise control of the conveyor transport modules transporting the boxes, saving power. Simultaneously, the transport server can control and adjust the transport direction of the first-level, second-level, and third-level conveyor lines during box inbound and outbound operations, thereby completing the box inbound and outbound operations.

[0126] As can be seen, in this embodiment, by allocating multiple boxes to at least one target collection module according to the number of boxes corresponding to each wave, the flexibility of allocating the location of the target collection modules for box entry and exit is improved. This helps reduce the workload of a single target collection module, allowing multiple target collection modules to operate synchronously, thereby improving the overall collection efficiency. Simultaneously, by using a conveyor line transport module to merge and exit the boxes from each target collection module, or by using a conveyor line transport module to divert and enter multiple boxes, the path length required for the transport robot can be reduced, thereby improving the robot's movement efficiency and the efficiency of box transport.

[0127] In one possible example, determining at least one target collection module corresponding to the plurality of bins includes: obtaining the single transport volume of the handling robot corresponding to the target collection module; comparing the single transport volume with the number of the plurality of bins; and determining at least two collection modules as the target collection modules when the number of the plurality of bins is greater than the single transport volume.

[0128] The single-trip transport capacity of the handling robots corresponding to the target collection module refers to the number of material boxes that all handling robots deployed in the target collection module can transport in a single trip. Specifically, this single-trip transport capacity can be related to the form of the handling robots or the number of handling robots corresponding to the target collection module. For example, if the handling robots are single-material robots, and a single target collection module corresponds to 4 handling robots, then the single-trip transport capacity of the target collection module is 4 material boxes.

[0129] In practice, after determining the number of bins, the handling server compares this number with the single-trip handling capacity of the handling robot corresponding to a single collection module. If the number of bins is greater than the single-trip handling capacity, the target collection module number is confirmed to be at least two. If the number of bins is less than or equal to the single-trip handling capacity, the handling server can allocate all bins to the same collection module, meaning the target collection module number is one.

[0130] As can be seen in this example, when the number of multiple bins exceeds the single transport capacity of the target collection module, the inbound and outbound tasks for multiple bins are assigned to at least two collection modules. This reduces the operational pressure on a single target collection module to handle bins and improves bin handling efficiency by having at least two collection modules perform bin transport in parallel, thereby improving bin outbound or inbound efficiency.

[0131] In one possible example, determining at least one target collection module corresponding to the plurality of bins further includes: evenly distributing the handling tasks of the plurality of bins in the same wave to the at least two collection modules.

[0132] Specifically, when the handling server determines that there are at least two target collection modules, it can split the inbound task for multiple boxes into a number of handling tasks corresponding to the number of target collection modules, based on the number of boxes and the number of target collection modules. Each handling task corresponds to the same number of boxes to be handled. For example, if the number of boxes in the same batch is 20 and the number of target collection modules is two, then that batch can be split into two handling tasks. When performing the inbound operation for multiple boxes in that batch, each handling task transports 10 boxes to one target collection module.

[0133] As can be seen in this example, by evenly distributing the material handling tasks to each collection module, the execution progress of each collection module can be kept consistent, thereby improving the consistency of the time taken by each collection module to perform the material handling tasks and improving the handling efficiency of all material boxes.

[0134] In one possible example, each of the plurality of collection modules is equipped with a charging station for charging the handling robot.

[0135] As can be seen in this example, setting up charging stations in the collection module can shorten the distance the handling robot needs to travel for charging, thereby improving the convenience of charging the handling robot.

[0136] In one possible example, when the handling server that controls the handling robot detects that the robot's battery level is lower than a preset level, it can control the robot to move to the location of the charging station and dock with the charging station to charge.

[0137] The preset power level is a pre-set power value used to control the charging of the handling robot.

[0138] In practice, when the handling server detects that the robot's battery level is below a preset level, it can obtain the robot's operating status. If the robot is idle (i.e., there is no material handling task required), the handling server can directly control the robot to move to the charging station for charging. If the robot is in operation (i.e., currently handling a material handling task), the handling server can first determine if the robot's battery level is sufficient to complete the task, and then move it to the charging station after the task is completed. If the robot's battery level is sufficient, the handling server can control the robot to move to the charging station for charging after completing the task. If the robot's battery level is insufficient, it can be directly controlled to go to the charging station for charging.

