Warehouse system and its dispatching method

Abstract

The present disclosure relates to a warehouse system and a scheduling method thereof. The warehouse system comprises a warehouse area, a work station, a first transfer robot, a second transfer robot and a control server. The warehouse area is arranged with a plurality of movable carriers for storing containers; the work station is configured to process the containers; the first transfer robot is configured to transfer the movable carriers between the warehouse area and the work station; the second transfer robot is configured to transfer the containers between the warehouse area and the work station; and the control server is configured to control the second transfer robot to transfer a target container to the work station for processing in response to the target container satisfying a first preset condition in a scheduling instruction, and control the first transfer robot to transfer a movable carrier storing the target container to the work station for processing in response to the target container satisfying a second preset condition in the scheduling instruction. The present disclosure can reduce the transfer of useless containers, thereby improving the efficiency of the joint transfer of the two robots.

Description

Technical Field

[0001] This disclosure relates to the field of logistics and warehousing, specifically to a warehousing system; this disclosure also relates to a scheduling method applied to the warehousing system. Background Technology

[0002] In recent years, the rapid development of robotics technology has brought about tremendous technological changes to the logistics industry. "Goods-to-person" robot systems have introduced new technologies and design concepts to the warehousing industry. "Goods-to-person" can include two handling methods: shelf-to-person and box-to-person. "Shelf-to-person" refers to robots moving shelves to the workstation, while "box-to-person" refers to robots moving boxes to the workstation. Workstation staff can then pick goods based on order information.

[0003] Currently, both "box-to-person" and "shelf-to-person" handling methods are typically used simultaneously in a warehousing system. Handling shelving offers the advantage of aggregation, while handling boxes offers the advantage of flexibility. However, sometimes only a small number of boxes are handled on the shelving unit. In such cases, handling the shelving unit is less efficient, and directly handling these boxes is more efficient. Therefore, the efficiency of combining these two robot handling methods needs improvement. Summary of the Invention

[0004] This disclosure provides a warehousing system and its scheduling method to address the problems existing in the prior art.

[0005] According to a first aspect of this disclosure, a warehousing system is provided, comprising:

[0006] The storage area contains multiple mobile carriers for storing containers.

[0007] A workstation configured to process the container;

[0008] A first transport robot is configured to transfer the mobile vehicle between the storage area and the workstation.

[0009] A second handling robot is configured to transfer the container between the storage area and the workstation;

[0010] A control server is configured to control a second transport robot to transport the target container to a workstation for processing when the target container meets a first preset condition in a scheduling instruction; and to control a first transport robot to transport a mobile carrier containing the target container to a workstation for processing when the target container meets a second preset condition in a scheduling instruction.

[0011] In one embodiment of this disclosure, the control server is configured to control the second handling robot to transport at least one target container on the same mobile carrier to a workstation for processing, or to control the second handling robot to collect target containers located on different mobile carriers one by one and transport them together to the workstation for processing.

[0012] In one embodiment of this disclosure, the warehousing system further includes a container loading and unloading device located at the workstation, the container loading and unloading device being configured to transfer the target container between the workstation and a mobile carrier; and / or, to transfer the target container between the workstation and a second handling robot.

[0013] In one embodiment of this disclosure, a fixed carrier for storing containers is provided in the storage area, the bottom of the fixed carrier being configured to have a receiving area for parking the movable carrier; the storage system further includes a transfer robot configured to transfer the containers between the fixed carrier and the movable carrier.

[0014] In one embodiment of this disclosure, the second preset condition is that the number of target containers on the mobile vehicle is higher than a threshold; and / or, the first preset condition is that the number of target containers on the mobile vehicle is lower than a threshold, or the target containers are located on a fixed vehicle.

[0015] In one embodiment of this disclosure, the number of target containers is the number of target containers destined for the same workstation.

[0016] In one embodiment of this disclosure, a lane is formed between two adjacent fixed vehicles; a first track extending along the lane is provided on the fixed vehicle at a position higher than the movable vehicle, and the transfer robot is configured to walk along the first track in the lane to move to a position corresponding to a different column on the fixed vehicle or the movable vehicle.

[0017] In one embodiment of this disclosure, the transfer robot includes:

[0018] A lifting mechanism, which cooperates with a first track and is configured to move along the first track;

[0019] A container retrieval mechanism is configured to retrieve and place containers; the container retrieval mechanism is disposed on the lifting mechanism and is configured to be controlled by a first drive mechanism to move in the height direction relative to the lifting mechanism to a position that does not correspond to a row on a fixed or movable vehicle.

[0020] In one embodiment of this disclosure, before the first handling robot moves the movable vehicle into or out of the receiving area, the control server is configured to control the lifting mechanism to move on a first track to avoid the movable vehicle; or to control the box-retrieving mechanism to move along the lifting mechanism in the height direction to avoid the movable vehicle.

[0021] In one embodiment of this disclosure, the lifting mechanism includes:

[0022] A sliding seat, which is guided and fitted on the first track and configured to move on the first track under the control of a second drive mechanism;

[0023] A fixed column is connected to the sliding seat and is configured to extend in the height direction; the box-retrieving mechanism is configured to move in the height direction of the fixed column.

