Container storage method, handling apparatus, management platform, and container storage system

Abstract

The application provides a case storage method, a carrying device, a management platform and a case storage system. The case storage method comprises the following steps: obtaining a storage instruction sent by the management platform, wherein the storage instruction comprises first storage position information, and the first storage position information is dynamically allocated to a target case by the management platform based on case information of the target case and storage information of stored cases of a first storage rack; carrying the target case to a first storage position of the first storage rack based on the first storage position information; identifying a first positioning mark arranged on the first storage rack by an identification device, and adjusting the position of the carrying device based on the identification result; placing the target case in the first storage position, and reporting storage information of the target case to the management platform. The dynamic and flexible allocation of the storage position is realized, the size of the storage position allocated to each case is appropriate, the occupation of large storage positions by small cases is avoided, the utilization rate of the storage space of the storage rack is improved, the waste of the storage space is reduced, and the safety and accuracy of the placement of the cases are ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of warehouse logistics, in particular to a method for storing a cargo box. The present application also relates to a carrying device, a management platform and a cargo box storage system. BACKGROUND

[0002] In the field of warehouse logistics, it is common to store cargo boxes on shelves. However, the existing shelves are usually divided into multiple storage spaces in advance according to fixed sizes, and in order to meet the storage of cargo boxes with the largest size, the fixed size is usually relatively large. Therefore, no matter the size of the cargo box, the size of the storage space occupied by the cargo box during storage is the same. However, a cargo box with a small size does not need such a large storage space, which greatly wastes storage space, and even other cargo boxes cannot be stored. Therefore, there is an urgent need for a cargo box storage method that can improve the utilization rate of storage space of shelves and reduce the waste of storage space. SUMMARY

[0003] Therefore, the embodiments of the present application provide a method for storing a cargo box. The present application also relates to a cargo box storage device, a carrying device, a management platform, a cargo box storage system and a computer readable storage medium to solve the technical defects in the prior art.

[0004] According to a first aspect of the embodiments of the present application, a method for storing a cargo box is provided, which is applied to a carrying device including an identification device and a carrying device. The method includes:

[0005] obtaining a storage instruction sent by a management platform, wherein the storage instruction includes first storage space position information, and the first storage space position information is dynamically allocated to a target cargo box based on cargo box information of the target cargo box and storage information of cargo boxes already stored in a first shelf by the management platform;

[0006] based on the first storage space position information, carrying the target cargo box to a first storage space of the first shelf;

[0007] identifying a first positioning mark arranged on the first shelf by the identification device, and adjusting the position of the carrying device based on the identification result;

[0008] placing the target cargo box in the first storage space, and reporting storage information of the target cargo box to the management platform.

[0009] According to a second aspect of the embodiments of the present application, a method for storing a cargo box is provided, which is applied to a management platform. The method includes:

[0010] receiving a storage space allocation instruction for a target cargo box, wherein the storage space allocation instruction includes cargo box information of the target cargo box;

[0011] obtain storage information of the stored containers in the first rack, and based on the storage information and the container information, divide a first storage location for the target container in the first rack;

[0012] send first storage location information of the first storage location to the carrying device, so that the carrying device places the target container in the first storage location based on the first storage location information;

[0013] receive storage information of the target container reported by the carrying device.

[0014] According to a third aspect of an embodiment of the present application, a carrying device is provided, comprising a memory, a processor, an identification device and a carrying device;

[0015] The memory is configured to store computer executable instructions, and the processor is configured to execute the computer executable instructions to implement the container storage method provided in the first aspect of the embodiment of the present application.

[0016] According to a fourth aspect of an embodiment of the present application, a management platform is provided, comprising a memory and a processor,

[0017] The memory is configured to store computer executable instructions, and the processor is configured to execute the computer executable instructions to implement the container storage method provided in the second aspect of the embodiment of the present application.

[0018] According to a fifth aspect of an embodiment of the present application, a computer readable storage medium is provided, which stores computer executable instructions, and the instructions are executed by a processor to implement the container storage method provided in the first aspect or the second aspect of the embodiment of the present application.

[0019] According to a sixth aspect of an embodiment of the present application, a container storage system is provided, comprising a management platform, a carrying device and a container, the carrying device comprising an identification device and a carrying device;

[0020] The management platform is configured to receive a storage location allocation instruction for a target container, wherein the storage location allocation instruction comprises container information of the target container; obtain storage information of the stored containers in the first rack, and based on the storage information and the container information, divide a first storage location for the target container in the first rack; send first storage location information of the first storage location to the carrying device, so that the carrying device places the target container in the first storage location based on the first storage location information; receive storage information of the target container reported by the carrying device.

[0021] The carrying device is used for obtaining a storage instruction sent by a management platform, wherein the storage instruction comprises first storage location information; based on the first storage location information, a target box is carried to a first storage location of a first shelf; a first positioning mark arranged on the first shelf is identified by an identification device, and based on the identification result, the position of the carrying device is adjusted; the target box is placed in the first storage location, and storage information of the target box is reported to the management platform.

[0022] The box storage method provided by the application comprises the following steps: obtaining first storage location information of a target box allocated by a management platform, wherein the first storage location information is dynamically allocated by the management platform based on box information of the target box and storage information of boxes already stored in a first shelf; based on the first storage location information, the target box is carried to a first storage location of the first shelf; a first positioning mark arranged on the first shelf is identified by an identification device, and based on the identification result, the position of the carrying device is adjusted; the target box is placed in the first storage location, and storage information of the target box is reported to the management platform. In this scheme, the management platform dynamically allocates the first storage location for the target box in the first shelf according to the box information of the target box, and informs the carrying device of the first storage location information of the first storage location, so that the carrying device carries the target box to the first storage location for storage, thereby realizing dynamic and flexible allocation of the storage location, and the size of the storage location allocated for each box is appropriate, which can avoid the case that a small box occupies a large storage location, improves the utilization rate of the storage space of the shelf, and reduces the waste of storage space. After the carrying device carries the target box to the first storage location of the first shelf, the first positioning mark arranged on the first shelf is identified by the identification device, and based on the identification result, the position of the carrying device is adjusted, so that the box storage is assisted by the positioning mark, and the safety and accuracy of the box placement are ensured. After the carrying device places the target box in the first storage location for storage, the storage information of the target box is reported to the management platform, so that the management platform can obtain the storage conditions of each box and shelf in time, and the accuracy of subsequent storage location allocation is improved. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 is a schematic diagram of storage location allocation in a shelf according to the prior art;

[0024] Figure 2 is an architectural diagram of a box storage system according to an embodiment of the application;

[0025] Figure 3 is a flowchart of a box storage method according to an embodiment of the application;

[0026] Figure 4 is a flowchart of another box storage method according to an embodiment of the application;

[0027] Figure 5is a schematic diagram of a storage distribution of a box in a dynamic allocation storage shelf according to an embodiment of the present application;

[0028] Figure 6 is a processing flowchart of a shelf storage method applied to a warehouse logistics system according to an embodiment of the present application;

[0029] Figure 7 is a structural schematic diagram of a box storage device according to an embodiment of the present application;

[0030] Figure 8 is a structural schematic diagram of another box storage device according to an embodiment of the present application;

[0031] Figure 9 is a structural block diagram of a carrying equipment according to an embodiment of the present application;

[0032] Figure 10 is a structural block diagram of a management platform according to an embodiment of the present application. DETAILED DESCRIPTION

[0033] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, it will be apparent to one skilled in the art that the present application can be practiced without the specific details presented herein. In other instances, well-known methods have not been described in detail in order to avoid obscuring the present application. Unless otherwise specified, any and all

[0034] The terminology used in this disclosure of one or more embodiments of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of one or more embodiments of the application. As used in this disclosure and the appended claims, the singular forms "a," "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0035] It will be understood that, although the terms first, second, etc. can be used herein to describe various information, these terms are not intended to denote a temporal or chronological order. Rather, these terms are used solely to distinguish one from another only. For example, a first item could be termed a second item, and, similarly, a second item could be termed a first item without departing from the scope of one or more embodiments of the present application. As used herein, the term "if' can be construed to mean "when" or "in response to determining" or "in response to a determination" or "upon determining" or "upon a determination."