[0139] Specifically, when the battery power of a handling robot is insufficient to support its task, the handling server can select an idle handling robot from an adjacent collection module as a temporary handling robot for that target collection module, based on distance, and control it to perform the handling tasks not completed by the previously mentioned robot. This ensures the completion of the bin handling tasks for that target collection module, thus avoiding disruption to bin inbound or outbound operations. Alternatively, when multiple handling robots are configured for the same target collection module, the handling server can assign the unfinished handling tasks of the robot awaiting charging to other handling robots located within the same target collection module, thereby ensuring the reliability of task completion and avoiding impact on the operation of other collection modules.

[0140] As can be seen in this example, by setting up charging piles in the collection warehouse and controlling the handling robot to move to the charging pile for charging when its battery level is lower than the preset level, it is possible to ensure that each collection module can operate normally and orderly, and to avoid affecting the efficiency of material box handling due to the handling robot running out of power.

[0141] In one possible example, there are multiple charging stations. Controlling the transport robot to move to the location of the charging station includes: identifying the charging stations that are idle among the multiple charging stations; determining the charging distance between each idle charging station and the transport robot; identifying the charging station corresponding to the shortest charging distance as the target charging station; and controlling the transport robot to move to the location of the target charging station.

[0142] Among them, an idle charging station refers to a charging station that is not docked with other handling robots for charging, nor has it been reserved by the handling server for other handling robots. Charging distance refers to the distance that the handling robot moves to the charging station.

[0143] In practice, the transport server first obtains the location of the transport robot and the locations of all available charging stations, and then determines the charging distance between the transport robot and each available charging station. The nearest charging station is then designated as the target charging station, and the transport robot is controlled to move to that target charging station for docking and charging. Specifically, after the target charging station is determined, the transport server can reserve it to prevent it from being occupied by other transport robots.

[0144] As can be seen in this example, by selecting the nearest charging station for the transport robot that needs charging, the transport server can shorten the route length required for the transport robot to charge, thereby shortening the time it takes for the transport robot to travel to the charging station and improving the charging efficiency of the transport robot.

[0145] See Figure 4 In one possible example, a collection module 400 can be equipped with at least one charging station 420. The handling robots 200 within the same collection module 400 can use the charging station 420 configured corresponding to that collection module 400 for charging. This not only facilitates charging for collection modules 400 located on the side of the third-level conveyor line 330, but also facilitates management of each collection module 400 by the handling server. Specifically, when the handling server controls the handling robot 200 to move to the charging station 420 for charging, it can control the handling robot 200 to move from the common area on the side of the collection module 400 away from its location on the third-level conveyor line 330 to the charging station 420 for charging, thus avoiding interference with the operation of other handling robots.

[0146] Please see Figure 6 , Figure 6 This is a schematic flowchart of another cargo collection and transportation method provided in an embodiment of this application. This method can be applied to, for example... Figure 1a The handling server 100 in the cargo transportation system shown Figure 1b The transport server 100a in the cargo collection and transportation system shown is, for example Figure 6 As shown, the cargo collection and transportation method includes:

[0147] S610, acquire at least one target collection module.

[0148] The at least one target collection module is a collection module corresponding to multiple bins in the same wave.

[0149] In practice, at least one target collection module can be determined by the aforementioned handling robot, which will not be elaborated further here.

[0150] S620, according to the at least one target collection module, the conveyor line handling module is controlled to perform a second warehousing operation for the plurality of boxes; the second warehousing operation includes: controlling the first-level conveyor line to divert and transport the plurality of boxes from the warehouse opening of the collection warehouse to each of the second-level conveyor lines corresponding to the at least one target collection module, and controlling each of the second-level conveyor lines to divert and transport the plurality of boxes to each of the third-level conveyor lines corresponding to the at least one target collection module, and controlling each of the third-level conveyor lines to transport the plurality of boxes to the location of the at least one target collection module, so that the handling robot corresponding to the at least one target collection module can handle the plurality of boxes from each of the third-level conveyor lines to the at least one target collection module.

[0151] In practice, each bin can be equipped with an identification code. Scanning this code allows access to the bin's material attributes, wave information, and the corresponding target collection module. A barcode scanner is installed upstream of each inlet on the first-level conveyor line connecting to the second-level conveyor line, and upstream of each inlet on the second-level conveyor line connecting to the third-level conveyor line. Here, "upstream" refers to the side of the conveyor line's handling module before the diversion point.