[0024] In one embodiment of this disclosure, the lifting mechanism further includes a lifting column that is guided and fitted on the fixed column; the lifting column is configured to move along the fixed column in the height direction under the control of a third drive mechanism; the box retrieval mechanism is connected to the lifting column and is configured to move along the lifting column in the height direction under the control of a first drive mechanism.

[0025] In one embodiment of this disclosure, the bottom of the fixed column is configured to be higher than the top of the movable vehicle; before the first handling robot moves the movable vehicle into or out of the receiving area, the control server is configured to control the lifting column to move along the fixed column to a position higher than the movable vehicle in order to avoid the movable vehicle.

[0026] In one embodiment of this disclosure, the storage system further includes a second track, the top of which is configured to be slidably connected to the second track.

[0027] In one embodiment of this disclosure, at least two first tracks are provided, and the at least two first tracks are configured to be respectively arranged on fixed vehicles on opposite sides of the alley; the transfer robot is configured to transfer containers between fixed vehicles and movable vehicles on opposite sides of the alley.

[0028] In one embodiment of this disclosure, the warehousing system includes a buffer carrier for temporarily storing target containers; after the control server is configured to control a transfer robot to transfer a number of target containers less than a threshold from a fixed carrier and / or a movable carrier to the buffer carrier, the second handling robot is configured to transfer the target containers located on the buffer carrier to a workstation for processing.

[0029] In one embodiment of this disclosure, the buffer carrier is disposed at the end region of the fixed carrier, and the end region of the buffer carrier is provided with a docking area. The second transport robot is configured to walk to the docking area and then pick up and place the target container located on the buffer carrier.

[0030] In one embodiment of this disclosure, the orthographic projection of the buffer / dock area in the direction of the alleyway extension is located within the orthographic projection range of the fixed vehicle in the direction of the alleyway extension; the planned path of the second transport robot is isolated from the alleyway.

[0031] According to a second aspect of this disclosure, a scheduling method implemented by the warehousing system described in the first aspect of this disclosure is also provided, comprising the following steps:

[0032] When the target container in the scheduling instruction meets the first preset condition, the control server controls the second handling robot to move the target container to the workstation for processing.

[0033] When the target container meets the second preset condition in the scheduling instruction, the control server controls the first handling robot to transport the mobile carrier containing the target container to the workstation for processing.

[0034] In one embodiment of this disclosure, the step of the control server controlling the second handling robot to transport the target container to the workstation for processing when the target container in the scheduling instruction meets the first preset condition includes:

[0035] When the target container in the scheduling instruction is located on a mobile vehicle and the number of target containers is less than a threshold, the control server controls the transfer robot to transfer the target container on the mobile vehicle to the cache vehicle; and / or, when the target container in the scheduling instruction is located on a fixed vehicle, the control server controls the transfer robot to transfer the target container located on the fixed vehicle to the cache vehicle.

[0036] The second handling robot responds to the scheduling instructions from the control server by moving the target container from the buffer carrier to the workstation for processing.

[0037] In one embodiment of this disclosure, the second transport robot is configured to retrieve target containers one by one from different buffer carriers in response to scheduling instructions from a control server, until a predetermined number of containers are retrieved and then sent to a workstation for processing.

[0038] In one embodiment of this disclosure, the step of controlling the first handling robot to transport a movable carrier containing a target container to a workstation for processing includes:

[0039] The transfer robot moves to a position to avoid the movable vehicle in response to the scheduling instructions of the control server;

[0040] The first handling robot responds to the scheduling instructions from the control server by moving the mobile carrier to the workstation for processing.

[0041] One beneficial effect of this disclosure is that by setting two preset conditions, the handling operations of the two types of handling robots can be controlled separately. The first handling robot used to handle the movable carrier only performs handling when the target container meets the first preset condition. This ensures that the movable carrier being transported to the workstation has a sufficient number of hit containers, thereby reducing the handling of useless containers and improving the efficiency of the joint handling by the two robots.

[0042] Other features and advantages of this disclosure will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0043] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments of the present disclosure and, together with their description, serve to explain the principles of the present disclosure.

[0044] Figure 1 This is a schematic diagram of the structure of the publicly disclosed warehousing system;

[0045] Figure 2 This is a structural diagram of the publicly accessible warehouse area and workstations;

[0046] Figure 3 This is a schematic diagram of the structure of this public warehouse area;

[0047] Figure 4 This is a structural schematic diagram of the first handling robot and mobile vehicle disclosed herein;

[0048] Figure 5 This is a schematic diagram of the structure of the publicly disclosed transfer robot;

[0049] Figure 6 yes Figure 5 Enlarged view of a portion of point A in the middle;

[0050] Figure 7 This is a top-down view of the publicly disclosed warehousing system;

[0051] Figure 8 This is a flowchart illustrating the scheduling method of the publicly disclosed warehousing system.