[0036] First, the noun terms related to one or more embodiments of the present application are explained.

[0037] Handling equipment: equipment for handling goods / pallets / shelves, which can be any equipment with handling function. For example, handling equipment can be a handling robot, AGV (Automated Guided Vehicle), forklift, mechanical arm, etc.

[0038] AGV: its remarkable feature is unmanned, AGV is equipped with an automatic guidance system, which can ensure that AGV can automatically travel along the predetermined route without the need for manual navigation, and automatically transport the goods from the starting point to the destination.

[0039] Handling device: mechanism on handling equipment for performing handling operation, which can be a telescopic mechanism, the width and depth of which can be adjusted according to the actual situation of the pallet.

[0040] Identification device: can be a depth camera or other visual identification mechanism, which can assist the handling equipment to judge the actual size of the pallet, so as to adjust the width and depth of the telescopic mechanism.

[0041] Storage location: location on the shelf for placing the pallet.

[0042] Positioning mark: also known as visual mark, is a pattern with special identification features, including two-dimensional code, special geometric pattern, special mark or nameplate, etc.

[0043] Secondly, the application scenarios related to one or more embodiments of the present application are briefly introduced.

[0044] In the field of warehouse logistics, the pursuit of storage density constantly promotes the iterative upgrade of related automation equipment. At present, various handling equipment on the market can realize the automatic storage and retrieval of pallets on the shelf. On the basis of matching fixed size pallets, there are also handling equipment that can automatically adjust the distance between handling devices and the extension distance according to different sizes of pallets to realize the storage and retrieval of various sizes of pallets.

[0045] However, due to the limitations of shelf storage form, handling equipment recognition of storage location and management platform management of storage location, the current handling equipment generally uses the largest size in the range of suitable pallets for storage management when storing and retrieving small size pallets, resulting in the occupation of large storage locations by small pallets, affecting the storage density of pallets and wasting storage space.

[0046] For example, Figure 1 is a schematic diagram of storage location allocation in a shelf according to the prior art. A 2200mm*1300mm shelf board can be divided into 8 600mm*400mm fixed storage locations, each of which can be used to store a pallet, and the space between the pallets is the minimum interval allowed by the precision of the handling equipment.

[0047] In the case of the storage method of the container provided by the application, the shelves are no longer divided into fixed storage spaces of the same size in advance according to the maximum size, but are dynamically divided into any storage spaces conforming to the size of the container according to the different sizes of the containers to be stored, so that the flexibility of the storage space allocation is improved, the utilization rate of the storage space of the shelf is improved, and the waste of the storage space is reduced.

[0048] In the application, a container storage method is provided, and the application also relates to a container storage device, a carrying device, a management platform, a container storage system and a computer readable storage medium, which are described in detail one by one in the following embodiments.

[0049] Figure 2 FIG. 1 is a schematic diagram of the architecture of a container storage system according to an embodiment of the application.

[0050] Referring to FIG. 1, Figure 2 The container storage system includes a management platform 201 and a carrying device 202. The management platform 201 receives a storage space allocation instruction for a target container, wherein the storage space allocation instruction includes container information of the target container; obtains storage information of a plurality of shelves, and allocates a first storage space for the target container among the plurality of shelves based on the container information and the storage information of the plurality of shelves; sends first storage space position information of the first storage space to the carrying device 202; the carrying device 202 obtains the first storage space position information of the first storage space allocated by the management platform 201 for the target container; carries the target container to the first storage space of the first shelf based on the first storage space position information; identifies the first positioning mark arranged on the first shelf through an identification device, and adjusts the position of the carrying device based on the identification result; places the target container in the first storage space, and reports storage information of the target container to the management platform 201; and the management platform 201 receives the storage information of the target container reported by the carrying device 202.

[0051] In the container storage system, the management platform dynamically allocates a first storage position for the target container in the first rack according to the container information of the target container in advance, and informs the first storage position information of the first storage position to the carrying device, so that the carrying device carries the target container to the first storage position for storage, thereby realizing dynamic and flexible allocation of the storage position, and the size of the allocated storage position for each container is appropriate, so that the case that a small container occupies a large storage position can be avoided, the utilization rate of the storage space of the rack is improved, and the waste of the storage space is reduced. After the carrying device carries the target container to the first storage position of the first rack, the first positioning mark arranged on the first rack is recognized by the recognition device, and the position of the carrying device is adjusted based on the recognition result, so that the positioning mark assists the container storage, and the safety and accuracy of the container placement are ensured. After the carrying device stores the target container in the first storage position, the storage information of the target container is reported to the management platform, so that the management platform can obtain the storage conditions of the containers and the racks in a timely manner, and the accuracy of subsequent storage position allocation is improved.

[0052] Figure 3 is a flowchart of a container storage method according to an embodiment of the present application, applied to a carrying device, and the carrying device includes a carrying device and a recognition device, and specifically includes the following steps:

[0053] In step 302, a storage instruction sent by a management platform is obtained, wherein the storage instruction includes first storage position information, and the first storage position information is dynamically allocated for a target container by the management platform based on container information of the target container and storage information of containers already stored in a first rack.

[0054] In the embodiment of the present application, the storage position of the target container is dynamically allocated by the management platform according to the container information of the target container and the storage information of the containers already stored in the first rack, that is, for each container, a storage position can be allocated by the above method. The carrying device carries the target container to the corresponding first storage position for storage, and reports the storage information of the target container to the management platform, so that the management platform can obtain the storage conditions of the containers and the racks in a timely manner, and allocate storage positions for subsequent containers based on the storage conditions. Timely updating of the storage conditions of the containers and the racks can improve the accuracy of storage position allocation and effectively reduce the case that the allocated storage position cannot store the container.

[0055] As an example, the container information of the target container can include size information, and the management platform divides a storage space capable of meeting the target container in the layer plate of the first rack as the first storage position of the target container according to the size information of the target container and the storage information of the containers already stored in the first rack. In the case that subsequent other containers need to be allocated storage positions, the management platform will continuously perform dynamic allocation to ensure the maximum utilization of the storage position of each container.

[0056] It should be noted that the specific implementation of the management platform assigning the first storage position to the target box can be referred to the related description in the embodiments of the box storage method.

[0057] Step 304: based on the first storage position information, carrying the target box to the first storage position of the first shelf.

[0058] In a specific implementation, the carrying device can carry the target box to the first storage position of the first shelf based on the first storage position information assigned to the target box by the management platform.

[0059] In some embodiments, after the management platform assigns the first storage position to the target box, the management platform can also assign a carrying device to the target box. In the case that the carrying device has already carried the target box, the management platform can plan a moving route of the carrying device based on the current position information of the carrying device and the first storage position information, and send the moving route in the storage instruction to the carrying device, so that the carrying device can move according to the moving route. In this case, the carrying device performs the moving operation according to the storage instruction sent by the management platform, and does not need to plan the route, thereby reducing the computing burden of the carrying device and improving the carrying efficiency.

[0060] In another embodiment, before carrying the target box to the first storage position of the first shelf based on the first storage position information, the method can further include: planning a moving route of the carrying device based on the first storage position information and the current position information of the carrying device.

[0061] Therefore, the specific implementation of carrying the target box to the first storage position of the first shelf based on the first storage position information can include: carrying the target box to the first storage position of the first shelf according to the moving route.

[0062] That is, after the management platform assigns the first storage position to the target box, the management platform can also assign a carrying device to the target box, and send the first storage position information to the carrying device. In the case that the carrying device carries the target box, the carrying device can plan a moving route according to the current position information of the carrying device and the first storage position information, and carry the target box to the first storage position of the first shelf according to the moving route.

[0063] It should be noted that the carrying device can also adjust the moving route in real time according to the distribution of obstacles on the moving route, so as to ensure that the carrying device can successfully carry the target box to the first storage position of the first shelf.