[0152] Specifically, the transport server controls the first-level conveyor line to transport multiple boxes. It can control the barcode scanners on the first-level conveyor line to scan each box individually, thereby determining the target collection module corresponding to each box. Then, the first-level conveyor line directs the boxes to the corresponding second-level conveyor lines. After the boxes enter the corresponding second-level conveyor lines, since there are multiple boxes on each line, the transport server can scan them again using the barcode scanners on each second-level conveyor line to determine the target collection module. This allows the second-level conveyor lines to then direct the boxes to the corresponding third-level conveyor lines, and each third-level conveyor line to transport the boxes to the location of their respective target collection module. This enables the handling robot to retrieve the boxes and move them to the shelves of the target collection module.

[0153] S630, according to the at least one target collection module, the conveyor line handling module is controlled to perform a second outbound operation for the plurality of boxes; the second outbound operation includes: when the handling robot corresponding to the at least one target collection module takes the plurality of boxes from the shelf of the at least one target collection module and transfers the plurality of boxes to each of the third-level conveyor lines, controlling each of the third-level conveyor lines to transport the plurality of boxes to each of the second-level conveyor lines corresponding to the at least one target collection module, controlling each of the second-level conveyor lines to transport and merge the plurality of boxes to the first-level conveyor line, and controlling the first-level conveyor line to transport the plurality of boxes to the opening of the collection warehouse.

[0154] In practice, after multiple bins are transported to their respective third-level conveyor lines, the transport server can control each third-level conveyor line to transport the bins to their respective second-level conveyor lines, thus converging the multiple bins onto the second-level conveyor lines. Then, it controls each second-level conveyor line to transport the bins to the first-level conveyor line, thereby converging the multiple bins on each second-level conveyor line onto the first-level conveyor line. Finally, it controls the first-level conveyor line to transport the bins to the outlet, thus shipping the multiple bins out of the warehouse.

[0155] As can be seen, in this embodiment, by allocating multiple boxes to at least one target collection module according to the number of boxes corresponding to each wave, the flexibility of allocating the location of the target collection modules for box entry and exit is improved. This helps reduce the workload of a single target collection module, allowing multiple target collection modules to operate synchronously, thereby improving the overall collection efficiency. Simultaneously, by using a conveyor line transport module to merge and exit the boxes from each target collection module, or by using a conveyor line transport module to divert and enter multiple boxes, the path length required for the transport robot can be reduced, thereby improving the robot's movement efficiency and the efficiency of box transport.

[0156] In one possible example, each of the third-level conveyor lines is provided with a spring outlet and a transfer device for each collection module in the extension direction of the third-level conveyor line. The method further includes: when each of the third-level conveyor lines transports the plurality of boxes to the location of the at least one target collection module, controlling each transfer device corresponding to the at least one target collection module to transfer the plurality of boxes from the respective third-level conveyor lines to each spring outlet corresponding to the at least one target collection module, so that the handling robot can transport the plurality of boxes from the respective spring outlets to the shelf of the at least one target collection module; when the handling robot transports the plurality of boxes from the shelf of the at least one target collection module to the respective spring outlets, controlling each transfer device to transfer the plurality of boxes from the respective spring outlets to the respective third-level conveyor lines, so that the plurality of boxes can be transported to the warehouse opening by the conveyor line handling module.

[0157] In practice, when bins are received into the warehouse, the third-level conveyor transports multiple bins to their respective target collection modules. The transport server then controls the transfer equipment corresponding to that target collection module to move the bins from the third-level conveyor to the ejector outlet. This allows the handling robot corresponding to that target collection module to move the bins from the ejector outlet to the shelf of the target collection module. When bins are shipped out, the handling robot first moves the bins from the shelf to the ejector outlet. Then, the transport server controls the transfer equipment to move the bins from the ejector outlet to the third-level conveyor. The third-level conveyor then transports the bins to the second-level conveyor, and from there to the first-level conveyor, which ultimately delivers them to the warehouse entrance for outbound shipment.

[0158] As can be seen in this example, the transport server controls the transfer equipment to move the bins, so that when the bins arrive at the target collection module, they can be transferred out of the third-level conveyor line and buffered at the ejection outlet. Compared to the handling robot directly removing the bins from the third-level conveyor line, this avoids the problem of the handling robot's untimely handling affecting the efficiency of the third-level conveyor line in transporting bins, and is conducive to improving the overall transport efficiency of the collection and transportation system.