[0052] Figures 1 to 8 The one-to-one correspondence between the component names and the reference numerals in the figures is as follows:

[0053] 1. Storage area; 11. Mobile vehicle; 12. Fixed vehicle; 13. Accommodation area; 14. Lane; 15. First track; 16. Second track; 17. Buffer vehicle; 18. Dock area.

[0054] 2. Transfer robot; 21. Box retrieval mechanism; 22. First drive mechanism; 23. Fixed column; 24. Sliding seat; 25. Second drive mechanism; 26. Lifting column; 27. Third drive mechanism.

[0055] 3. The first transport robot;

[0056] 4. Second transport robot;

[0057] 5. Workstation; 51. Container loading and unloading equipment. Detailed Implementation

[0058] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present disclosure.

[0059] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use.

[0060] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0061] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0062] In this article, terms such as "up," "down," "front," "back," "left," and "right" are used only to indicate the relative positional relationship between related parts, rather than to define the absolute position of these related parts.

[0063] In this article, "first," "second," etc., are used only to distinguish one another, and not to indicate degree of importance, order, or prerequisite for each other.

[0064] In this document, terms such as “equal” and “same” are not strict mathematical and / or geometric limitations, but also include errors that are understandable to those skilled in the art and permissible in manufacturing or use.

[0065] This disclosure provides a warehousing system, including: a storage area, workstations, a first handling robot, a second handling robot, and a control server. The storage area stores various items involved in picking orders, which are placed in different containers. When the warehousing system receives a picking order, the control server controls the handling equipment to travel back and forth between the storage area and the workstation multiple times to transport all the containers matching the picking order to the workstation for processing until all items in the order are collected.

[0066] In the storage area, multiple mobile carriers containing containers are arranged. A first handling robot is constructed to transfer these mobile carriers between the storage area and the workstation. The mobile carriers can be shelves not fixed to the work surface. After the first handling robot moves to a location beneath the mobile carrier to be transported, it can move the shelf and all the containers within it together. Different items with a high simultaneous hit rate can be placed in the containers stored on the same mobile carrier. This increases the probability of simultaneously transporting multiple hit containers to the workstation during the entire transport process, thereby improving picking efficiency.

[0067] The second handling robot is configured to transfer containers between storage areas and workstations. When the container is a cargo box, the second handling robot is called a cargo box handling robot. Compared to the first handling robot used for handling mobile vehicles, the second handling robot is more flexible, has a faster movement speed, and takes significantly less time per transport.

[0068] The control server is configured to control the second transport robot to transport the target container to the workstation for processing when the target container meets the first preset condition in the scheduling instruction; and to control the first transport robot to transport the mobile carrier containing the target container to the workstation for processing when the target container meets the second preset condition in the scheduling instruction.

[0069] This disclosure controls the transport operations of two types of transport robots by setting two preset conditions. The first transport robot, used to transport mobile carriers, only performs transport when the target container meets the first preset condition. This ensures that the mobile carrier transported to the workstation has a sufficient number of hit containers, thereby reducing the transport of useless containers and improving the efficiency of the joint transport by the two robots.

[0070] The specific embodiments of this disclosure are described below with reference to the accompanying drawings.

[0071] refer to Figure 1 , Figure 2 and Figure 4This disclosure provides a warehousing system, including: a storage area 1, a workstation 5, a first handling robot 3, a second handling robot 4, and a control server. Storage area 1 stores various items involved in picking orders, which are placed in different containers. When the warehousing system receives a picking order, the control server controls the handling equipment (such as the first handling robot 3 and the second handling robot 4) to travel back and forth between storage area 1 and workstation 5 multiple times to transport all the containers matched by the picking order to workstation 5 for processing until all items in the order are collected.

[0072] In storage area 1, multiple mobile carriers 11 containing storage containers are arranged. A first handling robot 3 is configured to transfer the mobile carriers 11 between storage area 1 and workstation 5. Figure 4 As shown, the mobile carrier 11 is a shelf that is not fixed to the ground. After the first handling robot 3 runs under the mobile carrier 11 that needs to be handled, it can move this shelf to transfer the shelf and all the containers stored in it together. Different items with a high hit rate can be placed in the various containers stored on the same mobile carrier 11. In this way, when the whole carrier is transported to the workstation 5 for processing, there is a probability that multiple hit containers can be transported to the workstation 5 at the same time, thereby improving picking efficiency.

[0073] In one embodiment of this disclosure, such as Figure 3 As shown, a fixed carrier 12 for storing containers is provided in the storage area 1. The bottom of the fixed carrier 12 is configured with a receiving area 13 for parking movable carriers 11. The fixed carrier 12 cannot be moved. When it is necessary to retrieve or place containers stored on the fixed carrier 12, these containers need to be moved individually. It can be understood that the storage area 1 includes multiple fixed carriers 12, which together constitute a high-level storage area. Below the high-level storage area, a ground storage area is formed. The movable carriers 11 are located in the ground storage area and can pass under the fixed carriers 12. When the movable carriers 11 are performing storage work in the storage area 1, they are located in the receiving area 13 below the fixed carriers 12; when the movable carriers 11 are moved by the first handling robot 3, their corresponding receiving area 13 is vacated. This achieves denser warehousing, utilizes vertical space for storage, and improves space utilization.