[0064] In this case, the carrying device plans the moving route by itself and moves according to the moving route, which can timely adjust in the case that there are obstacles on the moving route, so that the movement of the carrying device is more flexible, and the carrying efficiency of the carrying device is improved.

[0065] Step 306: The identified device identifies the first positioning mark arranged on the first shelf, and adjusts the position of the carrying device based on the identification result.

[0066] After the carrying device carries the target box to the first storage position of the first shelf, the identification device can be used to identify the first positioning mark arranged on the first shelf. By identifying the first positioning mark, the number, type, position, etc. of the first positioning mark can be identified, and the position of the carrying device is adjusted based on the identification result.

[0067] In one or more embodiments of the present application, the target box is carried to the first storage position of the first shelf based on the first storage position information. However, due to objective reasons such as movement error, there may be a small deviation, and thus a collision with the surrounding boxes may occur. Therefore, in order to ensure the safety and accuracy of the box storage, a positioning mark can be arranged on the first shelf, and the first positioning mark is identified after the target box is carried to the first storage position. The position of the carrying device is adjusted based on the identification result. The first positioning mark is a positioning mark arranged on the first shelf corresponding to the first storage position, which can be one or more positioning marks arranged on the front end of the shelf beam of the first storage position. Here, the number is not limited.

[0068] In the specific implementation, a long strip-shaped mark band can be arranged on the beam, and then a plurality of continuous positioning marks can be arranged on the mark band. Of course, a plurality of continuous positioning marks can also be directly arranged on the beam.

[0069] That is, a plurality of continuous positioning marks can be arranged on each beam of the first shelf in advance, and the management platform can dynamically determine the positioning mark corresponding to the box based on the box information of the box when dynamically allocating the storage position for the box.

[0070] In one or more implementation manners of the embodiment of the present application, the storage instruction can also include a first relative position relationship between the first storage position and the first positioning mark. Accordingly, the specific implementation of the identified device identifying the first positioning mark arranged on the first shelf and adjusting the position of the carrying device based on the identification result can include: the identified device identifies the first reference position of the first positioning mark; and the position of the carrying device is adjusted according to the first relative position relationship and the first reference position.

[0071] When the management platform sends the storage instruction to the carrying device, the management platform can carry the first relative position relationship between the first storage location and the first positioning mark in the storage instruction to the carrying device. The first relative position relationship refers to the position and distance of the first storage location relative to the first positioning mark, which is determined by the management platform when the target container is allocated to the first storage location. The first positioning mark corresponding to the first storage location can be one or more. Therefore, the first relative position relationship can be the relative position relationship between the first storage location and a certain positioning mark, or the relative position relationship between the first storage location and several positioning marks. For example, the first relative position relationship can be that the center of the first storage location coincides with the positioning mark A. For another example, the first relative position relationship can be that the center of the first storage location is located at the left side of the positioning mark B by 5 cm. Therefore, after the first reference position of the first positioning mark is identified by the identification device, the position of the carrying device can be adjusted according to the first relative position relationship and the first reference position.

[0072] Taking the example that the center of the first storage location coincides with the positioning mark A, the center position of the positioning mark A (i.e., the first reference position) is identified by the identification device. Since the first relative position relationship is that the center of the first storage location coincides with the positioning mark A, the position of the carrying device can be directly adjusted to the first reference position, so that the target container can be accurately stored.

[0073] Of course, the first positioning mark can be multiple. Therefore, the first relative position relationship is the relative position relationship between the first storage location and the multiple first positioning marks (which can be the relative position relationship between the first storage location and each first positioning mark, or the relative position relationship between the first storage location and the multiple first positioning marks as a whole). When the position of the carrying device is adjusted, the position of the carrying device can be adjusted according to the relative position relationship between the first storage location and a certain first positioning mark and the first reference position of the first positioning mark, or the position of the carrying device can be adjusted according to the relative position relationship between the first storage location and the multiple first positioning marks as a whole and the first reference positions of the multiple first positioning marks.

[0074] It should be noted that when the position of the carrying device is adjusted, the position of the carrying device can be adjusted by moving the carrying device itself, or the carrying device can be set to be movable left and right, and the position of the carrying device can be adjusted by moving the carrying device left and right.

[0075] In a specific implementation, the image including the first positioning mark can be collected by a depth camera or other visual identification mechanism of the carrying device.

[0076] As an example, the positioning mark can be a two-dimensional code, and a plurality of continuous two-dimensional codes are arranged on the shelf beam.

[0077] In addition, the identification of the first positioning mark can also assist in box taking, and specifically can further include: receiving a box taking instruction for a to-be-taken box, wherein the box taking instruction carries second storage location information of the to-be-taken box, a second relative position relationship between the second storage and the second positioning mark, target box information of the to-be-taken box; moving to a second storage of a second shelf according to the second storage location information, wherein the to-be-taken box is stored in the second storage; identifying a second reference position of the second positioning mark arranged on the second shelf by the identification device; adjusting the position of the carrying device according to the second relative position relationship and the second reference position, and adjusting the width and depth of the carrying device according to the target box information; and obtaining the to-be-taken box from the second storage by the carrying device.

[0078] Specifically, when taking the box, the carrying device moves to the second storage of the second shelf, the identification device is used to identify the second positioning mark on the second shelf to obtain the second reference position of the second positioning mark. Since the second relative position information between the second storage and the mark band is carried in the box taking instruction, the second relative position between the second storage and the second positioning mark can be determined. Then, according to the second relative position and the second reference position, the position of the carrying device can be adjusted. In addition, the target box information of the to-be-taken box is also carried in the box taking instruction. Since the target box information indicates the size of the target box, the width and depth of the carrying device can be adjusted according to the target box information before taking the box, so as to ensure that the to-be-taken box can be safely taken out.

[0079] In addition, the identification of the box edge can also assist in box taking, that is, before the to-be-taken box is obtained from the second storage by the carrying device, the identification device can be used to identify the edge information of the to-be-taken box; and the width and depth of the carrying device are adjusted based on the edge information.

[0080] Specifically, when taking the box, the identification device of the carrying device can identify the edge information of the to-be-taken box. The edge information indicates the size of the target box. Therefore, the width and depth of the carrying device can be adjusted according to the edge information before taking the box, so as to ensure that the to-be-taken box can be safely taken out.

[0081] Further, since the carrying device and the target box are not necessarily in the same position, the above is described by taking the carrying device carrying the target box as an example, but actually, after receiving the storage instruction, the carrying device needs to move to the initial position of the target box to obtain the target box, and then move to the first shelf.

[0082] Therefore, the storage instruction can further include the bin information of the target bin, the bin information including initial position information and bin size information; correspondingly, before the target bin is carried to the first storage location of the first rack based on the first storage location information, the method can further include: moving to the initial position corresponding to the initial position information, and adjusting the width and depth of the carrying device based on the bin size information; and carrying the target bin by using the carrying device.

[0083] In a specific implementation, after the carrying device receives the storage instruction for the target bin, the carrying device first moves to the initial position where the target bin is located, and then carries the target bin by using the carrying device. In order to ensure that the target bin can be stably held, the width of the carrying device can be adjusted according to the width of the target bin, and the depth of the carrying device can be adjusted according to the length of the target bin. For example, assuming that the width of the target bin is 200 mm, the width of the carrying device can be adjusted to 200 mm, and the length of the target bin is 400 mm, the length of the carrying device can be adjusted to be greater than or equal to 400 mm, so as to ensure that the carrying device can hold the target bin.

[0084] As an example, after the management platform allocates the carrying device for the target bin, the management platform can plan a moving route of the carrying device to the target bin according to the current position information of the carrying device and the initial position information of the target bin, and carry the moving route in the storage instruction to the carrying device. After the carrying device receives the storage instruction for the target bin, the carrying device can move to the initial position where the target bin is located according to the moving route. In this way, the management platform plans the route, which can reduce the calculation amount of the carrying device, so that the carrying device can quickly start moving.

