Intelligent mobile robot, robot system and robot scheduling method and device

Abstract

The application discloses an intelligent mobile robot, a robot system and a robot scheduling method and device, wherein the intelligent mobile robot comprises a first chassis and a storage mechanism arranged on the first chassis, the storage mechanism comprises at least two layers of cargo carrying members arranged at intervals in a height direction, the cargo carrying members are used for docking with a second goods shelf, and through a transfer operation performed on the second goods shelf by a docking robot, the target goods can be integrally transferred between the cargo carrying members and the second goods shelf, and the docking efficiency is greatly improved; then, the docking robot can integrally move the second goods shelf, the number of carrying times is reduced, and the carrying efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of logistics technology, and in particular to an intelligent mobile robot, robot system, robot scheduling method, and apparatus. Background Technology

[0002] In warehousing systems, robots are typically used for the inbound and outbound processing of goods.

[0003] In related technologies, two robots can be used to complete the inbound and outbound operations of goods. That is, the first robot is used to move goods up and down between the shelf and the buffer layer, and the second robot is used to move goods away from the buffer layer or move goods to the buffer layer.

[0004] However, in the above process, the first and second robots can only handle one item at a time, resulting in low efficiency in warehouse entry and exit. Summary of the Invention

[0005] To address at least one aspect of the aforementioned technical problems, embodiments of this application provide an intelligent mobile robot, a robot system, and a robot scheduling method and apparatus. The first robot can transfer multiple target goods from its multi-layered cargo-carrying components to a second shelf for the second robot to move as a whole. This enables batch outbound and inbound operations of multiple target goods, improving inbound and outbound efficiency and thus solving the aforementioned problems.

[0006] In a first aspect, embodiments of this application provide an intelligent mobile robot, the intelligent mobile robot comprising:

[0007] First chassis;

[0008] A storage mechanism comprising at least two layers of cargo-carrying components spaced apart in the height direction above the first chassis;

[0009] When the first chassis drives the intelligent mobile robot to approach the first shelf, the target goods stored at any storage location of the first shelf are moved to the cargo-carrying component that is in an idle state, or the target goods carried by the cargo-carrying component are moved to any storage location of the first shelf.

[0010] When the first chassis drives the intelligent mobile robot to approach the docking area, the cargo component is placed to dock with the second shelf in the docking area, and the target goods placed on the cargo component are transferred to the second shelf through the transfer operation performed by the docking robot in the docking area on the second shelf, or the target goods placed on the second shelf are transferred to the cargo component.

[0011] In one embodiment, the second shelf is provided with at least two layers of second cargo pallets spaced apart along its height; wherein,

[0012] The spacing height of the cargo-carrying components is the same as the spacing height of the second cargo-carrying plate;

[0013] The connection between the cargo component and the second shelf includes: each cargo component connecting to the second cargo tray of its corresponding layer.

[0014] In one embodiment, the cargo-carrying component includes cargo-carrying comb teeth; each layer of the second cargo-carrying tray of the second shelf is configured to have pallet comb teeth that are complementary to the cargo-carrying comb teeth;

[0015] The connection between each of the cargo-carrying components and the second cargo-carrying plate of its corresponding layer includes:

[0016] Outbound connection, each of the cargo-carrying comb teeth is located above the pallet comb teeth of the second cargo plate of its corresponding layer, and intersects with the pallet comb teeth of the second cargo plate of its corresponding layer, wherein the cargo-carrying comb teeth carry the target goods;

[0017] In the warehouse receiving process, each of the cargo-carrying comb teeth is located below the pallet comb teeth of the second cargo plate of its corresponding layer and intersects with the pallet comb teeth of the second cargo plate of its corresponding layer, wherein the pallet comb teeth carry the target goods.

[0018] The transfer operation performed by the shuttle robot on the second shelf includes:

[0019] Outbound transfer operation, the outbound transfer operation includes the lifting operation performed by the connecting robot on the second shelf, the lifting operation causes the pallet comb teeth of each second cargo pallet to move through the cargo comb teeth of the corresponding layer and move above the cargo comb teeth, so that the target goods carried on the cargo comb teeth are transferred to the pallet comb teeth of the corresponding layer.

[0020] The inbound transfer operation includes the lifting and lowering operation performed by the connecting robot on the second shelf. The lifting and lowering operation causes the pallet comb teeth of each second cargo pallet to move through the cargo comb teeth of its corresponding layer and move to below the cargo comb teeth, so that the target goods carried on the pallet comb teeth are transferred to the cargo comb teeth of its corresponding layer.

[0021] In response to the completion of the transfer operation, the intelligent mobile robot disconnects the cargo-carrying component from the second shelf by moving the first chassis.

[0022] In one embodiment, the shuttle robot and the second shelf are integrated; or, the shuttle robot and the second shelf are separate, and the second shelf is supported by the shuttle robot.

[0023] The connection area is located outside the area where the first shelf is located, or the connection area is located below the first shelf.

[0024] In one embodiment, the intelligent mobile robot further includes:

[0025] A lifting mechanism, which is fixed above the first chassis;

[0026] A conveying mechanism, wherein the conveying mechanism is mounted on the lifting mechanism;

[0027] The conveying mechanism and the lifting mechanism are configured to work together when the intelligent mobile robot is near the first shelf, so that the target goods stored at any storage location of the first shelf are moved to the cargo-carrying component that is in an idle state, or that the target goods carried by the cargo-carrying component are moved to any storage location of the first shelf.

[0028] In one embodiment, the conveying mechanism and the lifting mechanism are configured to work together when the intelligent mobile robot is near the first shelf, such that goods at any of the storage locations on the first shelf are transferred via the buffer of the carrying member to another storage location at a different location on the first shelf.

[0029] Secondly, embodiments of this application provide an intelligent mobile robot, comprising:

[0030] Second chassis;

[0031] An operating mechanism is mounted on top of the second chassis;

[0032] The second chassis and the operating mechanism are configured to work together to transfer target goods obtained by the shuttle robot from the first shelf to the second shelf, or to transfer the target goods carried on the second shelf to the shuttle robot; the shuttle robot includes a first chassis and a storage mechanism, the storage mechanism including at least two layers of cargo-carrying components arranged at intervals along the height direction above the first chassis, the cargo-carrying components being used to carry the target goods;

[0033] Furthermore, the transfer of the target goods between the second shelf and the connecting robot is achieved through a transfer operation performed by the intelligent mobile robot on the second shelf when the cargo-carrying component of the connecting robot is connected to the second shelf and the intelligent mobile robot is located within the connection area.

[0034] In one embodiment, the second shelf is provided with at least two layers of second cargo pallets spaced apart along its height; wherein,

[0035] The spacing height of the cargo-carrying components is the same as the spacing height of the second cargo-carrying plate;

[0036] The connection between the cargo component and the second shelf includes: each cargo component connecting to the second cargo tray of its corresponding layer.

[0037] In one embodiment, the cargo-carrying component includes cargo-carrying comb teeth; each layer of the second cargo-carrying tray of the second shelf is configured to have pallet comb teeth that are complementary to the cargo-carrying comb teeth;

[0038] The connection between each of the cargo-carrying components and the second cargo-carrying plate of its corresponding layer includes:

[0039] Outbound connection, each of the cargo-carrying comb teeth is located above the pallet comb teeth of the second cargo plate of its corresponding layer, and intersects with the pallet comb teeth of the second cargo plate of its corresponding layer, wherein the cargo-carrying comb teeth carry the target goods;

[0040] In the warehouse receiving process, each of the cargo-carrying comb teeth is located below the pallet comb teeth of the second cargo plate of its corresponding layer and intersects with the pallet comb teeth of the second cargo plate of its corresponding layer, wherein the pallet comb teeth carry the target goods.