[0074] The second handling robot 4 is configured to transfer containers between the storage area 1 and the workstation 5. When the container is a cargo box, the second handling robot 4 is a cargo box handling robot. Compared to the first handling robot 3, which is used to handle the movable carrier 11, the second handling robot 4 has greater flexibility, a faster movement speed, and takes significantly less time per handling operation than the first handling robot 3. The second handling robot 4 can handle containers that were originally stored on the movable carrier 11 or on the fixed carrier 12.

[0075] The control server is configured to, in response to a scheduling instruction where the target container meets a first preset condition, control the second handling robot 4 to move the target container to workstation 5 for processing; and to, in response to a scheduling instruction where the target container meets a second preset condition, control the first handling robot 3 to move the movable carrier 11 containing the target container to workstation 5 for processing. Specifically, the second preset condition is that the number of target containers on the movable carrier 11 is higher than a threshold; and / or, the first preset condition is that the number of target containers on the movable carrier 11 is lower than a threshold, or that the target container is located on a fixed carrier 12.

[0076] In practical applications, such as Figure 2 As shown, the warehousing system includes multiple workstations 5, which can simultaneously process multiple different picking orders, thereby improving picking efficiency. Therefore, the number of target containers mentioned above refers to the number of target containers going to the same workstation 5, that is, the number of target containers corresponding to the same picking order. A single picking order can contain multiple items, each located in a different container. Some of these containers may be stored on fixed carriers 12, while others may be stored on mobile carriers 11. Furthermore, multiple target containers may be located on the same mobile carrier 11. In this case, directly moving the mobile carrier 11 to the workstation 5 is more efficient than moving these target containers separately. The efficiency of individually moving target containers located on the same mobile carrier 11 is lower than the critical value for the efficiency of moving the mobile carrier 11, which is the "threshold" in the first and second preset conditions.

[0077] Taking a threshold of "three" as an example: when only one or two target containers are located on the same mobile carrier 11 in the picking orders going to the same workstation 5, or when the target container is located on the fixed carrier 12, the first preset condition is met, and the second handling robot 4 is controlled to transport the target container to the workstation 5 for processing; when three or more target containers are located on the same mobile carrier 11 in the picking orders going to the same workstation 5, the second preset condition is met, and the control server controls the first handling robot 3 to transport the mobile carrier 11 containing the target container to the workstation 5 for processing.

[0078] This disclosure controls the transport operations of two types of transport robots by setting two preset conditions. The first transport robot 3, used to transport the movable carrier 11, only performs transport when the target container meets the first preset condition. This ensures that the movable carrier 11 transported to the workstation 5 has a sufficient number of hit containers, thereby reducing the transport of useless containers and improving the efficiency of the joint transport by the two robots.

[0079] In one embodiment of this disclosure, the control server is configured to control the second handling robot 4 to transport at least one target container from the same mobile carrier 11 to the workstation 5 for processing, or to control the second handling robot 4 to collect target containers located on different mobile carriers 11 one by one and transport them together to the workstation 5 for processing. Multiple target containers belonging to the same picking order may be located on the same mobile carrier 11 or on different mobile carriers 11. When the number of target containers on the same mobile carrier 11 is less than a threshold, there is at least one target container on that mobile carrier 11, and the second handling robot 4 needs to transport all target containers located on that mobile carrier 11 to the workstation 5 for processing. When target containers are located on multiple different mobile carriers 11, and the number of target containers on all of these mobile carriers 11 is less than a threshold, the second handling robot 4 can move sequentially to the location of each target container, collect the target containers stored on different mobile carriers 11 one by one, and transport them together to the workstation 5 for processing.

[0080] This further improves the picking efficiency of individual orders. The control server can plan the movement path of the second handling robot 4 based on the location of the target container, allowing the single second handling robot 4 to travel through the storage area 1 and collect the target containers one by one, and then directly transfer these target containers together to the workstation for processing. This setup avoids the second handling robot 4 making multiple trips between the workstation 5 and the storage area 1, saving handling time and improving handling efficiency.

[0081] In one embodiment of this disclosure, such as Figure 2As shown, the warehousing system also includes a container handling device 51 located at workstation 5. The container handling device 51 is configured to transfer target containers between workstation 5 and the mobile carrier 11; and / or, between workstation 5 and the second handling robot 4. Workstation 5 has workers manually picking items according to order information, or picking robots, picking arms, or other equipment performing the picking work. Workers or picking equipment need to remove target items from the target containers transported to workstation 5 and pack them after all items are collected. The container handling device 51 can be a container transfer device with a conveyor belt or track, or a robotic arm with a box-retrieving and returning device. Taking a container handling device 51 with a conveyor belt as an example: one side of the container handling device 51 is docked to workstation 5, and the other side is configured to dock with the mobile carrier 11 or the second handling robot 4. When the mobile carrier 11 is transported by the first handling robot 3 to the position where it docks with the container loading and unloading equipment 51, or when the second handling robot 4 moves to the position where it docks with the container loading and unloading equipment 51, the conveyor belt on the container loading and unloading equipment 51 starts working, thereby transferring the container to the workstation 5, or transferring the container from the workstation 5 to the mobile carrier 11 or the second handling robot 4.