[0159] This application can divide the data transfer server into functional units based on the above method examples. For example, each function can be divided into its own functional unit, or two or more functions can be integrated into one processing unit. The integrated unit can be implemented in hardware or as a software functional unit. It should be noted that the unit division in this application embodiment is illustrative and only represents one logical functional division; other division methods may be used in actual implementation.

[0160] Figure 7aThis is a functional unit block diagram of a cargo collection and transportation device provided in an embodiment of this application. This cargo collection and transportation device 70 can be applied in, for example... Figure 1a The handling server 100 in the cargo collection and transportation system shown, or as... Figure 1b On the handling server 100b of the cargo collection and transportation system shown, the cargo collection and transportation device 70 includes:

[0161] The first acquisition unit 710 is used to acquire multiple bins for the same wave.

[0162] The first determining unit 720 is used to determine at least one target collection module corresponding to the plurality of bins;

[0163] The first control unit 730 is used to control the handling robot corresponding to the at least one target collection module to perform a first inbound operation or a first outbound operation for the plurality of bins.

[0164] The first warehousing operation includes: when the multiple boxes are diverted and transported from the warehouse entrance of the collection warehouse to the respective second-level conveyor lines corresponding to the at least one target collection module via the first-level conveyor lines, and then diverted and transported to the respective third-level conveyor lines corresponding to the at least one target collection module via the respective third-level conveyor lines, and then transported to the location of the at least one target collection module via the respective third-level conveyor lines, controlling the handling robot corresponding to the at least one target collection module to move the multiple boxes from the respective third-level conveyor lines to the at least one target collection module;

[0165] The first outbound operation includes: controlling the handling robot corresponding to the at least one target collection module to take out the plurality of boxes from the shelf of the at least one target collection module, and transferring the plurality of boxes to the respective third-level conveyor lines corresponding to the at least one target collection module, so that the plurality of boxes are transported to the respective second-level conveyor lines corresponding to the at least one target collection module via the respective third-level conveyor lines, and then transported to the first-level conveyor line via the respective second-level conveyor lines, and finally transported to the warehouse opening via the first-level conveyor line.

[0166] In one possible example, in determining at least one target collection module corresponding to the plurality of bins, the first determining unit is specifically configured to: obtain the single transport volume of the handling robot corresponding to the target collection module; compare the single transport volume with the number of the plurality of bins; and when the number of the plurality of bins is greater than the single transport volume, determine at least two collection modules as the target collection modules.

[0167] In one possible example, in determining at least one target collection module corresponding to the plurality of bins, the first determining unit is further configured to: evenly distribute the handling tasks of the plurality of bins in the same wave to the at least two collection modules.

[0168] This application can also divide the transportation server into functional units according to the above method examples. For example, each function can be divided into its own functional unit, or two or more functions can be integrated into one processing unit. The integrated unit can be implemented in hardware or software. It should be noted that the unit division in this application embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0169] Figure 7b This is a functional unit block diagram of another cargo collection and transportation device provided in this application embodiment. This cargo collection and transportation device 80 can be applied in, for example... Figure 1a The handling server 100 in the cargo collection and transportation system shown, or as... Figure 1b On the transport server 100a of the cargo collection and transport system shown, the cargo collection and transport device 80 includes:

[0170] The second acquisition unit 810 is used to acquire at least one target collection module, wherein the at least one target collection module is a collection module corresponding to multiple bins in the same wave.

[0171] The second control unit 820 is used to control the conveyor line handling module to perform a second inbound operation or a second outbound operation for the plurality of bins according to the at least one target collection module.

[0172] The second warehousing operation includes: controlling the first-level conveyor line to divert and transport the multiple boxes from the warehouse entrance to the respective second-level conveyor lines corresponding to the at least one target collection module, controlling the respective second-level conveyor lines to divert and transport the multiple boxes to the respective third-level conveyor lines corresponding to the at least one target collection module, and controlling the respective third-level conveyor lines to transport the multiple boxes to the location of the at least one target collection module, so that the handling robot corresponding to the at least one target collection module can move the multiple boxes from the respective third-level conveyor lines to the at least one target collection module;

[0173] The second outbound operation includes: when the handling robot corresponding to the at least one target collection module takes out the plurality of boxes from the shelf of the at least one target collection module and transfers the plurality of boxes to the respective third-level conveyor lines, controlling the respective third-level conveyor lines to transport the plurality of boxes to the respective second-level conveyor lines corresponding to the at least one target collection module, controlling the respective second-level conveyor lines to transport and merge the plurality of boxes to the first-level conveyor line, and controlling the first-level conveyor line to transport the plurality of boxes to the warehouse opening.