[0041] The transfer operation performed by the intelligent mobile robot on the second shelf includes:

[0042] Outbound transfer operation, the outbound transfer operation includes the lifting operation performed by the intelligent mobile robot on the second shelf, the lifting operation causes the pallet comb teeth of each second cargo pallet to pass through the cargo comb teeth of the corresponding layer and move above the cargo comb teeth, so that the target goods carried on the cargo comb teeth are transferred to the pallet comb teeth of the corresponding layer.

[0043] The inbound transfer operation includes the intelligent mobile robot performing a lifting and lowering operation on the second shelf. The lifting and lowering operation causes the pallet comb teeth of each second cargo pallet to pass through the cargo comb teeth of its corresponding layer and move to below the cargo comb teeth, so that the target goods carried on the pallet comb teeth are transferred to the cargo comb teeth of its corresponding layer.

[0044] In response to the completion of the transfer operation, the docking robot disconnects the cargo-carrying component from the second shelf by moving the first chassis.

[0045] In one embodiment, each layer of the second shelf has a first pallet comb tooth and a second pallet comb tooth on opposite sides, with the openings of the first pallet comb tooth and the second pallet comb tooth facing opposite directions.

[0046] The second chassis and the operating mechanism are configured to work together to perform a rotation operation on the second shelf;

[0047] In the process of the target goods leaving the warehouse, the rotation operation is used to displace the first pallet comb teeth fully loaded with the target goods and the second pallet comb teeth unloaded with the target goods.

[0048] During the warehousing process of the target goods, the rotation operation is used to displace the first pallet comb teeth that are unloading the target goods and the second pallet comb teeth that are not unloading the target goods.

[0049] In one embodiment, the intelligent mobile robot is integrated with the second shelf; or, the intelligent mobile robot and the second shelf are separate components, and the second shelf is supported by the intelligent mobile robot.

[0050] The connection area is located outside the area where the first shelf is located, or the connection area is located below the first shelf.

[0051] Thirdly, embodiments of this application provide a robot system, the robot system including a first robot and a second robot that are interconnected robots, wherein the first robot is the intelligent mobile robot as described in the first aspect embodiment above, and the second robot is the intelligent mobile robot as described in the second aspect embodiment above.

[0052] Fourthly, embodiments of this application provide a robot scheduling method, including:

[0053] A docking command is sent to a first robot, wherein the first robot includes a first chassis and a storage mechanism, the storage mechanism including at least two layers of cargo-carrying components arranged at intervals along the height direction above the first chassis; the docking command is used to cause the first robot to move adjacent to the docking area and to cause the cargo-carrying components of the storage mechanism to dock with a second shelf located in the docking area;

[0054] In response to a docking completion command, a transfer command is sent to a second robot that has arrived at the docking area, wherein the transfer command is used to cause the second robot to transfer the target goods placed on the cargo component to the second shelf by performing a transfer operation on the second shelf, or to transfer the target goods placed on the second shelf to the cargo component.

[0055] In one embodiment, the second shelf is provided with at least two layers of second cargo pallets spaced apart along its height; wherein,

[0056] The spacing height of the cargo-carrying components is the same as the spacing height of the second cargo-carrying plate;

[0057] Specifically, the connection between the cargo-carrying component and the second shelf includes: each cargo-carrying component connecting with the second cargo-carrying plate of its corresponding layer.

[0058] In one embodiment, the cargo-carrying component includes cargo-carrying comb teeth; each layer of the second cargo-carrying tray of the second shelf is configured to have pallet comb teeth that are complementary to the cargo-carrying comb teeth;

[0059] The step of sending the docking command to the first robot includes:

[0060] A dispatch command is sent to the first robot, specifically causing each of the cargo-carrying comb teeth to be positioned above the pallet comb teeth of the second cargo plate on its corresponding layer, and causing each cargo-carrying comb tooth to interweave with the pallet comb teeth of the second cargo plate on its corresponding layer, wherein the cargo-carrying comb teeth carry the target goods; or,

[0061] Send an inbound connection instruction to the first robot. Specifically, the inbound connection instruction causes each of the cargo-carrying comb teeth to be located below the pallet comb teeth of the second cargo-carrying plate on its corresponding layer, and causes each of the cargo-carrying comb teeth to be staggered with the pallet comb teeth of the second cargo-carrying plate on its corresponding layer, wherein the pallet comb teeth carry the target goods.

[0062] In one embodiment, the step of sending a transfer instruction to the second robot arriving at the docking area includes:

[0063] A delivery transfer instruction is sent to the second robot upon arrival at the receiving area. Specifically, the delivery transfer instruction causes the second robot to perform a lifting operation on the second shelf. This lifting operation causes the pallet comb teeth of each second loading pallet to pass through the loading comb teeth of its corresponding layer and move above those loading comb teeth, so that the target goods carried on the loading comb teeth are transferred to the pallet comb teeth of their corresponding layer; or...

[0064] Send an inbound transfer instruction to the second robot that has arrived at the docking area. The inbound transfer instruction specifically causes the second robot to perform a lifting and lowering operation on the second shelf. The lifting and lowering operation causes the pallet comb teeth of each second cargo pallet to move through the cargo comb teeth of its corresponding layer and move to below the cargo comb teeth, so that the target goods carried on the pallet comb teeth are transferred to the cargo comb teeth of its corresponding layer.

[0065] In one embodiment, it further includes:

[0066] In response to the completion of the transfer operation, a disconnection command is sent to the first robot, the disconnection command being used to cause the first robot to disconnect the cargo component from the second shelf by moving the first chassis.

[0067] In one embodiment, each layer of the second shelf has a first pallet comb tooth and a second pallet comb tooth on opposite sides, with the openings of the first pallet comb tooth and the second pallet comb tooth facing opposite directions.

[0068] The robot scheduling method further includes:

[0069] In response to the half-load signal of the second shelf, a rotation command is sent to the second robot, the rotation command being used to cause the second robot to perform a rotation operation on the second shelf;

[0070] In the process of the target goods leaving the warehouse, the rotation operation is used to displace the first pallet comb teeth fully loaded with the target goods and the second pallet comb teeth unloaded with the target goods.

[0071] During the warehousing process of the target goods, the rotation operation is used to displace the first pallet comb teeth that are unloading the target goods and the second pallet comb teeth that are not unloading the target goods.

[0072] In one embodiment, the robot scheduling method further includes:

[0073] Send an outbound command to the first robot; the outbound command is used to cause the first robot to move to the adjacent first shelf via the first chassis, so as to wait for the target goods stored at any storage location of the first shelf to be moved to the cargo-carrying component that is in an idle state.

[0074] Send an inbound instruction to the first robot, the inbound instruction being used to move the first robot via the first chassis to a nearby first shelf, in order to wait for the target goods carried by the cargo-carrying component to be moved to any of the storage locations on the first shelf.

[0075] Fifthly, embodiments of this application provide a robot scheduling device, comprising:

[0076] A docking module is used to send docking instructions to a first robot, wherein the first robot includes a first chassis and a storage mechanism, the storage mechanism including at least two layers of cargo-carrying components arranged at intervals along the height direction above the first chassis; the docking instructions are used to cause the first robot to move adjacent to the docking area and to cause the cargo-carrying components of the storage mechanism to dock with a second shelf located in the docking area;

[0077] A transfer module is configured to send a transfer instruction to a second robot that has arrived at the docking area in response to a docking completion instruction. The transfer instruction is configured to cause the second robot to transfer the target goods placed on the cargo-carrying component to the second shelf by performing a transfer operation on the second shelf, or to transfer the target goods placed on the second shelf to the cargo-carrying component.