[0082] Setting up container handling equipment 51 can effectively improve picking efficiency and reduce labor costs. When manual picking is used, workers do not need to manually move containers to workstation 5 before picking, nor do they need to walk to areas outside the picking area within workstation 5. This greatly reduces labor costs and improves picking efficiency, further automating the picking process. When mechanical equipment is used for picking, the equipment responsible for transferring containers and the equipment responsible for picking each perform their respective functions, thereby improving picking efficiency.

[0083] In one embodiment of this disclosure, reference is made to Figure 3 and Figure 5 The warehousing system also includes a transfer robot 2, which is configured to transfer containers between a fixed carrier 12 and a movable carrier 11. Since the fixed carrier 12 is located in the high-level storage area, the containers stored there are not easily transferred directly to the workstation. Therefore, a transfer robot 2 is needed to transfer containers between the high-level storage area and the ground storage area. When a target container in a picking order is located on the fixed carrier 12, the transfer robot 2 can first transfer the target container from the fixed carrier 12 to the movable carrier 11, and then the second handling robot 4 transports the target container to the workstation for processing. This facilitates the transfer of containers located on the fixed carrier 12, achieving high-level container storage, thereby realizing dense storage and improving vertical space utilization.

[0084] In another application scenario, warehouse area 1 performs sorting operations at night based on daytime order data. Containers with a higher hit rate are moved to the lower movable carrier 11, while containers with a lower hit rate are moved to the higher fixed carrier 12. Transfer robot 2 can move containers between the fixed carrier 12 and the movable carrier 11 to complete the sorting operation. Furthermore, during nighttime sorting, containers with strong correlations are grouped together on the same movable carrier, ensuring that more target containers meet the second preset condition, further improving the sorting efficiency of the warehouse system.

[0085] In one embodiment of this disclosure, such as Figure 2 As shown, a passageway 14 is formed between two adjacent fixed carriers 12. The passageway 14 serves as the walking path for each transport robot; the first transport robot 3 can move through the passageway 14 when transporting movable carriers, and the second transport robot 4 can move through the passageway 14 when transporting containers. (Reference) Figure 3 and Figure 5 A first track 15 extending along a passageway 14 is provided on the fixed carrier 12 at a position higher than the movable carrier 11. The transfer robot 2 is configured to move along the first track 15 in the passageway 14 to a position corresponding to a different column on either the fixed carrier 12 or the movable carrier 11. The transfer robot 2 is a robot that slides along the first track 15, and at least one first track 15 can be provided in each passageway 14. The control server can control the transfer robot 2 to slide along the passageway 14 to a column corresponding to the target container. The height of the first track 15 is set higher than that of the movable carrier 11 so that the first track 15 does not obstruct the movable carrier 11 from leaving the receiving area 13.

[0086] The transfer robot 2 can move along the aisle 14 to any column position without touching the ground. The transfer robot 2, which does not touch the ground, can avoid competing with the first transport robot 3 and the second transport robot 4 for the path. When the transfer robot 2 needs to avoid, it can simply use the track to avoid the obstacle in the air without having to replan the path.

[0087] In one embodiment of this disclosure, reference is made to Figure 5 and Figure 6The transfer robot 2 includes a lifting mechanism and a container retrieval mechanism 21. The lifting mechanism cooperates with a first track 15 and is configured to move along the first track 15. The container retrieval mechanism 21 is configured to pick up and place containers. The container retrieval mechanism 21 is mounted on the lifting mechanism and is configured to move relative to the lifting mechanism in the height direction to a position that does not correspond to a position on the fixed carrier 12 or the movable carrier 11, controlled by a first drive mechanism 22. The container retrieval mechanism 21 has a platform for temporarily placing containers and also has structures that enable the container retrieval function, such as a telescopic arm, a suction cup, a gripping fork, or a telescopic fork, etc., which are not limited in this disclosure. Taking a gripping fork as an example, the gripping fork can transfer the target container between the carrier and the platform.

[0088] The lifting mechanism is slidably connected to the first track 15 and is configured to drive the box-retrieving mechanism 21 to move along the first track 15 in the direction of the aisle 14. Under the action of the lifting mechanism, the box-retrieving mechanism 21 can slide to the column corresponding to the target container, while the first drive mechanism 22 can drive the box-retrieving mechanism 21 to move vertically to the row corresponding to the target container, so that the box-retrieving mechanism 21 can move accurately to the position corresponding to the target container.