[0085] As another example, after the carrying device receives the storage instruction, the carrying device can plan a moving route of the carrying device according to the current position information of the carrying device and the initial position information of the target bin in the storage instruction, and move to the initial position based on the moving route. During the moving process, the moving route can be adjusted according to the actual situation. In this way, the carrying device can flexibly and timely adjust the route, which avoids the situation that the route is not available and needs to be re-planned by feeding back to the management platform, and the moving efficiency of the carrying device can be improved to a certain extent.

[0086] In the embodiment of the present application, after the management platform allocates the first storage location for the target bin, the management platform can further allocate a carrying device for the target bin. After the carrying device obtains the target bin from the initial position of the target bin, the carrying device can plan a moving route of the carrying device according to the current position information of the carrying device and the first storage location information, and carry the target bin to the first rack according to the moving route. During the moving process, the moving route can be adjusted according to the actual situation, so that the carrying device can flexibly and timely adjust the route, which avoids the situation that the route is not available and needs to be re-planned by feeding back to the management platform, and the moving efficiency of the carrying device can be improved to a certain extent.

[0087] Step 308: placing the target bin in the first storage position and reporting storage information of the target bin to the management platform.

[0088] The storage information of the target bin includes the identification of the target bin, the storage position information and the storage size information of the first storage position, that is, based on the storage information, it can be determined which position of which first shelf the target bin exists.

[0089] That is, the target bin is placed in the first storage position, realizing the storage of the target bin. And the storage information of the target bin is reported to the management platform, so that the management platform records the storage information of the bin and updates the storage information of the first shelf.

[0090] In one or more embodiments of the application, before placing the target bin in the first storage position, the method can further include: identifying reference edge information by the identification device, wherein the reference edge information includes the shelf frame position of the first shelf and the box frame position of the stored bin; and adjusting the position of the carrying device according to the shelf frame position, the box frame position and the preset placement interval.

[0091] In a specific implementation, the carrying device may have uncontrollable errors when storing the bin. In order to prevent collision when storing the bin, the first storage position information can be understood as a general position. When the carrying device moves to this position, the identification device can identify the shelf frame position of the first shelf and the box frame position of the stored bin. These information can be referred to as reference edge information. According to the shelf frame position, the box frame position and the preset placement interval, the position of the carrying device is adjusted, and then the target bin is placed in the first storage position. This can avoid damaging the stored bin by stacking the target bin on the stored bin, or placing the target bin on the edge of the first shelf, thereby reducing the occurrence of the situation that the target bin cannot be stored, and reducing the damage to the target bin.

[0092] As an example, if the identification device identifies the shelf edge of the first shelf, the shelf edge information can be obtained. When placing the target bin, based on the shelf edge information and the storage position information, it is judged whether the distance between the shelf edge and the first storage position is greater than or equal to the preset distance. If yes, the target bin is placed in the first storage position. If no, the first storage position is adjusted in the direction opposite to the shelf edge until the distance between the shelf edge and the adjusted first storage position is greater than or equal to the preset distance, and the target bin is placed in the first storage position.

[0093] The preset distance can be the minimum interval that needs to be occupied when the carrying assembly of the carrying device does not affect other bins and the carrying assembly can normally extend, which is the minimum interval within the precision range allowed by the carrying device.

[0094] As another example, if the recognition device recognizes the box edge of the stored box, the box edge information can be obtained, and when placing the target box, it is determined whether the distance between the box edge and the first storage location is greater than or equal to the preset distance based on the box edge information and the storage location information. If yes, the target box is placed in the first storage location, and if no, the first storage location is adjusted in the direction opposite to the box edge until the distance between the box edge and the adjusted first storage location is greater than or equal to the preset distance, and the target box is placed in the first storage location.

[0095] As another example, if the recognition device recognizes the box edge of the stored box and the rack of the first rack, the box edge information and the rack edge information can be obtained, and when placing the target box, it is determined whether the distance between the box edge and the first storage location is greater than or equal to the preset distance based on the box edge information and the storage location information, and whether the distance between the rack edge and the first storage location is greater than or equal to the preset distance based on the rack edge information and the storage location information. If both are yes, the target box is placed in the first storage location, and if one is no, the first storage location is adjusted until the distance between the box edge and the adjusted first storage location is greater than or equal to the preset distance, and the distance between the rack edge and the adjusted first storage location is greater than or equal to the preset distance, and the target box is placed in the first storage location.

[0096] In a specific implementation, when placing the box in the first storage location, it is assumed that the carrying device of the carrying equipment can be adjusted within a width range of 200-400 mm. When the depth camera of the carrying equipment detects that the width of the current box is 400 mm, the distance between the carrying devices is expanded to 400 mm before being extended. Similarly, when the depth camera of the carrying equipment detects that the width is 200 mm, the distance between the carrying devices is contracted to 200 mm before being extended. The actual length of the box is determined on the depth, and when the length of the box is 600 mm, the carrying device is pushed out by 600 mm + the distance between the box and the rack edge in the carrying equipment. When the length of the box is 300 mm, the carrying device is pushed out by 300 mm + the distance between the box and the rack edge in the carrying equipment.

[0097] It should be noted that if the target box cannot be placed in the first storage location after adjustment, it means that the first rack cannot store the target box, and the management platform is fed back so that the management platform can reassign the first storage location for the target box.

[0098] After placing the target box in the first storage location, the storage information of the target box is reported to the management platform for recording and updating by the management platform.

[0099] The box storage method provided in the embodiment of the application is applied to the management platform, the first storage position of the first storage location is notified to the carrying device according to the box information of the target box, and then the carrying device carries the target box to the first storage location for storage, so that the dynamic and flexible allocation of the storage location is realized, the size of the storage location allocated for each box is appropriate, the case that a small box occupies a large storage location is avoided, the utilization rate of the storage space of the shelf is improved, and the waste of the storage space is reduced. After the carrying device carries the target box to the first storage location of the first shelf, the first positioning mark arranged on the first shelf is identified by the identification device, the position of the carrying device is adjusted based on the identification result, the positioning mark is used to assist the storage of the box, and the safety and accuracy of the placement of the box are ensured. After the carrying device stores the target box in the first storage location, the storage information of the target box is reported to the management platform, so that the management platform can obtain the storage conditions of the boxes and the shelves in a timely manner, and the accuracy of subsequent storage location allocation is improved.

[0100] Figure 4 is a flowchart of another box storage method according to an embodiment of the application, which is applied to a management platform and can specifically include the following steps:

[0101] Step 402: receiving a storage location allocation instruction for a target box, wherein the storage location allocation instruction includes box information of the target box.

[0102] In the embodiment of the application, the management platform receives a storage location allocation instruction when each target box is to be stored in a warehouse, the storage location allocation instruction includes the box information of the target box, so that the management platform can allocate a reasonable storage location for the target box based on the box information, thereby realizing the high matching of the box and the storage location of the shelf.

[0103] Step 404: obtaining storage information of a box already stored in a first shelf, and dividing a first storage location for the target box in the first shelf based on the storage information and the box information.

[0104] The first shelf is a shelf allocated by the management platform for the target box. For example, the first shelf can be allocated for the target box according to the distance between the shelf and the box, the type of each shelf, the storage condition of each shelf, and the like, which is not limited in the embodiment of the application.

[0105] In the embodiment of the application, the boxes with the same attribute information can be stored in the same depth direction of the same layer, or the boxes with the same attribute information can be stored in the same column, or the boxes with the same attribute information can be stored in the same layer, or the boxes can be stored according to specific rules according to business requirements.

[0106] Exemplarily, the specific rules can be that goods of certain categories need to be stored in specific areas, certain mutually exclusive categories are prohibited to be stored on the same shelf, and the like.

[0107] The storage information includes target positioning information of a positioning mark on a crossbeam of the front end of the first storage position, which is identified by an identification device of the handling equipment. The positioning mark is overlaid on the crossbeam of the first shelf, and the positioning mark contains continuous positioning information. The storage position information includes the target positioning information, which is divided from the continuous positioning information of the positioning mark based on the container information of the target container. The positioning mark can be in the form of a marking tape, specifically a long strip, and the positioning mark can be arranged on each crossbeam of the first shelf.

[0108] In a possible implementation of the present application, the container information includes attribute information of the target container, and the storage information of the stored container of the first shelf includes attribute information and storage position information of the stored container.