[0078] Sixthly, embodiments of this application provide a non-transitory computer-readable storage medium that stores instructions, which, when executed by a processor, cause the processor to perform the steps in the robot scheduling method described above.

[0079] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

[0080] This application provides an intelligent mobile robot, a robot system, and a robot scheduling method and apparatus. The intelligent mobile robot includes a first chassis and a storage mechanism arranged on the first chassis. The storage mechanism includes at least two layers of cargo-carrying components arranged at intervals along the height direction. The cargo-carrying components are used to connect with a second shelf. Furthermore, by performing a transfer operation on the second shelf through the connecting robot, the target goods can be transferred as a whole between the cargo-carrying components and the second shelf, greatly improving the docking efficiency.

[0081] In other words, taking the outbound process as an example, after the intelligent mobile robot's cargo-carrying component connects with the second shelf and the connecting robot performs a transfer operation on the second shelf, the intelligent mobile robot can transfer all the target goods carried by its multi-layer cargo-carrying component to the second shelf in one go. Then, the connecting robot can move the second shelf as a whole, which greatly improves docking efficiency, reduces the number of handling operations, and improves handling efficiency. Attached Figure Description

[0082] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0083] Figure 1 This is a schematic diagram of the structure of the first robot in the embodiments of this application.

[0084] Figure 2 This is a schematic diagram of the structure of the second robot in the embodiments of this application.

[0085] Figure 3 This is a schematic diagram of the structure of the second shelf in the embodiments of this application.

[0086] Figure 4 This is a top view of the connection between the carrier plate component and the second cargo plate in an embodiment of this application.

[0087] Figure 5 This is a top view of the carrier plate component described in this application embodiment, which can carry two target goods along its width direction.

[0088] Figure 6 This is a schematic diagram of the connection between the carrier plate component of the first robot and the second shelf during the outbound process of the target goods.

[0089] Figure 7 This is a schematic diagram of the structure after the second robot performs a lifting operation on the second shelf, specifically showing the transfer of the target goods to the second shelf.

[0090] Figure 8 This is a schematic diagram showing that the connection area described in this embodiment is located outside the area where the first shelf is located.

[0091] Figure 9 This is a schematic diagram of the structure in this application embodiment where the second shelf is located below the first shelf and the connecting area is located below the second shelf.

[0092] Figure 10This is a flowchart illustrating the robot scheduling method described in the embodiments of this application.

[0093] Figure 11 This is a flowchart illustrating the robot scheduling device described in the embodiments of this application.

[0094] In the attached figures, the following labels are used:

[0095] 10-First robot, 11-First chassis, 12-Cargo-carrying component, 13-Lifting mechanism, 14-Transporting mechanism

[0096] 121-Cargo comb teeth,

[0097] 20 - Second robot, 21 - Second chassis, 22 - Operating mechanism

[0098] 30 - First shelf, 31 - Storage location

[0099] 40 - Second shelf, 41 - Second pallet

[0100] 411 - First tray comb tooth, 412 - Second tray comb tooth

[0101] 50-Connecting Area

[0102] 60 - Target cargo,

[0103] 71-Connection module, 72-Transfer module. Detailed Implementation

[0104] To better understand the above technical solutions, exemplary embodiments of this application will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments of this application. It should be understood that this application is not limited to the exemplary embodiments described herein.

[0105] Figure 1 This is a schematic diagram of the first robot. Figure 2 This is a schematic diagram of the second robot. Figure 3 The diagram shows the structure of the second shelf. In general, this application connects the cargo-carrying component of the first robot with the second shelf, and then the second robot performs a transfer operation on the second shelf, thereby realizing the transfer of multiple target goods between the cargo-carrying component of the first robot and the second shelf. That is, it realizes the overall, one-time docking and transfer of multiple target goods, improving docking efficiency.

[0106] In a first aspect, this application provides an intelligent mobile robot, which is the first robot mentioned above. The intelligent mobile robot includes a first chassis 11 and a storage mechanism. The storage mechanism includes at least two layers of cargo-carrying components 12 arranged at intervals along the height direction above the first chassis 11.

[0107] When the first chassis 11 drives the intelligent mobile robot to approach the first shelf 30, the target goods stored at any storage location 31 of the first shelf 30 are moved to the idle cargo-carrying component 12, or the target goods carried by the cargo-carrying component 12 are moved to any storage location 31 of the first shelf 30.

[0108] When the first chassis 11 drives the intelligent mobile robot to approach the docking area 50, the cargo component 12 is placed to dock with the second shelf 40 within the docking area 50, and through the transfer operation performed by the docking robot on the second shelf 40 within the docking area 50, the target goods 60 placed on the cargo component 12 are transferred to the second shelf 40, or the target goods 60 placed on the second shelf 40 are transferred to the cargo component 12.

[0109] Among them, see Figure 1 The intelligent mobile robot (i.e., the first robot) in this embodiment includes a first chassis for walking, and at least two layers of cargo-carrying components are arranged at intervals along the height direction above the first chassis for carrying target goods.

[0110] For example, in the outbound process of multiple target goods, the first chassis first drives the intelligent mobile robot to the first shelf, which can be a three-dimensional rack in the warehousing system. Then, the multiple target goods are moved from their respective storage locations on the first shelf to the empty loading components. Then, see... Figure 4 The first chassis drives the intelligent mobile robot to approach the docking area, and the cargo component is placed to dock with the second shelf in the docking area. After docking is completed, the docking robot in the docking area (the docking robot in the first aspect is the second robot) performs a transfer operation on the second shelf, so that multiple target goods placed on the cargo component are transferred as a whole to the second shelf.

[0111] Furthermore, the connecting robot can carry the second shelf and move it to a designated location to complete the outbound process of multiple target goods.

[0112] Similarly, in the warehousing process of multiple target goods, the multiple target goods are first placed on a second shelf. A connecting robot carries the second shelf and moves it to the connecting area. Then, a first chassis drives an intelligent mobile robot to approach the connecting area, and the cargo-carrying component is placed to connect with the second shelf in the connecting area. After the connection is completed, the connecting robot in the connecting area (the connecting robot in the first aspect is the second robot) performs a transfer operation on the second shelf, thus transferring the multiple target goods placed on the second shelf as a whole to the multi-layer cargo-carrying component of the intelligent mobile robot. Subsequently, the first chassis drives the intelligent mobile robot to approach the first shelf, and the multiple target goods carried by the multi-layer cargo-carrying component are moved to their respective storage positions on the first shelf, completing the warehousing process of multiple target goods.

[0113] In other words, whether for the outbound or inbound process, multiple target goods can be transferred as a whole between the intelligent mobile robot's multi-layered cargo-carrying components and the second shelf through the connection between the intelligent mobile robot's cargo-carrying components and the second shelf, as well as the transfer operation performed by the connecting robot (the connecting robot in the first aspect is the second robot) on the second shelf, which greatly improves the docking and transfer efficiency.

[0114] Specifically, it should be understood that the first shelf can be a three-dimensional shelf in a warehousing system. The three-dimensional shelf includes multiple first loading pallets, and each first loading pallet has multiple storage locations for storing target goods.

[0115] In one embodiment, the second shelf 40 is provided with at least two layers of second cargo trays 41 spaced apart along the height direction; wherein the spacing height of the cargo components 12 is the same as the spacing height of the second cargo trays 41; the connection between the cargo components 12 and the second shelf 40 includes: each cargo component 12 is connected to the second cargo tray 41 of its corresponding layer.

[0116] That is, see Figure 6 The spacing height of the cargo-carrying components is the same as the spacing height of the second cargo-carrying plates. This way, when the cargo-carrying components of the intelligent mobile robot connect with the second shelf, each cargo-carrying component can specifically connect with the second cargo-carrying plate of its corresponding layer.