[0174] In one possible example, each of the third-level conveyor lines is provided with a spring outlet and a transfer device for each collection module in the extension direction of the third-level conveyor line; the second control unit is specifically used to: when each of the third-level conveyor lines transports the plurality of boxes to the location of the at least one target collection module, control each transfer device corresponding to the at least one target collection module to transfer the plurality of boxes from each of the third-level conveyor lines to each spring outlet corresponding to the at least one target collection module, so that the handling robot can transport the plurality of boxes from the spring outlets to the shelf of the at least one target collection module; the second control unit is also specifically used to: when the handling robot transports the plurality of boxes from the shelf of the at least one target collection module to the spring outlets, control each transfer device to transfer the plurality of boxes from the spring outlets to each of the third-level conveyor lines, so that the plurality of boxes can be transported to the warehouse opening by the conveyor line handling module.

[0175] In the case of using integrated units, the functional unit composition block diagram of another cargo collection and transportation device provided in this application embodiment is as follows: Figure 7c As shown. In Figure 7c In this document, the cargo collection and transportation device 90 includes a processing module 920 and a communication module 910. The processing module 920 controls and manages the operations of the cargo collection and transportation device, for example, the steps executed by the first acquisition unit 710, the first determination unit 720, and the first control unit 730; or, for example, the steps executed by the second acquisition unit 810 and the second control unit 820, and / or other processes for executing the techniques described herein. The communication module 910 supports interaction between the cargo collection and transportation device 90 and other devices. Figure 7c As shown, the cargo collection and transportation device 90 may also include a storage module 930, which is used to store the program code and data of the cargo collection and transportation device 90.

[0176] The processing module 920 can be a processor or controller, such as a central processing unit (CPU), a general-purpose processor, a digital signal processor (DSP), an ASIC, an FPGA, or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute various exemplary logic blocks, modules, and circuits described in conjunction with the embodiments of this application. The processor can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc. The communication module 910 can be a transceiver, RF circuitry, or a communication interface, etc. The storage module 930 can be a memory.

[0177] All relevant content in each scenario involved in the above method embodiments can be referenced from the functional descriptions of the corresponding functional modules, and will not be repeated here. The above-described cargo collection and transportation device can execute the steps performed by the transportation server or the handling server in the cargo collection and transportation method described above.

[0178] This application also provides a computer storage medium storing a computer program for electronic data interchange, which causes a computer to perform some or all of the steps of any of the methods described in the above method embodiments, wherein the computer includes a server.

[0179] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0180] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0181] In the several embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical or other forms.

[0182] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0183] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0184] If the integrated units described above are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage device (CMD). Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned memory includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0185] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, which may include: flash drive, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0186] The embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for collecting and transporting goods, characterized in that, A handling server is applied to a cargo collection and transportation system. The handling server is used to control the handling robot in the cargo collection and transportation system. The cargo collection and transportation system includes the handling server, a conveyor line handling module, a cargo collection module, and the handling robot. The conveyor line handling module includes a first-level conveyor line, a second-level conveyor line, and a third-level conveyor line. One end of the first-level conveyor line is located at the entrance of the cargo collection warehouse, and the other end extends into the cargo collection warehouse. At least one second-level conveyor line is connected in the extension direction of the first-level conveyor line, and at least one third-level conveyor line is connected to each second-level conveyor line. Each of the aforementioned third-level conveyor lines has at least one collection module on its side in the extension direction; the method includes: Obtain multiple bins for the same wave; Identify at least one target collection module corresponding to the plurality of bins; Control the handling robot corresponding to the at least one target collection module to perform a first inbound operation or a first outbound operation for the plurality of bins; The first warehousing operation includes: when the multiple boxes are diverted and transported from the warehouse entrance of the collection warehouse to the respective second-level conveyor lines corresponding to the at least one target collection module via the first-level conveyor lines, and then diverted and transported to the respective third-level conveyor lines corresponding to the at least one target collection module via the respective third-level conveyor lines, and then transported to the location of the at least one target collection module via the respective third-level conveyor lines, controlling the handling robot corresponding to the at least one target collection module to move the multiple boxes from the respective third-level conveyor lines to the at least one target collection module; The first outbound operation includes: controlling the handling robot corresponding to the at least one target collection module to take out the plurality of boxes from the shelf of the at least one target collection module, and transferring the plurality of boxes to the respective third-level conveyor lines corresponding to the at least one target collection module, so that the plurality of boxes are transported to the respective second-level conveyor lines corresponding to the at least one target collection module via the respective third-level conveyor lines, and then transported to the first-level conveyor line via the respective second-level conveyor lines, and finally transported to the warehouse opening via the first-level conveyor line.