[0109] Based on the storage information and the container information, the specific implementation of dividing the first storage position for the target container in the first shelf can include:

[0110] If the attribute information of the target container is the same as the attribute information of the first stored container in the first shelf, the first storage position of the first stored container is determined. If the remaining storage position in the first depth direction meets the storage condition of the target container, the first storage position for the target container is allocated in the remaining storage position in the first depth direction based on the attribute information of the target container, wherein the first depth direction is the depth direction of the first storage position.

[0111] The attribute information can include container size information, container category information, order information, and the like.

[0112] In a specific implementation, if the attribute information of the target container is the same as the attribute information of the first stored container in the first shelf, it means that the target container and the first stored container are the same container or containers of the same order, and can be stored in the same depth direction of the first shelf. Therefore, the first storage position of the first stored container can be determined according to the storage position of the first stored container, and it is determined whether the remaining storage position adjacent to the first storage position in the depth direction is sufficient to store the target container. If so, the first storage position for the target container is divided in the remaining storage position in the first depth direction according to the container size information of the target container.

[0113] For example, referring to Figure 5 , Figure 5is a schematic diagram of a box storage distribution in a dynamic allocation storage space rack according to an embodiment of the present application. Assuming that the stored boxes of a certain deck in the first rack only include box 1, and box 2 is the target box, it is determined that the attribute information of box 1 and box 2 is the same, and the position of box 1 is sufficient to store box 2 in the depth direction, so the first storage space can be divided in the depth direction of the position of box 1, the storage space size information of the first storage space is equivalent to the box size information of box 2, the sum of the preset distance between box 2 and box 1 and the preset distance between box 2 and the edge of the rack, and then box 2 is placed in the first storage space, thereby completing the storage of box 2.

[0114] In the embodiment of the present application, the boxes with the same attribute information are stored in the same depth direction, so that the box storage is more regular, and subsequent picking is facilitated.

[0115] Further, after determining the first storage space position of the first stored box, the method can further include:

[0116] If the remaining storage space in the first depth direction does not meet the storage condition of the target box, a first storage space is allocated to the target box based on the attribute information of the target box and the first storage space position in the remaining storage space in the length direction of the first rack.

[0117] Wherein, the length direction is a direction perpendicular to the depth direction by 90 degrees in the horizontal plane.

[0118] In a specific implementation, if the remaining storage space adjacent to the first storage space position in the depth direction is not enough to store the target box, a first storage space is divided for the target box in the remaining storage space adjacent to the first storage space position in the length direction according to the box size information of the target box.

[0119] For example, continuing to refer to Figure 5 , assuming that the stored boxes of a certain deck in the first rack include box 1 and box 2, and box 3 is the target box, it is determined that the attribute information of box 1, box 2 and box 3 is the same, but there is no remaining storage space in the depth direction of the positions of box 1 and box 2 to store box 3, so a first storage space can be divided for box 3 in the length direction of the position of box 1, the storage space size information of the first storage space is equivalent to the box size information of box 3, the sum of the preset distance between box 3 and box 1 and the preset distance between box 3 and the edge of the rack, and then box 3 is placed in the first storage space, thereby completing the storage of box 3.

[0120] In the embodiment of the present application, in the case that the boxes with the same attribute information cannot be stored in the same depth direction, a new first storage space is divided in the adjacent remaining storage space, so that the boxes with the same attribute information are stored together, facilitating searching.

[0121] In another possible implementation of the present application, the case information comprises attribute information of the target case, and the storage information of the stored case of the first shelf comprises attribute information and storage location of the stored case;

[0122] Based on the storage information and the case information, a first storage location is allocated for the target case in the first shelf, comprising:

[0123] If the attribute information of the target case is different from the attribute information of the stored case in the first shelf, the storage location of the stored case is determined; and based on the attribute information of the target case and the storage location of the stored case, a first storage location is allocated for the target case in the remaining storage locations in the length direction of the first shelf.

[0124] In a specific implementation, if the attribute information of the target case is different from the attribute information of all the stored cases in the first shelf, a first storage location can be allocated for the target case at a position adjacent to the stored case, that is, based on the case size information of the target case, a first storage location is allocated for the target case in the remaining storage locations adjacent to the storage location of the stored case in the length direction of the first shelf.

[0125] For example, continuing to refer to Figure 5 , assuming that the stored cases of a certain layer of the first shelf comprise case 1, case 2, case 3, case 4, case 5, case 6, and case 7 is the target case, it is determined that the attribute information of case 7 is different from that of cases 1-6, then a first storage location is allocated for case 7 at a position adjacent to case 5, the storage size information of the first storage location is equal to the sum of the case size information of case 7, a preset distance between case 7 and case 5, and a preset distance between case 7 and the edge of the shelf, and case 7 is placed in the first storage location, thereby completing the storage of case 7.

[0126] In the embodiment of the present application, in the case where there is no case with the same attribute information as the target case stored on the shelf, a first storage location can be allocated for the target case in the remaining storage locations adjacent to the stored case in the first shelf.

[0127] In one or more implementation manners of the embodiment of the present application, a plurality of continuous positioning marks are arranged on the crossbeam of the first shelf. Accordingly, after the first storage location is allocated for the target case in the first shelf based on the storage information and the case information, the method can further comprise: determining the first positioning mark corresponding to the first storage location and the first relative position relationship between the first storage location and the first positioning mark according to the storage location of the first storage location.

[0128] When the management platform allocates the storage location, the first positioning mark corresponding to the first storage location and the first relative position relationship between the first storage location and the first positioning mark can be determined according to the storage location of the allocated first storage location, that is, the first positioning mark corresponding to the first storage location is dynamically allocated based on the first storage location, and the first positioning mark can also be dynamically changed.

[0129] Step 406: sending the first storage location information of the first storage to the carrying device, so that the carrying device places the target container in the first storage based on the first storage location information.

[0130] It should be noted that the specific implementation of the carrying device placing the target container in the first storage based on the storage location information can refer to the related description of the above embodiments.

[0131] Step 408: receiving the storage information of the target container reported by the carrying device.

[0132] The storage information of the target container includes the identification of the target container, the storage location information and the storage size information of the first storage, that is, based on the storage information, it can be determined which position of which first rack the target container exists.

[0133] The management platform receives the storage information of the target container, records the storage information of the container in time and updates the storage information of the first rack, which facilitates subsequent allocation of storage, can improve the accuracy of storage allocation, and effectively reduces the situation that the allocated storage cannot store the container.

[0134] In the container storage method provided by the embodiment of the application, the management platform dynamically allocates a first storage for the target container in the first rack according to the container information of the target container in advance, and informs the carrying device of the first storage location information of the first storage, so that the carrying device carries the target container to the first storage for storage, realizes dynamic and flexible allocation of the storage, and allocates a storage of appropriate size for each container, which can avoid the situation that a small container occupies a large storage, improves the utilization rate of the storage space of the rack, and reduces the waste of storage space. Moreover, after the carrying device carries the target container to the first storage of the first rack, the first positioning mark arranged on the first rack is recognized by the recognition device, and the position of the carrying device is adjusted based on the recognition result, the positioning mark is used to assist the storage of the container, and the safety and accuracy of the placement of the container are ensured. After the carrying device places the target container in the first storage for storage, the management platform reports the storage information of the target container, which facilitates the management platform to obtain the storage status of each container and rack in time, and improves the accuracy of subsequent storage allocation.

[0135] In addition, the application changes the fixed storage location concept in the existing container storage scene into a flexible cutting and allocation mode according to the actual size of the stored container, improves the matching degree of the container and the storage location space in the multi-size container storage scene, and greatly improves the storage density in the container storage scene. After the limitation of the storage location is removed, the handling equipment has the function of flexibly adjusting the width and extension distance (depth) of the handling device, so that the container can be taken and placed within the minimum positioning accuracy required by the handling equipment. At the same time, the visual recognition ability (the ability of the recognition device) of the handling equipment can confirm the position of the first storage location allocated by the management platform by means of the continuous positioning marks on the first shelf, the edges of the shelf columns, the edges of the stored containers and other information. And based on the function of the software and hardware combination of the application, the utilization rate of the storage space can be significantly improved in the mixed storage scene of multi-size containers, and intelligent storage can be truly realized.