[0117] Regarding the number of layers for the loading components and the second loading pallets, generally speaking, the number of layers for the loading components and the second loading pallets of the second rack should be the same, for example, both should be... Figure 6 The three layers shown; of course, the number of layers of the cargo component and the second cargo platform can also be different. For example, the cargo component has 3 layers, while the second cargo platform can have, for example, 5 layers. In this case, it can be understood that the top two layers of the second cargo platform cannot be connected to the cargo component.

[0118] In one embodiment, the cargo-carrying component includes cargo-carrying comb teeth; each second cargo tray of the second shelf is configured to have pallet comb teeth that are complementary to the cargo-carrying comb teeth;

[0119] The connection between each cargo component and the second cargo plate of its corresponding layer includes:

[0120] Outbound connection: Each cargo comb tooth is located above the pallet comb tooth of the second cargo plate of its corresponding layer and intersects with the pallet comb tooth of the second cargo plate of its corresponding layer, wherein the cargo comb tooth carries the target goods.

[0121] In the inbound connection, each cargo comb tooth is located below the pallet comb tooth of the second cargo plate of its corresponding layer and intersects with the pallet comb tooth of the second cargo plate of its corresponding layer, wherein the pallet comb tooth carries the target goods.

[0122] The transfer operations performed by the shuttle robot on the second shelf include:

[0123] Outbound transfer operation includes a lifting operation performed by the connecting robot on the second shelf. The lifting operation causes the pallet comb teeth of each second loading pallet to pass through the loading comb teeth of its corresponding layer and move above the loading comb teeth, so that the target goods carried on the loading comb teeth are transferred to the pallet comb teeth of its corresponding layer.

[0124] The inbound transfer operation includes the lifting and lowering operation of the connecting robot on the second shelf. The lifting and lowering operation causes the pallet comb teeth of each second loading pallet to pass through the loading comb teeth of its corresponding layer and move to the bottom of the loading comb teeth, so that the target goods carried on the pallet comb teeth are transferred to the loading comb teeth of its corresponding layer.

[0125] In response to the completion of the transfer operation, the intelligent mobile robot disconnects the cargo-carrying component from the second shelf by moving the first chassis.

[0126] See details Figure 4 , Figure 6 and Figure 7 The cargo-carrying component 12 includes cargo-carrying comb teeth 121; each layer of the second cargo-carrying plate 41 of the second shelf 40 is configured to have pallet comb teeth that are complementary to the cargo-carrying comb teeth 121.

[0127] For example, in the outbound process of multiple target goods, the connection between each cargo-carrying component and the second cargo-carrying plate of its corresponding layer includes: outbound connection, where each cargo-carrying comb tooth is located above the pallet comb tooth of the second cargo-carrying plate of its corresponding layer and intersects with the pallet comb tooth of the second cargo-carrying plate of its corresponding layer (while combining...). Figure 4 and Figure 6 ).

[0128] That is, for the outbound process, the loading component is first loaded with the target goods, and then when the loading component is connected to the second shelf, each loading comb tooth needs to be located above the pallet comb tooth of its corresponding layer, and each loading comb tooth is staggered with the pallet comb tooth of its corresponding layer.

[0129] Then, the transfer operation performed by the shuttle robot on the second shelf includes: outbound transfer operation, which includes the lifting operation performed by the shuttle robot on the second shelf, the lifting operation causing the pallet comb teeth of each second loading pallet to pass through the loading comb teeth of its corresponding layer and move above the loading comb teeth.

[0130] That is, based on the above-mentioned connection, the connecting robot (i.e., the second robot) performs a transfer operation on the second shelf. Specifically, this transfer operation can be a lifting operation on the second shelf. In this way, by lifting the second shelf, the pallet comb teeth of each second loading plate located below can pass through the loading comb teeth of their corresponding layer and move to the top of the loading comb teeth. It can be understood that at this time, by the rise of the pallet comb teeth relative to the loading comb teeth, the target goods carried on the loading comb teeth can be transferred to the pallet comb teeth, that is, transferred to the second shelf. The connecting robot (i.e., the second robot) then moves the second shelf to the designated position, completing the outbound process.

[0131] Similarly, for example, in the warehousing process of multiple target goods, the connection between each cargo component and the second cargo plate of its corresponding layer includes: warehousing connection, where each cargo comb tooth is located below the pallet comb tooth of the second cargo plate of its corresponding layer and intersects with the pallet comb tooth of the second cargo plate of its corresponding layer.

[0132] That is, for the warehousing process, the second rack is first loaded with the target goods, and then when the loading component is connected to the second rack, each loading comb tooth needs to be located below the pallet comb tooth of its corresponding layer, and each loading comb tooth is staggered with the pallet comb tooth of its corresponding layer.

[0133] Then, the transfer operation performed by the shuttle robot on the second shelf includes: inbound transfer operation, which includes the shuttle robot lifting and lowering operation on the second shelf, which causes the pallet comb teeth of each second loading pallet to move through the loading comb teeth of its corresponding layer and move to below the loading comb teeth.

[0134] That is, based on the above-mentioned connection, the connection robot (i.e., the second robot) performs a transfer operation on the second shelf. Specifically, the transfer operation can be a lifting and lowering operation on the second shelf. In this way, by lifting and lowering the second shelf, the pallet comb teeth of each second loading pallet located above can pass through the loading comb teeth of the corresponding layer and move to below the loading comb teeth. It can be understood that at this time, by the descent of the pallet comb teeth relative to the loading comb teeth, the target goods carried on the pallet comb teeth can be transferred to the loading comb teeth, that is, transferred to the intelligent mobile robot (first robot). The intelligent mobile robot carries the target goods and moves them to the first shelf, and the target goods are transferred to the storage location of the first shelf, completing the warehousing process.

[0135] It is understandable that by using the transfer operation performed by the connecting robot on the second shelf, the pallet comb teeth of the second shelf can be raised or lowered relative to the loading comb teeth of the intelligent mobile robot, thereby completing the transfer of the target goods.

[0136] In response to the completion of the aforementioned transfer operation, the intelligent mobile robot disconnects the cargo-carrying component from the second shelf by moving the first chassis.

[0137] In one embodiment, the shuttle robot and the second shelf are integrated; or, the shuttle robot and the second shelf are separate, and the second shelf is supported by the shuttle robot.

[0138] The connecting area is located outside the area where the first shelf is located, or the connecting area is located below the first shelf.

[0139] Regarding the relationship between the connecting robot (second robot) and the second shelf, the connecting robot and the second shelf can be integrated, that is, the second shelf is fixed on the connecting robot. Alternatively, the connecting robot and the second shelf can be separate, in which case the connecting robot needs to move to the bottom of the second shelf and support the second shelf.

[0140] Regarding the connection area, depending on actual needs, the connection area can be set outside the area where the first shelf is located, or the connection area can be set below the first shelf.

[0141] In one specific embodiment, the intelligent mobile robot further includes a lifting mechanism 13 and a transport mechanism 14. The lifting mechanism 13 is fixed above the first chassis 11; the transport mechanism 14 is mounted on the lifting mechanism 13. The transport mechanism 14 and the lifting mechanism 13 are configured to work together when the intelligent mobile robot is near the first shelf 30, so that the target goods 60 stored in any storage position 31 of the first shelf are moved to the idle cargo-carrying component 12, or the target goods 60 carried by the cargo-carrying component 12 are moved to any storage position 31 of the first shelf.

[0142] In other words, the transfer of target goods between the first shelf and the cargo-carrying component of the intelligent mobile robot can be achieved through the intelligent mobile robot's own handling and lifting mechanisms.