2. The method as described in claim 1, characterized in that, The step of determining at least one target collection module corresponding to the plurality of bins includes: Obtain the single transport volume of the handling robot corresponding to the target collection module; Compare the single transport volume with the number of the multiple containers; When the number of multiple bins is greater than the single transport volume, at least two collection modules are identified as the target collection modules.

3. The method as described in claim 2, characterized in that, The step of determining at least one target collection module corresponding to the plurality of bins further includes: The handling tasks of the multiple bins in the same batch are evenly distributed to the at least two collection modules.

4. A method for collecting and transporting goods, characterized in that, A transport server is applied in a cargo collection and transportation system. The transport server controls the conveyor line handling module in the cargo collection and transportation system. The cargo collection and transportation system includes the transport server, handling server, conveyor line handling module, cargo collection module, and handling robot. The handling server controls the handling robot. The conveyor line handling module includes a first-level conveyor line, a second-level conveyor line, and a third-level conveyor line. One end of the first-level conveyor line is located at the entrance of the cargo collection warehouse, and the other end extends into the cargo collection warehouse. At least one second-level conveyor line is connected to the extension direction of the first-level conveyor line, and at least one third-level conveyor line is connected to each second-level conveyor line. Each of the aforementioned third-level conveyor lines has at least one collection module on its side in the extension direction; the method includes: Obtain at least one target collection module, wherein the at least one target collection module is a collection module corresponding to multiple bins in the same wave; The conveyor line handling module is controlled by the at least one target collection module to perform a second inbound operation or a second outbound operation for the plurality of material boxes; The second warehousing operation includes: controlling the first-level conveyor line to divert and transport the multiple boxes from the warehouse entrance to the respective second-level conveyor lines corresponding to the at least one target collection module, controlling the respective second-level conveyor lines to divert and transport the multiple boxes to the respective third-level conveyor lines corresponding to the at least one target collection module, and controlling the respective third-level conveyor lines to transport the multiple boxes to the location of the at least one target collection module, so that the handling robot corresponding to the at least one target collection module can move the multiple boxes from the respective third-level conveyor lines to the at least one target collection module; The second outbound operation includes: when the handling robot corresponding to the at least one target collection module takes out the plurality of boxes from the shelf of the at least one target collection module and transfers the plurality of boxes to the respective third-level conveyor lines, controlling the respective third-level conveyor lines to transport the plurality of boxes to the respective second-level conveyor lines corresponding to the at least one target collection module, controlling the respective second-level conveyor lines to transport and merge the plurality of boxes to the first-level conveyor line, and controlling the first-level conveyor line to transport the plurality of boxes to the warehouse opening.

5. The method as described in claim 4, characterized in that, Each of the third-level conveyor lines is provided with a spring outlet and a transfer device for each collection module in the extension direction of the third-level conveyor line, and the method further includes: When the third-level conveyor lines transport the multiple boxes to the location of the at least one target collection module, the transfer devices corresponding to the at least one target collection module are controlled to transfer the multiple boxes from the third-level conveyor lines to the ejector outlets corresponding to the at least one target collection module, so that the handling robot can move the multiple boxes from the ejector outlets to the shelf of the at least one target collection module. When the handling robot moves the multiple boxes from the shelf of the at least one target collection module to the respective bullet outlet, the respective transfer devices are controlled to transfer the multiple boxes from the respective bullet outlets to the respective third-level conveyor lines, so that the multiple boxes can be transported to the warehouse opening of the collection warehouse through the conveyor line handling module.