[0136] The following describes the application of the container storage method provided by the application in a warehouse logistics system. Figure 6 The application of the container storage method provided by the application in a warehouse logistics system is taken as an example to further describe the container storage method. Figure 6 FIG. 1 is a processing flowchart of a container storage method applied to a warehouse logistics system according to an embodiment of the application, which can specifically include the following steps:

[0137] Step 602: The management platform receives a storage location allocation instruction for a target container, and the storage location allocation instruction includes container information of the target container.

[0138] Step 604: Obtain storage information of the stored containers on the first shelf.

[0139] The container information includes attribute information of the target container, and the storage information of the stored containers on the first shelf includes attribute information and storage location of the stored containers.

[0140] Step 606: If the attribute information of the target container is the same as the attribute information of the first stored container in the first shelf, the first storage location of the first stored container is determined.

[0141] Step 608: If the remaining storage locations in the first depth direction meet the storage conditions of the target container, the first storage location is allocated to the target container based on the attribute information of the target container, and the first storage location is in the remaining storage locations in the first depth direction, wherein the first depth direction is the depth direction of the first storage location.

[0142] Step 610: Send the first storage location information to the handling equipment.

[0143] Step 612: The handling equipment receives a container storage instruction for the target container, wherein the container storage instruction includes container information of the target container, and the container information includes initial position information and container size information.

[0144] Step 614: The handling device moves to the initial position corresponding to the initial position information, and adjusts the width and depth of the handling device based on the container size information.

[0145] Step 616: The handling device carries the target container by using the handling device, and plans a moving route of the handling device based on the storage position information and the current position information of the handling device.

[0146] Step 618: The target container is carried to the first storage position of the first rack according to the moving route.

[0147] Step 620: The first positioning mark arranged on the first rack is identified by the identification device, and the position of the handling device is adjusted based on the identification result.

[0148] Step 622: The target container is placed in the first storage position, and the storage information of the target container is reported to the management platform.

[0149] The application of the container storage method provided by the embodiment of the application, the management platform dynamically allocates a first storage position for the target container in the first rack according to the container information of the target container in advance, and informs the handling device of the first storage position information of the first storage position, so that the handling device stores the target container in the first storage position, realizes dynamic and flexible allocation of the storage position, and the storage position allocated for each container is appropriate in size, which can avoid the case that a small container occupies a large storage position, improves the utilization rate of the storage space of the rack, and reduces the waste of storage space. After the handling device carries the target container to the first storage position of the first rack, the first positioning mark arranged on the first rack is identified by the identification device, and the position of the handling device is adjusted based on the identification result, the positioning mark is used to assist container storage, and the safety and accuracy of container placement are ensured. After the handling device stores the target container in the first storage position, the storage information of the target container is reported to the management platform, so that the management platform can timely obtain the storage conditions of each container and rack, and improve the accuracy of subsequent storage allocation.

[0150] Corresponding to the above method embodiment, the application also provides a container storage device embodiment, Figure 7 is a structural schematic diagram of a container storage device according to an embodiment of the application. As shown in the figure, Figure 7 the device is configured in a handling device, and the handling device includes an identification device and a handling device. The device includes:

[0151] The acquisition module 702 is configured to acquire a storage instruction sent by the management platform, wherein the storage instruction includes first storage position information, and the first storage position information is dynamically allocated for the target container by the management platform based on the container information of the target container and the storage information of the stored containers of the first rack;

[0152] The carrying module 704 is configured to carry the target box to the first storage position of the first shelf based on the first storage position information.

[0153] The adjusting module 706 is configured to identify the first positioning mark arranged on the first shelf through the identification device, and adjust the position of the carrying device based on the identification result.

[0154] The reporting module 708 is configured to place the target box in the first storage position, and report the storage information of the target box to the management platform.

[0155] In one or more embodiments of the present application, the adjusting module 706 can also be configured to identify the reference edge information through the identification device, wherein the reference edge information includes the shelf frame position of the first shelf and the box frame position of the stored box; and adjust the position of the carrying device according to the shelf frame position, the box frame position and the preset placement interval.

[0156] In one or more embodiments of the present application, a plurality of continuous positioning marks are arranged on the cross beam of the first shelf.

[0157] In one or more embodiments of the present application, the storage instruction further includes a first relative position relationship between the first storage position and the first positioning mark; accordingly, the adjusting module 706 is further configured to identify the first reference position of the first positioning mark through the identification device; and adjust the position of the carrying device according to the first relative position relationship and the first reference position.

[0158] In one or more embodiments of the present application, the box storage device further includes:

[0159] The box taking device is configured to receive a box taking instruction for the to-be-taken box, wherein the box taking instruction carries second storage position information of the to-be-taken box, a second relative position relationship between the second storage position and a second positioning mark, and target box information of the to-be-taken box; move to the second storage position of the second shelf according to the second storage position information, wherein the to-be-taken box is stored in the second storage position; identify a second reference position of the second positioning mark arranged on the second shelf through the identification device; adjust the position of the carrying device according to the second relative position relationship and the second reference position, and adjust the width and depth of the carrying device according to the target box information; and obtain the to-be-taken box from the second storage position by using the carrying device.

[0160] In one or more embodiments of the present application, the second box taking device is further configured to identify the edge information of the to-be-taken box through the identification device; and adjust the width and depth of the carrying device based on the edge information.

[0161] In one or more embodiments of the present application, the storage box instruction further comprises box information of the target storage box, the box information comprising initial position information and box size information; accordingly, the carrying module 704 is further configured to: move to an initial position corresponding to the initial position information, and adjust the width and depth of the carrying device based on the box size information; and carry the target storage box by using the carrying device.

[0162] In one or more embodiments of the present application, the carrying module 704 is further configured to: based on the storage location information and the current position information of the carrying device, plan a moving route of the carrying device; and carry the target storage box to the first storage location of the first storage rack according to the moving route.

[0163] Applying the storage box storage method provided by the present application, the management platform dynamically allocates a first storage location for the target storage box in the first storage rack according to the box information of the target storage box in advance, and informs the carrying device of the first storage location information of the first storage location, so that the carrying device stores the target storage box in the first storage location, realizing dynamic and flexible allocation of the storage location, and the storage location allocated for each storage box is of appropriate size, which can avoid the case that a small storage box occupies a large storage location, improves the utilization rate of the storage space of the storage rack, and reduces the waste of storage space. Moreover, after the carrying device carries the target storage box to the first storage location of the first storage rack, the first positioning mark arranged on the first storage rack is recognized by the recognition device, and the position of the carrying device is adjusted based on the recognition result, so as to assist the storage of the storage box by the positioning mark, ensuring the safety and accuracy of the placement of the storage box. After the carrying device stores the target storage box in the first storage location, the storage information of the target storage box is reported to the management platform, so as to facilitate the management platform to timely obtain the storage information of each storage box and storage rack, and improve the accuracy of subsequent storage location allocation.

[0164] The above is a schematic scheme of the storage box storage device of the present embodiment. It should be noted that the technical scheme of the storage box storage device belongs to the same concept as the technical scheme of the above-mentioned storage box storage method applied to the carrying device, and the details of the technical scheme of the storage box storage device which are not described in detail can be referred to the description of the technical scheme of the above-mentioned storage box storage method applied to the carrying device.

[0165] Corresponding to the above method embodiments, the present application also provides a storage box storage device embodiment, Figure 8 is a structural schematic diagram of another storage box storage device according to an embodiment of the present application. As Figure 8 shown, the device is configured in the management platform, and the device comprises:

[0166] The first receiving module 802 is configured to receive a storage location allocation instruction for a target storage box, wherein the storage location allocation instruction comprises box information of the target storage box;

[0167] The storage position division module 804 is configured to acquire storage information of the stored containers of the first shelf, and divide a first storage position for the target container in the first shelf based on the storage information and the container information.