[0143] Specifically, it should be understood that the height of the lifting mechanism can be the same as the height of the first shelf. Then, the handling mechanism can move up and down along the lifting mechanism. The handling mechanism includes a handling platform and a handling arm. Thus, for example, in the process of outbound delivery of target goods, the handling mechanism first moves up and down along the lifting mechanism to the storage location of the target goods. Then, the handling mechanism uses the handling arm to move the target goods from the storage location of the first shelf to the handling platform. The handling mechanism then moves up and down along the lifting mechanism to the height of the idle loading component. Then, the handling arm can move the target goods located on the handling platform to the idle loading component. Of course, the process of inbound delivery of target goods is similar to the outbound process described above, and will not be repeated here.

[0144] In one embodiment, the handling mechanism 14 and the lifting mechanism 13 are configured to work together when the intelligent mobile robot is near the first shelf 30, so that goods at any storage location 31 of the first shelf 30 are transferred via the buffer of the loading member 12 to another storage location 31 at a different location on the first shelf 30.

[0145] In other words, the intelligent mobile robot can also adjust the storage location of goods in a certain storage position on the first shelf through the coordinated work of the handling mechanism and the lifting mechanism.

[0146] Specifically, it should be understood that the intelligent mobile robot can first cache the goods in a certain storage location onto its own cargo-carrying component, and then transfer the goods to another storage location. In this way, through the caching of its multiple cargo-carrying components, the intelligent mobile robot of this embodiment can simultaneously realize the storage location adjustment of multiple goods, which is convenient to use.

[0147] Secondly, this application provides an intelligent mobile robot, which is the second robot mentioned above. The intelligent mobile robot includes a second chassis and an operating mechanism, with the operating mechanism mounted on top of the second chassis.

[0148] The second chassis and the operating mechanism are configured to work together to transfer the target goods obtained by the shuttle robot (the shuttle robot in the second aspect is the first robot mentioned above) from the first shelf to the second shelf to complete the outbound process of the target goods, or to transfer the target goods carried on the second shelf to the shuttle robot to complete the inbound process of the target goods.

[0149] As described above, the shuttle robot (i.e., the first robot) includes a first chassis and a storage mechanism. The storage mechanism includes at least two layers of cargo-carrying components arranged at intervals along the height direction above the first chassis. The cargo-carrying components are used to carry target goods.

[0150] Furthermore, the transfer of the target goods between the second shelf and the connecting robot is achieved through the transfer operation performed by the intelligent mobile robot on the second shelf when the loading component of the connecting robot is connected to the second shelf and the intelligent mobile robot is located in the connection area.

[0151] The connection between the cargo-carrying component of the connecting robot and the second shelf, as well as the transfer operations performed by the intelligent mobile robot on the second shelf, can be found in the description above and will not be repeated here.

[0152] The operating mechanism of the intelligent mobile robot (i.e., the second robot) includes a lifting mechanism. When the intelligent mobile robot moves to the area under the second shelf, the lifting mechanism is used to lift or lower the second shelf to complete the transfer operation of the second shelf.

[0153] In one embodiment, the second shelf is provided with at least two layers of second cargo trays spaced apart along the height direction; wherein the number of layers of cargo components is the same as the number of layers of second cargo trays; the spacing height of the cargo components is the same as the spacing height of the second cargo trays; the connection between the cargo components and the second shelf includes: each cargo component is connected to the second cargo tray of its corresponding layer.

[0154] In one embodiment, the cargo-carrying component includes cargo-carrying comb teeth; each second cargo tray of the second shelf is configured to have pallet comb teeth that are complementary to the cargo-carrying comb teeth;

[0155] The connection between each cargo component and the second cargo plate of its corresponding layer includes:

[0156] Outbound connection: Each cargo comb tooth is located above the pallet comb tooth of the second cargo plate of its corresponding layer and intersects with the pallet comb tooth of the second cargo plate of its corresponding layer, wherein the cargo comb tooth carries the target goods.

[0157] In the inbound connection, each cargo comb tooth is located below the pallet comb tooth of the second cargo plate of its corresponding layer and intersects with the pallet comb tooth of the second cargo plate of its corresponding layer, wherein the pallet comb tooth carries the target goods.

[0158] The transfer operations performed by the intelligent mobile robot on the second shelf include:

[0159] Outbound transfer operation includes a lifting operation performed by an intelligent mobile robot on the second shelf. The lifting operation causes the pallet comb teeth of each second loading pallet to pass through the loading comb teeth of its corresponding layer and move above the loading comb teeth, so that the target goods carried on the loading comb teeth are transferred to the pallet comb teeth of its corresponding layer.

[0160] The inbound transfer operation includes the lifting and lowering operation of the intelligent mobile robot on the second shelf. The lifting and lowering operation causes the pallet comb teeth of each second loading pallet to move through the loading comb teeth of its corresponding layer and move to the underside of the loading comb teeth, so that the target goods carried on the pallet comb teeth are transferred to the loading comb teeth of its corresponding layer.

[0161] In response to the completion of the transfer operation, the connecting robot disconnects the cargo component from the second shelf by moving the first chassis.

[0162] In one specific implementation, combined with Figure 3 Each layer of the second shelf 40 has a second pallet 41 with first pallet comb teeth 411 and second pallet comb teeth 412 on opposite sides, with the openings of the first pallet comb teeth 411 and the second pallet comb teeth 412 facing opposite directions. The second chassis 21 and the operating mechanism 22 are configured to work together to perform a rotation operation on the second shelf 40. Specifically, during the outbound process of the target goods, the rotation operation is used to reposition the first pallet comb teeth fully loaded with target goods and the second pallet comb teeth unloaded with target goods; during the inbound process of the target goods, the rotation operation is used to reposition the first pallet comb teeth unloaded with target goods and the second pallet comb teeth not unloaded with target goods.

[0163] Among them, see Figure 3 For each second shelf of the second rack, the second shelf has a first pallet comb and a second pallet comb on opposite sides, respectively, so that the opposite sides of the second shelf (i.e. Figure 3 Both the left and right sides of the container can be used to carry the target cargo; that is to say, for Figure 3 The second shelf in the center has three layers of pallet combs on both its left and right sides to carry the target goods.

[0164] Furthermore, once one side is fully loaded, the intelligent mobile robot (the second robot) can rotate the second shelf through the coordinated operation of the second chassis and the operating mechanism. Specifically, this rotation operation involves rotating the second shelf 180 degrees in place, which causes the pallet comb teeth on the left and right sides to shift relative to the connecting area. In other words, this rotation operation causes the first and second pallet comb teeth to shift. Alternatively, the intelligent mobile robot can first lift the second shelf and move it outside the connecting area, then rotate it 180 degrees and move it back to the connecting area.

[0165] In addition, see Figure 4 For each cargo component of the docking robot (i.e., the first robot), along the depth direction of the cargo component (i.e. Figure 4 (In the left and right direction), the cargo-carrying component can accommodate a target object, which facilitates subsequent transfer operations.

[0166] Then, along the width direction of the cargo-carrying component (i.e. Figure 4 (In the vertical direction) of the loading component, each loading component can accommodate one target object. Therefore, it should be understood that the docking robot can transfer several target objects simultaneously by having several layers of loading components. Of course, along the width direction of the loading component, it can also accommodate two or more target objects. (See [reference needed]). Figure 5 , Figure 5 The diagram shows that the cargo component can accommodate two target objects along its width. It should be understood that each cargo component can accommodate two target objects, and the docking robot can transfer twice the number of target objects at the same time by having several layers of cargo components.

[0167] It should also be understood that, regardless of how many target objects a single cargo component can accommodate, for the second shelf, the number of target objects that the second cargo pallet can accommodate along its width direction should be an integer multiple of the number of target objects accommodated by the cargo component.