6. A cargo collection and transportation device, characterized in that, A handling server is applied to a cargo collection and transportation system. The handling server is used to control the handling robot in the cargo collection and transportation system. The cargo collection and transportation system includes the handling server, a conveyor line handling module, a cargo collection module, and the handling robot. The conveyor line handling module includes a first-level conveyor line, a second-level conveyor line, and a third-level conveyor line. One end of the first-level conveyor line is located at the entrance of the cargo collection warehouse, and the other end extends into the cargo collection warehouse. At least one second-level conveyor line is connected in the extension direction of the first-level conveyor line, and at least one third-level conveyor line is connected to each second-level conveyor line. Each of the aforementioned third-level conveyor lines has at least one collection module on its side in the extension direction; the device includes: The first acquisition unit is used to acquire multiple bins for the same wave. The first determining unit is used to determine at least one target collection module corresponding to the plurality of bins; A first control unit is used to control the handling robot corresponding to the at least one target collection module to perform a first inbound operation or a first outbound operation for the plurality of bins. The first warehousing operation includes: when the multiple boxes are diverted and transported from the warehouse entrance of the collection warehouse to the respective second-level conveyor lines corresponding to the at least one target collection module via the first-level conveyor lines, and then diverted and transported to the respective third-level conveyor lines corresponding to the at least one target collection module via the respective third-level conveyor lines, and then transported to the location of the at least one target collection module via the respective third-level conveyor lines, controlling the handling robot corresponding to the at least one target collection module to move the multiple boxes from the respective third-level conveyor lines to the at least one target collection module; The first outbound operation includes: controlling the handling robot corresponding to the at least one target collection module to take out the plurality of boxes from the shelf of the at least one target collection module, and transferring the plurality of boxes to the respective third-level conveyor lines corresponding to the at least one target collection module, so that the plurality of boxes are transported to the respective second-level conveyor lines corresponding to the at least one target collection module via the respective third-level conveyor lines, and then transported to the first-level conveyor line via the respective second-level conveyor lines, and finally transported to the warehouse opening via the first-level conveyor line.

7. A cargo collection and transportation device, characterized in that, A transport server is applied in a cargo collection and transportation system. The transport server controls the conveyor line handling module in the cargo collection and transportation system. The cargo collection and transportation system includes the transport server, handling server, conveyor line handling module, cargo collection module, and handling robot. The handling server controls the handling robot. The conveyor line handling module includes a first-level conveyor line, a second-level conveyor line, and a third-level conveyor line. One end of the first-level conveyor line is located at the entrance of the cargo collection warehouse, and the other end extends into the cargo collection warehouse. At least one second-level conveyor line is connected to the extension direction of the first-level conveyor line, and at least one third-level conveyor line is connected to each second-level conveyor line. Each of the aforementioned third-level conveyor lines has at least one collection module on its side in the extension direction; the device includes: The second acquisition unit is used to acquire at least one target collection module, wherein the at least one target collection module is a collection module corresponding to multiple bins in the same wave; The second control unit is used to control the conveyor line handling module to perform a second inbound operation or a second outbound operation for the plurality of bins according to the at least one target collection module. The second warehousing operation includes: controlling the first-level conveyor line to divert and transport the multiple boxes from the warehouse entrance to the respective second-level conveyor lines corresponding to the at least one target collection module, controlling the respective second-level conveyor lines to divert and transport the multiple boxes to the respective third-level conveyor lines corresponding to the at least one target collection module, and controlling the respective third-level conveyor lines to transport the multiple boxes to the location of the at least one target collection module, so that the handling robot corresponding to the at least one target collection module can move the multiple boxes from the respective third-level conveyor lines to the at least one target collection module; The second outbound operation includes: when the handling robot corresponding to the at least one target collection module takes out the plurality of boxes from the shelf of the at least one target collection module and transfers the plurality of boxes to the respective third-level conveyor lines, controlling the respective third-level conveyor lines to transport the plurality of boxes to the respective second-level conveyor lines corresponding to the at least one target collection module, controlling the respective second-level conveyor lines to transport and merge the plurality of boxes to the first-level conveyor line, and controlling the first-level conveyor line to transport the plurality of boxes to the warehouse opening.

8. A server, characterized in that, The method includes a processor, a memory, a communication interface, and one or more programs, said one or more programs being stored in the memory and configured to be executed by the processor, said programs including instructions for performing the steps of the method as described in any one of claims 1-5.

9. A computer-readable storage medium, characterized in that, A computer program for storing electronic data interchange is provided, wherein the computer program causes a computer to perform the steps of the method as described in any one of claims 1-5.

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