[0089] In one embodiment of this disclosure, reference continues to be made to... Figure 5 and Figure 6 At least two first tracks 15 are provided, and these tracks 15 are configured to be respectively positioned on fixed carriers 12 on opposite sides of the aisle 14. The transfer robot 2 is configured to transfer containers between the fixed carriers 12 and movable carriers 11 on opposite sides of the aisle 14. Both first tracks 15 are fixed above the movable carriers 11, so as not to affect the movable carriers 11 on both sides of the aisle 14 from leaving the receiving area 13. The two first tracks 15 enable the transfer robot 2 to move more smoothly and avoid swaying. Continuing with the example of the forklift, the forklift on the box-retrieving mechanism 21 can extend in both directions, allowing it to pick up and place containers located on both sides of the aisle 14. This allows only one transfer robot 2 to be set up in each aisle, further saving costs.

[0090] In one embodiment of this disclosure, reference is made to Figure 3Before the first handling robot 3 moves the movable carrier 11 into or out of the receiving area 13, the control server is configured to control the lifting mechanism to move along the first track 15 to avoid the movable carrier 11; or to control the box-retrieving mechanism 21 to move along the lifting mechanism in the vertical direction to avoid the movable carrier 11. When the first handling robot 3 moves the movable carrier 11 into or out of the receiving area 13, the transfer robot 2 may block the movement path of the first handling robot 3, at which point the transfer robot 2 needs to move to avoid it. There are at least two ways to avoid it: the first is to move laterally to avoid it, that is, to move along the first track 15 to a position that makes way for the target receiving area 13; the second is to move vertically to avoid it, since the first track 15 is set at a position higher than the movable carrier 11, so that the box-retrieving mechanism 21 can avoid it in the vertical direction along the lifting mechanism. The two avoidance methods can be implemented simultaneously, and the control server can flexibly avoid it according to the position of the transfer robot 2, so that the movable carrier 11 can smoothly enter and exit the receiving area 13.

[0091] In one embodiment of this disclosure, reference is made to Figure 6 The lifting mechanism includes a sliding seat 24 and a fixed column 23. The sliding seat 24 is guided and fitted on the first track 15 and is configured to move on the first track 15 under the control of a second drive mechanism 25. The fixed column 23 is connected to the sliding seat 24 and is configured to extend in the height direction. The box-retrieving mechanism 21 is configured to move in the height direction of the fixed column 23. The second drive mechanism 25 may be a motor that controls the movement of the sliding seat 24 along the first track 15. The entire transfer robot 2 is slidably connected to the first track 15 through the sliding seat 24 structure, thereby moving laterally in the aisle 14. The height of the sliding seat 24 may be flush with the first track 15, and its lowest point may not be higher than the height of the movable carrier 11, thereby avoiding obstruction of the movable carrier 11 from entering and exiting the receiving area 13.

[0092] A fixed column 23 is fixedly connected to a sliding seat 24. Specifically, the bottom of the fixed column 23 is connected to the sliding seat 24 and is configured to be higher than the top of the movable carrier 11. The lifting mechanism also includes a lifting column 26 guided to the fixed column 23. The lifting column 26 is configured to move vertically along the fixed column 23 under the control of a third drive mechanism 27. A box-retrieving mechanism 21 is connected to the lifting column 26 and is configured to move vertically along the lifting column 26 under the control of a first drive mechanism 22. The lifting column 26 is configured to be at least as long as the height of the movable carrier 11 to ensure that the box-retrieving mechanism 21 can move to a height aligned with the bottom of the movable carrier 11. The third drive mechanism 27 may be a motor that controls the vertical movement of the lifting column 26 relative to the fixed column 23, and the first drive mechanism 22 may be a motor that controls the vertical movement of the box-retrieving mechanism 21 relative to the lifting column 26.

[0093] The lifting column 26 is designed to ensure that the fixed column 23 does not obstruct the entrance and exit of the receiving area 13, while still allowing the container located on the movable carrier 11 to be retrieved. Furthermore, the fixed column 23, the lifting column 26, and the container retrieval mechanism 21 together constitute a two-stage motion structure in the vertical direction. This multi-stage motion structure allows the container retrieval mechanism 21 to reach its destination more quickly. For example, when the container retrieval mechanism 21 at the top needs to move to the bottom to retrieve a container, the first drive mechanism 22 and the third drive mechanism 27 can be activated simultaneously. This allows the lifting column 26 to descend relative to the fixed column 23 while the container retrieval mechanism 21 descends, thus enabling the container retrieval mechanism 21 to reach its destination more quickly.

[0094] In one embodiment of this disclosure, before the first handling robot moves the movable carrier 11 into or out of the receiving area 13, the control server is configured to control the lifting column 26 to move along the fixed column 23 to a position higher than the movable carrier 11 to avoid it. When the first handling robot 3 moves the movable carrier 11 into or out of the receiving area 13, the lifting column 26 and the box-retrieving mechanism 21 may block the movement path of the first handling robot 3, requiring avoidance. Specifically, the lifting column 26 and the box-retrieving mechanism 21 need to move together to a position above the movable carrier 11. Since the bottom end of the fixed column 23 is higher than the movable carrier 11, and the box-retrieving mechanism 21 is completely guided and connected to the lifting column 26, the avoidance can be completed simply by moving the lifting column 26 to a position where its bottom end is higher than the movable carrier 11.