[0168] For example, such as Figure 5 As shown, if a cargo component can simultaneously accommodate two target objects along its width direction, then the second cargo plate can simultaneously accommodate two, four, six, or other target objects along its width direction.

[0169] In one specific embodiment, the intelligent mobile robot and the second shelf are integrated; or, the intelligent mobile robot and the second shelf are separate, and the second shelf is supported by the intelligent mobile robot; the connection area is located outside the area where the first shelf is located, or the connection area is located below the first shelf.

[0170] Thirdly, this application provides a robot system, which includes a first robot and a second robot that act as interoperable robots, wherein the first robot is the first robot described above, and the second robot is the second robot described above.

[0171] Based on the first and second robots disclosed above, in a fourth aspect, this application provides a robot scheduling method, see below. Figure 10 The robot scheduling method includes:

[0172] A. Send a docking instruction to the first robot, wherein the first robot includes a first chassis and a storage mechanism, and the storage mechanism includes at least two layers of cargo-carrying components arranged at intervals along the height direction above the first chassis; the docking instruction is used to move the first robot to the docking area and to dock the cargo-carrying components of the storage mechanism with the second shelf located in the docking area.

[0173] B. In response to the docking completion instruction, a transfer instruction is sent to the second robot that has arrived at the docking area, wherein the transfer instruction is used to cause the second robot to transfer the target goods placed on the cargo-carrying component to the second shelf by performing a transfer operation on the second shelf, or to transfer the target goods placed on the second shelf to the cargo-carrying component.

[0174] In step A, a docking instruction is first sent to the first robot. Then, the first robot moves to the docking area according to the docking instruction and docks its cargo-carrying component with the second shelf located in the docking area.

[0175] In step B, after receiving the docking completion instruction from the first robot, a transfer instruction is sent to the second robot that has arrived at the docking area. Then, the second robot performs a transfer operation on the second shelf according to the transfer instruction. Through this transfer operation, the target goods can be transferred between the second shelf and the loading component of the first robot. It can be understood that when the target goods are transferred from the second shelf to the loading component, it corresponds to the warehousing process of the target goods, and when the target goods are transferred from the loading component to the second shelf, it corresponds to the outbound process of the target goods.

[0176] In one embodiment, the second shelf is provided with at least two layers of second cargo trays spaced apart along the height direction; wherein the number of layers of cargo components is the same as the number of layers of second cargo trays; the spacing height of the cargo components is the same as the spacing height of the second cargo trays; wherein the connection between the cargo components and the second shelf specifically includes: each cargo component connecting with the second cargo tray of its corresponding layer.

[0177] In other words, the number of layers of the second loading plate in the second shelf is the same as the number of layers of the loading components in the first robot, and the spacing height is the same. Thus, the connection between the loading components and the second shelf is specifically that each loading component connects with the second loading plate of its corresponding layer.

[0178] In one embodiment, the cargo-carrying component includes cargo-carrying comb teeth; each second cargo tray of the second shelf is configured to have pallet comb teeth that are complementary to the cargo-carrying comb teeth;

[0179] Step A includes:

[0180] A1. Send an outbound pick-up command to the first robot. Specifically, the outbound pick-up command causes each loading comb tooth to be positioned above the pallet comb teeth of the second loading plate on its corresponding layer, and to stagger each loading comb tooth with the pallet comb teeth of the second loading plate on its corresponding layer. The loading comb teeth carry the target goods; or...

[0181] A2. Send an inbound connection instruction to the first robot. The inbound connection instruction specifically causes each cargo comb tooth to be located below the pallet comb tooth of the second cargo plate of its corresponding layer, and causes each cargo comb tooth to be staggered with the pallet comb tooth of the second cargo plate of its corresponding layer, wherein the pallet comb tooth carries the target goods.

[0182] That is, the connection instruction can be either an outbound connection instruction or an inbound connection instruction. Depending on whether it is an outbound or inbound connection instruction, the relative height between the cargo comb teeth and the pallet comb teeth will be different.

[0183] When the outbound connection command is issued, the loading comb teeth carry the target goods. In this case, the connection between the loading comb teeth and the second shelf is specifically that the loading comb teeth are above the pallet comb teeth. When the inbound connection command is issued, the pallet comb teeth carry the target goods. In this case, the connection between the loading comb teeth and the second shelf is specifically that the loading comb teeth are below the pallet comb teeth. Of course, considering that the loading comb teeth of the first robot may not be able to move up and down in the vertical direction, the difference in relative height between the loading comb teeth and the pallet comb teeth can be specifically achieved by the second robot lifting or lowering the second shelf.

[0184] In one specific implementation, step B includes:

[0185] B1. Send an outbound transfer instruction to the second robot arriving at the receiving area. Specifically, the outbound transfer instruction instructs the second robot to perform a lifting operation on the second shelf. This lifting operation causes the pallet comb teeth of each second loading pallet to pass through the loading comb teeth of its corresponding layer and move above those loading comb teeth, so that the target goods carried on the loading comb teeth are transferred to the pallet comb teeth of their corresponding layer; or...

[0186] B2. Send an inbound transfer instruction to the second robot that has arrived at the docking area. The inbound transfer instruction specifically instructs the second robot to perform a lifting and lowering operation on the second shelf. The lifting and lowering operation causes the pallet comb teeth of each second cargo pallet to pass through the cargo comb teeth of its corresponding layer and move to the underside of the cargo comb teeth, so that the target goods carried on the pallet comb teeth are transferred to the cargo comb teeth of its corresponding layer.

[0187] It should be understood that the outbound connection instruction mentioned above corresponds to the outbound transfer instruction, and the inbound connection instruction mentioned above corresponds to the inbound transfer instruction.

[0188] That is, for example, in the process of outbound goods, an outbound transfer instruction is first sent to the first robot, and then, in response to the outbound transfer completion instruction, an outbound transfer instruction is sent to the second robot that has arrived at the transfer area; similarly, for example, in the process of inbound goods, an inbound transfer instruction is first sent to the first robot, and then, in response to the inbound transfer completion instruction, an inbound transfer instruction is sent to the second robot that has arrived at the transfer area.

[0189] In one specific embodiment, the robot scheduling method further includes:

[0190] C. In response to the completion of the transfer operation, a disconnection command is sent to the first robot. The disconnection command is used to cause the first robot to disconnect the cargo component from the second shelf by moving the first chassis.

[0191] In one specific embodiment, each layer of the second shelf has a first pallet comb and a second pallet comb on opposite sides, with the openings of the first and second pallet combs facing opposite directions; wherein, the robot scheduling method further includes:

[0192] D. In response to the half-load signal of the second shelf, send a rotation command to the second robot. The rotation command is used to make the second robot perform a rotation operation on the second shelf.

[0193] In the process of the target goods leaving the warehouse, the rotation operation is used to reposition the first pallet comb teeth that are fully loaded with the target goods and the second pallet comb teeth that are not loaded with the target goods.

[0194] During the warehousing process of the target goods, the rotation operation is used to reposition the first pallet comb teeth that are unloading the target goods and the second pallet comb teeth that are not unloading the target goods.

[0195] In one specific embodiment, the robot scheduling method further includes:

[0196] E. Send an outbound instruction to the first robot; the outbound instruction is used to make the first robot move to the adjacent first shelf via the first chassis, so as to wait for the target goods stored at any storage location of the first shelf to be moved to the cargo-carrying component that is in an idle state.

[0197] F. Send an inbound instruction to the first robot. The inbound instruction is used to move the first robot to the adjacent first shelf via the first chassis, so as to wait for the target goods carried by the cargo-carrying component to be moved to any storage location of the first shelf.

[0198] In other words, if the target goods are being shipped out of the warehouse, the robot scheduling method should follow the sequence of steps E, A1, B1, and C; if the target goods are being received into the warehouse, the robot scheduling method should follow the sequence of steps A2, B2, C, and F.