[0168] The sending module 806 is configured to send first storage position information of the first storage position to the carrying device, so that the carrying device places the target container in the first storage position based on the first storage position information.

[0169] The second receiving module 808 is configured to receive storage information of the target container reported by the carrying device.

[0170] In one or more embodiments of the present application, a plurality of continuous positioning marks are arranged on the cross beam of the first shelf.

[0171] The device can further include a positioning mark carrying module configured to determine a first positioning mark corresponding to the first storage position and a first relative position relationship between the first storage position and the first positioning mark according to the storage position of the first storage position.

[0172] In one or more embodiments of the present application, the container information includes attribute information of the target container, and the storage information of the stored containers of the first shelf includes attribute information and storage positions of the stored containers.

[0173] The storage position division module 804 is further configured to: if the attribute information of the target container is the same as the attribute information of the first stored container in the first shelf, determine a first storage position of the first stored container; if the remaining storage positions in the first depth direction meet the storage condition of the target container, allocate a first storage position for the target container based on the attribute information of the target container in the remaining storage positions in the first depth direction, wherein the first depth direction is the depth direction of the first storage position.

[0174] In one or more embodiments of the present application, the storage position division module 804 is further configured to: if the remaining storage positions in the first depth direction do not meet the storage condition of the target container, allocate a first storage position for the target container based on the attribute information of the target container and the first storage position in the remaining storage positions in the length direction of the first shelf.

[0175] In one or more embodiments of the present application, the container information includes attribute information of the target container, and the storage information of the stored containers of the first shelf includes attribute information and storage positions of the stored containers.

[0176] The storage position division module 804 is further configured to: if the attribute information of the target container is different from the attribute information of the stored containers in the first shelf, determine the storage positions of the stored containers; and allocate a first storage position for the target container based on the attribute information of the target container and the storage positions of the stored containers in the remaining storage positions in the length direction of the first shelf.

[0177] The application is applied to the case box distribution method provided by the application. The management platform dynamically allocates a first storage position for the target case box in the first shelf according to the case box information of the target case box in advance, and informs the first storage position information of the first storage position to the carrying device. Then, the carrying device carries the target case box to the first storage position for storage, realizes dynamic and flexible allocation of the storage position, and allocates a storage position of appropriate size for each case box, which can avoid the case that a small case occupies a large storage position, improves the utilization rate of the storage position of the shelf, and reduces the waste of storage space. Moreover, after the carrying device carries the target case box to the first storage position of the first shelf, the first positioning mark arranged on the first shelf is recognized by the recognition device, the position of the carrying device is adjusted based on the recognition result, the case box is stored with the aid of the positioning mark, and the safety and accuracy of the case box placement are ensured. After the carrying device stores the target case box in the first storage position, the storage information of the target case box is reported to the management platform, so that the management platform can obtain the storage conditions of each case box and shelf in time, and the accuracy of subsequent storage position allocation is improved.

[0178] The above is a schematic scheme of the case box storage device of the embodiment. It should be noted that the technical scheme of the case box storage device belongs to the same concept as the technical scheme of the case box storage method applied to the management platform. The details of the technical scheme of the case box storage device that are not described in detail can be referred to the description of the technical scheme of the case box storage method applied to the management platform.

[0179] Figure 9 A structural block diagram of a carrying device according to an embodiment of the application is shown. The components of the carrying device 900 include but are not limited to a memory 910, a processor 920, a recognition device 930 and a carrying device 940. The processor 920 is connected to the memory 910 through a bus 950, and a database 970 is used to save data.

[0180] The handling device 900 also includes an access device 960 that enables the handling device 900 to communicate via one or more networks 980. Examples of these networks include a public switched telephone network (PSTN), a local area network (LAN), a wide area network (WAN), a personal area network (PAN), or a combination of communication networks such as the Internet. The access device 960 can include one or more of any type of network interface (e.g., a network interface card (NIC)) such as an IEEE 802.11 wireless local area network (WLAN) wireless interface, a Worldwide Interoperability for Microwave Access (Wi-MAX) interface, an Ethernet interface, a Universal Serial Bus (USB) interface, a cellular network interface, a Bluetooth interface, a Near Field Communication (NFC) interface, etc., either wired or wireless.

[0181] In one embodiment of the present application, the above-mentioned components of the handling device 900 and other components not shown in the figure can be connected to each other, for example, through a bus. It should be understood that Figure 9 the handling device structure diagram shown is only for the purpose of example, and is not a limitation on the scope of the present application. Those skilled in the art can add or replace other components as needed. Figure 9 the handling device structure diagram shown is only for the purpose of example, and is not a limitation on the scope of the present application. Those skilled in the art can add or replace other components as needed.

[0182] The processor 920 is configured to execute the following computer executable instructions:

[0183] obtaining a storage instruction sent by the management platform, wherein the storage instruction includes first storage location information, and the first storage location information is dynamically allocated to the target container by the management platform based on container information of the target container and storage information of containers already stored in the first storage rack; based on the first storage location information, the target container is transported to a first storage location of the first storage rack; the first positioning mark arranged on the first storage rack is identified by the identification device, and based on the identification result, the position of the handling device is adjusted; the target container is placed in the first storage location, and the storage information of the target container is reported to the management platform.

[0184] The above is a schematic solution of the handling device according to the embodiment. It should be noted that the technical solution of the handling device and the technical solution of the container storage method applied to the handling device belong to the same concept, and the details of the technical solution of the handling device not described in detail can be referred to the description of the technical solution of the container storage method.

[0185] Figure 10 A structural block diagram of a management platform according to an embodiment of the present application is shown. The components of the management platform 1000 include, but are not limited to, a memory 1010 and a processor 1020. The processor 1020 is connected to the memory 1010 through a bus 1030, and a database 1050 is used to save data.

[0186] The management platform 1000 also includes an access device 1040, which enables the management platform 1000 to communicate via one or more networks 1060. Examples of these networks include a PSTN, a LAN, a WAN, a PAN, or a combination of communication networks such as the Internet. The access device 1040 can include one or more of any type of network interface (e.g., NIC), wired or wireless, such as an IEEE 802.11 WLAN wireless interface, a Wi-MAX interface, an Ethernet interface, a USB interface, a cellular network interface, a Bluetooth interface, an NFC interface, and the like.

[0187] In an embodiment of the present application, the above components of the management platform 1000 and other components not shown in the above Figure 10 may be connected to each other, for example, through a bus. It should be understood that Figure 10 The structural block diagram of the management platform shown is only for the purpose of example, and is not a limitation on the scope of the present application. Other components can be added or replaced as needed by those skilled in the art.

[0188] The management platform 1000 can be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., a tablet computer, a personal digital assistant, a laptop computer, a notebook computer, a netbook, etc.), a mobile phone (e.g., a smartphone), a wearable computing device (e.g., a smartwatch, smart glasses, etc.), or other type of mobile device, or a stationary computing device such as a desktop computer or a PC. The management platform 1000 can also be a mobile or stationary server.

[0189] The processor 1020 is configured to execute computer-executable instructions, including:

[0190] receive a storage location allocation instruction for the target bin, wherein the storage location allocation instruction comprises bin information of the target bin; obtain storage information of the stored bins of the first rack, and divide a first storage location for the target bin in the first rack based on the storage information and the bin information; send first storage location position information of the first storage location to the carrying device, so that the carrying device places the target bin in the first storage location based on the first storage location position information; and receive storage information of the target bin reported by the carrying device.

[0191] The above is a schematic scheme of the management platform of the embodiment. It should be noted that the technical scheme of the management platform and the technical scheme of the bin storage method applied to the management platform belong to the same concept, and the details of the technical scheme of the management platform that are not described in detail can be referred to the description of the technical scheme of the bin storage method.

[0192] The embodiment of the application also provides a computer readable storage medium, which stores computer instructions, and the instructions are executed by a processor to implement the bin storage method.

[0193] The above is a schematic scheme of the computer readable storage medium of the embodiment. It should be noted that the technical scheme of the storage medium and the technical scheme of the bin storage method described above belong to the same concept, and the details of the technical scheme of the storage medium that are not described in detail can be referred to the description of the technical scheme of the bin storage method.