[0095] In one embodiment of this disclosure, reference is made to Figure 5 The storage system also includes a second track 16, with the top of the fixed column 23 configured to slide along the second track 16. The second track 16 is parallel to the first track 15 and is fixed above the top of the fixed carrier 12; for example, the second track 16 can be fixed to the ceiling of the storage area 1. The bottom end of the fixed column 23 is fixedly connected to the sliding seat 24, and the top end is slidably connected to the second track 16. Compared to a connection method that only fixes the bottom end of the fixed column 23, adding the second track 16 increases the stability of the transfer robot 2's movement. Furthermore, the slidable connection of the top end of the fixed column 23 to the second track 16 reduces the resistance experienced by the fixed column 23's movement, thereby reducing the work done by the second drive mechanism 25 and lowering handling costs.

[0096] In one embodiment of this disclosure, reference is made to Figure 1The warehousing system includes a buffer carrier 17 for temporarily storing target containers. A control server is configured to control the transfer robot 2 to transfer target containers (number less than a threshold) from the fixed carrier 12 and / or the movable carrier 11 to the buffer carrier 17. Then, a second handling robot 4 is configured to transfer the target containers located on the buffer carrier 17 to the workstation 5 for processing. The buffer carrier 17 is located below the fixed carrier 12; multiple sets of corresponding fixed carriers 12 and movable carriers 11 can be paired with a buffer carrier 17. Containers on the fixed carrier 12 cannot be directly transferred from the transfer robot 2 to the second handling robot 4; therefore, the buffer carrier 17 is needed as a transfer station for the target containers.

[0097] When the target container meets the second preset condition, that is, when the number of target containers located on the same movable carrier 11 is greater than a threshold (such as when the number of target containers located on the same movable carrier 11 is greater than a threshold), Figure 1 The two movable carriers 11 on the right need to be transported to the workstation 5 by the first handling robot 3. When the target container meets the first preset condition, i.e., the target container is located on a fixed carrier, or the number of target containers on the same movable carrier 11 is less than a threshold (e.g., located on...), the target container will be transported to the workstation 5 by the first handling robot 3. Figure 1 The mobile carrier 11 on the left needs to be transported to the workstation 5 by the second handling robot 4. In this case, the target container, which was originally located on the mobile carrier 11 or the fixed carrier 12, will first be moved to the buffer carrier 17 by the transfer robot 2, and then the second handling robot 4 will collect the containers located on each buffer carrier 17 and transport them to the workstation.

[0098] In one specific embodiment of this disclosure, reference is made to Figure 7 The buffer carrier 17 is located at the end area of ​​the fixed carrier 12, and a docking area 18 is provided at the end area of ​​the buffer carrier 17. The second handling robot 4 is configured to walk to the docking area 18 and then pick up and place the target container located on the buffer carrier 17. The buffer carrier 17 is located at the end area of ​​the receiving area 13 enclosed by the fixed carrier 12. When the movable carrier 11 is located in the receiving area 13, the buffer carrier 17 is located at the end area of ​​the movable carrier 11.

[0099] Specifically, such as Figure 7As shown, in one embodiment of this disclosure, two buffer carriers 17 are respectively provided at the end regions of a fixed carrier 12 consisting of three units and three movable carriers 11 below it. Each buffer carrier 17 has a docking area 18 at its end region. When a target container is located on a fixed carrier 12, or on a movable carrier 11 and its number is less than a threshold, the target container is temporarily stored by the transfer robot 2 on the nearest buffer carrier 17 in the end region. The second transfer robot 4 can move to each docking area 18 to transport the target container located on the corresponding buffer carrier 17.

[0100] To improve the handling speed of the second handling robot 4, the number of containers it handles at a time can be controlled. For example, it can be controlled to handle only three containers at a time, thus preventing excessive weight transported per trip and ensuring timely handling of scattered containers located in various docking areas 18. Furthermore, the shape of the second handling robot 4 can be controlled; for example, it can be designed to be shorter, reducing its weight and increasing its movement speed. This allows the second handling robot 4 to complete its handling tasks promptly while maximizing its handling speed, thereby improving sorting efficiency.

[0101] In one embodiment of this disclosure, reference continues to be made to... Figure 7 The orthographic projections of the buffer vehicle 17 and the docking area 18 in the direction of extension of the alleyway 14 are within the orthographic projection range of the fixed vehicle 12 in the direction of extension of the alleyway 14; the planned path of the second transport robot 4 is isolated from the alleyway 14. The buffer vehicle 17 and the docking area 18 are located in the end area of ​​the fixed vehicle 12, and their orthographic projections in the direction of the alleyway 14 are within the orthographic projection range of the fixed vehicle 12 in the direction of extension of the alleyway 14. That is to say, the buffer vehicle 17 and the docking area 18 do not occupy the area of ​​the alleyway 14. Therefore, the second transport robot 4, which moves between the various docking areas 18, will mostly travel in the end area of ​​the fixed vehicle 12 and will not frequently cross the alleyway 14. The movable vehicle 11 will pass through the alleyway 14 when it is transported by the first transport robot 3, while the second transport robot 4 can avoid the alleyway 14 as much as possible, thus achieving path isolation between the second transport robot 4 and the first transport robot 3.