[0199] Fifthly, this application provides a robot scheduling device, see below. Figure 11 The robot scheduling device includes:

[0200] The docking module 71 is used to send docking instructions to the first robot, wherein the first robot includes a first chassis and a storage mechanism, and the storage mechanism includes at least two layers of cargo-carrying components arranged at intervals along the height direction above the first chassis; the docking instructions are used to cause the first robot to move adjacent to the docking area and to dock the cargo-carrying components of the storage mechanism with the second shelf located in the docking area.

[0201] The transfer module 72 is used to send a transfer instruction to the second robot that has arrived at the transfer area in response to the transfer completion instruction. The transfer instruction is used to cause the second robot to transfer the target goods placed on the cargo-carrying component to the second shelf by performing a transfer operation on the second shelf, or to transfer the target goods placed on the second shelf to the cargo-carrying component.

[0202] In one specific embodiment, the second shelf is provided with at least two layers of second cargo trays spaced apart along the height direction; wherein, the number of layers of cargo components is the same as the number of layers of second cargo trays; the spacing height of the cargo components is the same as the spacing height of the second cargo trays; wherein, the connection between the cargo components and the second shelf specifically includes: each cargo component is connected to the second cargo tray of its corresponding layer.

[0203] In one specific embodiment, the connection module includes:

[0204] The outbound connection submodule is used to send outbound connection instructions to the first robot. Specifically, the outbound connection instructions cause each loading comb tooth to be positioned above the pallet comb teeth of the second loading plate on its corresponding layer, and to stagger each loading comb tooth with the pallet comb teeth of the second loading plate on its corresponding layer; or...

[0205] The inbound docking submodule is used to send inbound docking instructions to the first robot. Specifically, the inbound docking instructions cause each cargo comb tooth to be located below the pallet comb tooth of the second cargo plate of its corresponding layer, and cause each cargo comb tooth to be staggered with the pallet comb tooth of the second cargo plate of its corresponding layer.

[0206] In one specific embodiment, the transfer module includes:

[0207] The outbound transfer submodule is used to send outbound transfer instructions to the second robot arriving at the receiving area. Specifically, the outbound transfer instructions cause the second robot to perform a lifting operation on the second shelf. This lifting operation causes the pallet comb teeth of each second loading pallet to pass through the loading comb teeth of its corresponding layer and move above those loading comb teeth; or...

[0208] The inbound transfer submodule is used to send inbound transfer instructions to the second robot that arrives at the docking area. The inbound transfer instructions specifically cause the second robot to perform a lifting and lowering operation on the second shelf. The lifting and lowering operation causes the pallet comb teeth of each second loading pallet to pass through the loading comb teeth of its corresponding layer and move to below the loading comb teeth.

[0209] In one specific embodiment, the robot scheduling device includes:

[0210] The disconnection module is used to send a disconnection command to the first robot in response to the completion of the transfer operation. The disconnection command is used to cause the first robot to disconnect the cargo component from the second shelf by moving the first chassis.

[0211] In one specific embodiment, each layer of the second shelf has a first pallet comb tooth and a second pallet comb tooth on opposite sides, and the openings of the first pallet comb tooth and the second pallet comb tooth face opposite directions.

[0212] The robot scheduling device also includes:

[0213] The rotation module is used to send a rotation command to the second robot in response to the half-load signal of the second shelf. The rotation command is used to cause the second robot to perform a rotation operation on the second shelf, and the rotation operation causes the first pallet comb teeth and the second pallet comb teeth to be displaced.

[0214] In one specific embodiment, the robot scheduling device further includes:

[0215] The outbound module is used to send outbound instructions to the first robot. The outbound instructions are used to make the first robot move to the adjacent first shelf via the first chassis, so as to wait for the target goods stored in any storage position of the first shelf to be moved to the cargo-carrying component that is in an idle state.

[0216] The warehousing module is used to send warehousing instructions to the first robot. The warehousing instructions are used to move the first robot to the adjacent first shelf via the first chassis, so as to wait for the target goods carried by the cargo-carrying component to be moved to any storage location of the first shelf.

[0217] In a sixth aspect, this application provides a non-transitory computer-readable storage medium that stores instructions that, when executed by a processor, cause the processor to perform the steps in the robot scheduling method described above.

[0218] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0219] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0220] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0221] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0222] The above description has been given for illustrative and descriptive purposes. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize that certain variations, modifications, alterations, additions, and sub-combinations thereof should be included within the scope of protection of this invention.

Claims

1. A robot system, characterized in that, The robot system includes: a first robot and a second robot; wherein... The first robot includes: First chassis; A storage mechanism comprising at least two layers of cargo-carrying components spaced apart in the height direction above the first chassis; When the first chassis drives the first robot to approach the first shelf, the target goods stored at any storage location of the first shelf are moved to the cargo-carrying component that is in an idle state, or the target goods carried by the cargo-carrying component are moved to any storage location of the first shelf. When the first chassis drives the first robot to approach the docking area, the cargo component is placed to dock with the second shelf in the docking area, and the target goods placed on the cargo component are transferred to the second shelf through the transfer operation performed by the second robot in the docking area on the second shelf, or the target goods placed on the second shelf are transferred to the cargo component. The second robot is further used to: move the second shelf entirely away from the receiving area or move the second shelf entirely to the receiving area.

2. The robot system according to claim 1, characterized in that, The second shelf has at least two layers of second cargo pallets spaced apart along its height; wherein, The spacing height of the cargo-carrying components is the same as the spacing height of the second cargo-carrying plate; The connection between the cargo component and the second shelf includes: each cargo component connecting to the second cargo tray of its corresponding layer.

3. The robot system according to claim 2, characterized in that, The cargo-carrying component includes cargo-carrying comb teeth; each layer of the second cargo-carrying plate of the second shelf is configured to have pallet comb teeth that are complementary to the cargo-carrying comb teeth; The connection between each of the cargo-carrying components and the second cargo-carrying plate of its corresponding layer includes: Outbound connection, each of the cargo-carrying comb teeth is located above the pallet comb teeth of the second cargo plate of its corresponding layer, and intersects with the pallet comb teeth of the second cargo plate of its corresponding layer, wherein the cargo-carrying comb teeth carry the target goods; In the warehouse receiving process, each of the cargo-carrying comb teeth is located below the pallet comb teeth of the second cargo plate of its corresponding layer and intersects with the pallet comb teeth of the second cargo plate of its corresponding layer, wherein the pallet comb teeth carry the target goods. The transfer operation performed by the second robot on the second shelf includes: Outbound transfer operation, the outbound transfer operation includes the second robot lifting operation on the second shelf, the lifting operation causing the pallet comb teeth of each second cargo pallet to pass through the cargo comb teeth of the corresponding layer and move above the cargo comb teeth, so that the target goods carried on the cargo comb teeth are transferred to the pallet comb teeth of the corresponding layer. The inbound transfer operation includes a lifting and lowering operation performed by the second robot on the second shelf. The lifting and lowering operation causes the pallet comb teeth of each second cargo pallet to move through the cargo comb teeth of its corresponding layer and move to below the cargo comb teeth, so that the target goods carried on the pallet comb teeth are transferred to the cargo comb teeth of its corresponding layer. In response to the completion of the transfer operation, the first robot disconnects the cargo-carrying component from the second shelf by moving the first chassis.

4. The robot system according to any one of claims 1 to 3, characterized in that, The second robot and the second shelf are integrated; or the second robot and the second shelf are separate, and the second shelf is supported by the second robot. The connection area is located outside the area where the first shelf is located, or the connection area is located below the first shelf.