[0194] The above describes specific embodiments of the application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in a different order and still achieve desirable results. Additionally, the processes depicted in the figures do not necessarily require the particular order shown, or sequential order, to achieve the desired results. In certain implementations, multitasking and parallel processing can be advantageous.

[0195] The computer instructions include computer program codes, which can be in the form of source code, object code, executable files or some intermediate forms, etc. The computer readable medium can include any entity or device capable of carrying the computer program codes, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium, etc.

[0196] It is to be understood that, for each of the above-mentioned method embodiments, for the convenience of description, each is described as a combination of a series of acts, but those skilled in the art should know that the present application is not limited by the order of the acts described, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the application are all preferred embodiments, and the acts and modules involved are not necessarily essential to the application.

[0197] In the above embodiments, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0198] The preferred embodiments of the application disclosed above are only used to help explain the application. Alternative embodiments do not describe all the details and limit the application to the specific embodiments described. Obviously, many modifications and changes can be made according to the content of the application. The application selects and describes these embodiments in order to better explain the principles and practical applications of the application, so that those skilled in the art can well understand and utilize the application. The application is limited only by the claims and their full scope and equivalents.

Claims

1. A method of storing containers, characterized by, The method is applied to a carrying device including an identification device and a carrying device, and the method includes: receiving a storage instruction sent by a management platform, wherein the storage instruction includes first storage location information and a first relative position relationship between a first storage location and a first positioning mark, and the first storage location information is dynamically allocated to a target container by the management platform based on container information of the target container and storage information of containers already stored in a first storage rack; carrying the target container to the first storage location of the first storage rack based on the first storage location information; identifying the first positioning mark arranged on the first storage rack through the identification device, and adjusting a position of the carrying device based on an identification result, wherein a plurality of continuous positioning marks are arranged on the first storage rack, the first positioning mark is dynamically determined by the management platform based on container information of a container, and the adjusting of the position of the carrying device includes identifying a first reference position of the first positioning mark through the identification device, and adjusting the position of the carrying device according to the first relative position relationship and the first reference position; placing the target container in the first storage location, and reporting storage information of the target container to the management platform.

2. The method of claim 1, wherein, Before the placing of the target container in the first storage location, the method further includes: identifying reference edge information through the identification device, wherein the reference edge information includes a rack frame position of the first storage rack and a container frame position of the container already stored; adjusting the position of the carrying device according to the rack frame position, the container frame position, and a preset placement interval.

3. The method of claim 1, wherein, A plurality of continuous positioning marks are arranged on a crossbeam of the first storage rack.

4. The method of claim 1, wherein, The method further includes: receiving a container taking instruction for a container to be taken, wherein the container taking instruction carries second storage location information of the container to be taken, a second relative position relationship between a second storage location and a second positioning mark, and target container information of the container to be taken; moving to a second storage location of a second storage rack according to the second storage location information, wherein the container to be taken is stored in the second storage location; identifying a second reference position of the second positioning mark arranged on the second storage rack through the identification device; adjusting the position of the carrying device according to the second relative position relationship and the second reference position, and adjusting a width and a depth of the carrying device according to the target container information; acquiring the container to be taken from the second storage location by using the carrying device.

5. The method of claim 4, wherein, Before the acquiring of the container to be taken from the second storage location by using the carrying device, the method further includes: identifying edge information of the container to be taken through the identification device; adjusting the width and the depth of the carrying device based on the edge information.

6. The method according to any one of claims 1-5, characterized in that, The storage instruction further includes container information of the target container, and the container information includes initial position information and container size information; Before the carrying of the target container to the first storage location of the first storage rack based on the first storage location information, the method further includes: moving to an initial position corresponding to the initial position information, and adjusting the width and the depth of the carrying device based on the container size information; The target box is carried by the carrying device.

7. The method according to any one of claims 1-5, characterized in that, Before carrying the target box to the first storage location of the first shelf based on the first storage location information, the method further comprises: planning a moving route of the carrying device based on the first storage location information and current location information of the carrying device; carrying the target box to the first storage location of the first shelf based on the first storage location information comprises: carrying the target box to the first storage location of the first shelf according to the moving route.

8. A method of storing containers, characterized by The method applied to a management platform comprises: receiving a storage location allocation instruction for a target box, wherein the storage location allocation instruction comprises box information of the target box; obtaining storage information of stored boxes of a first shelf, and dividing a first storage location for the target box in the first shelf based on the storage information and the box information; determining a first positioning mark corresponding to the first storage location and a first relative position relationship between the first storage location and the first positioning mark according to a storage location of the first storage location; a plurality of continuous positioning marks are arranged on the first shelf, and the first positioning mark is dynamically determined by the management platform based on the box information of the box; sending first storage location information of the first storage location and the first relative position relationship between the first storage location and the first positioning mark to a carrying device, so that the carrying device places the target box in the first storage location based on the first storage location information; receiving storage information of the target box reported by the carrying device.

9. The method of claim 8, wherein, The box information comprises attribute information of the target box, and the storage information of the stored boxes of the first shelf comprises attribute information and storage locations of the stored boxes; the first storage location of the first stored box is determined if the attribute information of the target box is the same as the attribute information of the first stored box in the first shelf; if the remaining storage locations in the first depth direction meet the storage condition of the target box, a first storage location for the target box is allocated in the remaining storage locations in the first depth direction based on the attribute information of the target box, wherein the first depth direction is a depth direction of the first storage location. after determining the first storage location of the first stored box, the method further comprises:

10. The method of claim 9, wherein, if the remaining storage locations in the first depth direction do not meet the storage condition of the target box, a first storage location for the target box is allocated in the remaining storage locations in the length direction of the first shelf based on the attribute information of the target box and the first storage location. The box information comprises attribute information of the target box, and the storage information of the stored boxes of the first shelf comprises attribute information and storage locations of the stored boxes; 11. The method of claim 8, wherein, the first storage location of the first stored box is determined if the attribute information of the target box is the same as the attribute information of the first stored box in the first shelf; if the attribute information of the target box is different from the attribute information of the stored boxes in the first shelf, the storage locations of the stored boxes are determined. ​ Based on the attribute information of the target container and the storage location of the stored container, a remaining storage location in the first rack length direction is assigned as the first storage location for the target container.

12. A handling apparatus, characterised in that, The system comprises a memory, a processor, an identification device, and a carrying device. The memory is configured to store computer-executable instructions, and the processor is configured to execute the computer-executable instructions to implement the method according to any one of claims 1-7.

13. A management platform, characterized by The system comprises a memory and a processor. The memory is configured to store computer-executable instructions, and the processor is configured to execute the computer-executable instructions to implement the method according to any one of claims 8-12.

14. A bin storage system characterized by, The system comprises a management platform and a carrying device, wherein the carrying device comprises an identification device and a carrying device. The management platform is configured to receive a storage location assignment instruction for a target container, wherein the storage location assignment instruction comprises container information of the target container; acquire storage information of stored containers in a first rack, and based on the storage information and the container information, divide a first storage location for the target container in the first rack; send first storage location information of the first storage location and a first relative position relationship between the first storage location and a first positioning mark to the carrying device, so that the carrying device places the target container in the first storage location based on the first storage location information; and receive storage information of the target container reported by the carrying device. The carrying device is configured to acquire a storage instruction sent by the management platform, wherein the storage instruction comprises the first storage location information and the first relative position relationship between the first storage location and the first positioning mark; based on the first storage location information, carry the target container to the first storage location of the first rack; identify the first positioning mark arranged on the first rack through the identification device, and based on the identification result, adjust the position of the carrying device, wherein the first rack is provided with a plurality of continuous positioning marks, the first positioning mark is dynamically determined by the management platform based on the container information of the container, and the adjustment of the position of the carrying device comprises: identifying a first reference position of the first positioning mark through the identification device, adjusting the position of the carrying device according to the first relative position relationship and the first reference position; placing the target container in the first storage location, and reporting the storage information of the target container to the management platform.

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