5. The robot system according to any one of claims 1 to 3, characterized in that, The first robot also includes: A lifting mechanism, which is fixed above the first chassis; A conveying mechanism, wherein the conveying mechanism is mounted on the lifting mechanism; The conveying mechanism and the lifting mechanism are configured to work together when the first robot is near the first shelf, such that the target goods stored at any storage location of the first shelf are moved to the cargo-carrying component that is in an idle state, or that the target goods carried by the cargo-carrying component are moved to any storage location of the first shelf.

6. The robot system according to claim 5, characterized in that, The handling mechanism and the lifting mechanism are configured to work together when the first robot is near the first shelf, such that goods at any of the storage locations on the first shelf are transferred via the buffer of the loading member to another storage location at a different position on the first shelf.

7. The robot system according to claim 2 or 3, characterized in that, The second robot includes: Second chassis; An operating mechanism is mounted on top of the second chassis; The second chassis and the operating mechanism are configured to work together to move the second shelf as a whole to the receiving area or to move the second shelf as a whole away from the receiving area, and to transfer the target goods obtained by the first robot from the first shelf to the second shelf, or to transfer the target goods carried by the second shelf to the first robot.

8. The robot system according to claim 7, characterized in that, Each layer of the second shelf has a first pallet comb tooth and a second pallet comb tooth on opposite sides, with the openings of the first pallet comb tooth and the second pallet comb tooth facing opposite directions. The second chassis and the operating mechanism are configured to work together to perform a rotation operation on the second shelf; In the process of the target goods leaving the warehouse, the rotation operation is used to displace the first pallet comb teeth fully loaded with the target goods and the second pallet comb teeth unloaded with the target goods. During the warehousing process of the target goods, the rotation operation is used to displace the first pallet comb teeth that are unloading the target goods and the second pallet comb teeth that are not unloading the target goods.

9. A robot scheduling method, characterized in that, include: A docking command is sent to a first robot, wherein the first robot includes a first chassis and a storage mechanism, the storage mechanism including at least two layers of cargo-carrying components arranged at intervals along the height direction above the first chassis; the docking command is used to cause the first robot to move adjacent to the docking area and to cause the cargo-carrying components of the storage mechanism to dock with a second shelf located in the docking area; In response to a docking completion command, a transfer command is sent to the second robot that has arrived at the docking area. The transfer command is used to cause the second robot to transfer the target goods placed on the cargo-carrying component to the second shelf by performing a transfer operation on the second shelf, so that when the second robot moves the second shelf entirely out of the docking area, the target goods on the second shelf are moved entirely away; or the target goods placed on the second shelf are transferred to the cargo-carrying component, wherein the second shelf is moved to the docking area entirely by the second robot.

10. The robot scheduling method according to claim 9, characterized in that, The second shelf has at least two layers of second cargo pallets spaced apart along its height; wherein, The spacing height of the cargo-carrying components is the same as the spacing height of the second cargo-carrying plate; Specifically, the connection between the cargo-carrying component and the second shelf includes: each cargo-carrying component connecting with the second cargo-carrying plate of its corresponding layer.

11. The robot scheduling method according to claim 10, characterized in that, The cargo-carrying component includes cargo-carrying comb teeth; each layer of the second cargo-carrying plate of the second shelf is configured to have pallet comb teeth that are complementary to the cargo-carrying comb teeth; The step of sending the docking command to the first robot includes: A dispatch command is sent to the first robot, specifically causing each of the cargo-carrying comb teeth to be positioned above the pallet comb teeth of the second cargo plate on its corresponding layer, and causing each cargo-carrying comb tooth to interweave with the pallet comb teeth of the second cargo plate on its corresponding layer, wherein the cargo-carrying comb teeth carry the target goods; or, Send an inbound connection instruction to the first robot. Specifically, the inbound connection instruction causes each of the cargo-carrying comb teeth to be located below the pallet comb teeth of the second cargo-carrying plate on its corresponding layer, and causes each of the cargo-carrying comb teeth to be staggered with the pallet comb teeth of the second cargo-carrying plate on its corresponding layer, wherein the pallet comb teeth carry the target goods.

12. The robot scheduling method according to claim 11, characterized in that, The step of sending a transfer instruction to the second robot that has arrived at the docking area includes: A delivery transfer instruction is sent to the second robot upon arrival at the receiving area. Specifically, the delivery transfer instruction causes the second robot to perform a lifting operation on the second shelf. This lifting operation causes the pallet comb teeth of each second loading pallet to pass through the loading comb teeth of its corresponding layer and move above those loading comb teeth, so that the target goods carried on the loading comb teeth are transferred to the pallet comb teeth of their corresponding layer; or... Send an inbound transfer instruction to the second robot that has arrived at the docking area. The inbound transfer instruction specifically causes the second robot to perform a lifting and lowering operation on the second shelf. The lifting and lowering operation causes the pallet comb teeth of each second cargo pallet to move through the cargo comb teeth of its corresponding layer and move to below the cargo comb teeth, so that the target goods carried on the pallet comb teeth are transferred to the cargo comb teeth of its corresponding layer.

13. The robot scheduling method according to claim 12, characterized in that, Also includes: In response to the completion of the transfer operation, a disconnection command is sent to the first robot, the disconnection command being used to cause the first robot to disconnect the cargo component from the second shelf by moving the first chassis.

14. The robot scheduling method according to claim 11, characterized in that, Each layer of the second shelf has a first pallet comb tooth and a second pallet comb tooth on opposite sides, with the openings of the first pallet comb tooth and the second pallet comb tooth facing opposite directions. The robot scheduling method further includes: In response to the half-load signal of the second shelf, a rotation command is sent to the second robot, the rotation command being used to cause the second robot to perform a rotation operation on the second shelf; In the process of the target goods leaving the warehouse, the rotation operation is used to displace the first pallet comb teeth fully loaded with the target goods and the second pallet comb teeth unloaded with the target goods. During the warehousing process of the target goods, the rotation operation is used to displace the first pallet comb teeth that are unloading the target goods and the second pallet comb teeth that are not unloading the target goods.

15. The robot scheduling method according to claim 9, characterized in that, The robot scheduling method further includes: Send an outbound command to the first robot; the outbound command is used to cause the first robot to move to the adjacent first shelf via the first chassis, so as to wait for the target goods stored at any storage location of the first shelf to be moved to the cargo-carrying component that is in an idle state. Send an inbound instruction to the first robot, the inbound instruction being used to move the first robot via the first chassis to a nearby first shelf, in order to wait for the target goods carried by the cargo-carrying component to be moved to any of the storage locations on the first shelf.

16. A robot scheduling device, characterized in that, include: A docking module is used to send docking instructions to a first robot, wherein the first robot includes a first chassis and a storage mechanism, the storage mechanism including at least two layers of cargo-carrying components arranged at intervals along the height direction above the first chassis; the docking instructions are used to cause the first robot to move adjacent to the docking area and to cause the cargo-carrying components of the storage mechanism to dock with a second shelf located in the docking area; A transfer module is configured to send a transfer instruction to a second robot that has arrived at the transfer area in response to a transfer completion instruction. The transfer instruction is configured to cause the second robot to transfer the target goods placed on the cargo-carrying component to the second shelf by performing a transfer operation on the second shelf, so that when the second robot moves the second shelf entirely out of the transfer area, the target goods on the second shelf are moved entirely away; or to cause the target goods placed on the second shelf to be transferred to the cargo-carrying component, wherein the second shelf is moved to the transfer area entirely by the second robot.

17. A non-transitory computer-readable storage medium, characterized in that, The non-transitory computer-readable storage medium stores instructions, which, when executed by a processor, cause the processor to perform the steps in the robot scheduling method as described in any one of claims 9 to 15.

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