[0102] In one embodiment of this disclosure, reference continues to be made to... Figure 7The fixed carrier 12 has container placement and retrieval spaces on both sides. Transfer robots 2 are positioned on both sides of the fixed carrier 12 to transport containers from one side. A buffer carrier 17 is located at the end area of ​​one side of the fixed carrier 12, and a docking area 18 is located at the corresponding end area of ​​the other side. After transporting a target container from one side of the fixed carrier 12, the transfer robot 2 can place it directly on the buffer carrier 17 on that side. The second transport robot 4 can then move to the docking area 18 in the same end area to transport the target container.

[0103] like Figure 7 As shown, each group of fixed vehicles 12 is equipped with two buffer vehicles 17 and two docking areas 18, which are arranged diagonally. Figure 7 As shown by the arrow on the left, the second transport robot 4 can sequentially move to the docking area 18 at the end of each set of fixed carriers 12 to transport the target container on the corresponding buffer carrier 17. Figure 7 The second transport robot 4 on the left, after moving in the direction of the arrow, is able to collect the materials originally stored under each set of fixed carriers 12 (see reference). Figure 7 The target container (view direction). This further achieves path isolation, allowing the transfer robot 2 to move the container from one side of the fixed carrier 12, while the second transfer robot 4 moves the container from the other side of the fixed carrier 12, thereby avoiding path conflicts between the second transfer robot 4 and the transfer robot 2, and thus improving handling efficiency.

[0104] This disclosure also provides a scheduling method for a warehousing system, implemented by the aforementioned warehousing system, the method comprising the following steps:

[0105] When the target container in the scheduling instruction meets the first preset condition, the control server controls the second handling robot 4 to move the target container to the workstation 5 for processing.

[0106] When the target container meets the second preset condition in the scheduling instruction, the control server controls the first handling robot 3 to transport the movable carrier 11 containing the target container to the workstation 5 for processing.

[0107] In one embodiment of this disclosure, the step of controlling the second handling robot 4 to transport the target container to the workstation for processing when the target container in the scheduling instruction meets the first preset condition includes:

[0108] When the target container in the scheduling instruction is located on the mobile carrier 11 and the number of target containers is less than a threshold, the control server controls the transfer robot to transfer the target container on the mobile carrier 11 to the buffer carrier 17; and / or, when the target container in the scheduling instruction is located on the fixed carrier 12, the control server controls the transfer robot 2 to transfer the target container located on the fixed carrier 12 to the buffer carrier 17.

[0109] The second handling robot 4, in response to the scheduling instructions from the control server, moves the target container cache carrier 17 to the workstation 5 for processing.

[0110] For ease of understanding, combined with Figure 8 The above scheduling method is described in detail. In this embodiment, the scheduling method of the warehousing system includes the following steps:

[0111] S101: Picking order received.

[0112] After receiving a picking order, the control server locates the specific position of each container for each item in the order; these containers are called target containers. Target containers may be stored on mobile vehicles 11 or fixed vehicles 12. A single mobile vehicle 11 may hold a large number of target containers or only a small number of target containers.

[0113] S102: Determine whether the target container meets the first preset condition. If yes, proceed to step S103; otherwise, proceed to step S104.

[0114] When the target container is located on the fixed carrier 12, the first preset condition is met; at this time, the control server can control the transfer robot 2 to transfer the target container on the fixed carrier 12 to the cache carrier 17 for temporary storage. When the target container is located on the movable carrier 11, and the number of target containers on the movable carrier 11 is less than a threshold, the first preset condition is met; at this time, the control server can control the transfer robot 2 to transfer the target container on the movable carrier 11 to the cache carrier 17 for temporary storage.

[0115] S103: The second handling robot 4 moves the target container to workstation 5.

[0116] When the target containers meet the first preset conditions, the transfer robot 2 transfers these target containers to the buffer carrier 17, and then the second handling robot 4 needs to transport the target containers to the workstation 5.

[0117] In one specific embodiment of this disclosure, the second transport robot 4 is configured to retrieve target containers one by one from different buffer carriers 17 in response to scheduling instructions from the control server, until a predetermined number of containers are retrieved, after which they are sent to the workstation 5 for processing. The second transport robot 4 can travel to the docking area 18 corresponding to each buffer carrier 17 to collect the target containers temporarily stored on the buffer carrier 17. To improve the transport efficiency of the second transport robot 4, in a single transport trip, the second transport robot 4 will proceed to the workstation 5 after collecting a certain number of containers. The "predetermined number of containers retrieved" can be set according to the actual transport capacity of the second transport robot 4, thereby maximizing transport efficiency.

[0118] S104: Determine whether the target container meets the second preset condition. If yes, proceed to step S105; otherwise, end the program.

[0119] When a target container is located on movable carrier 11 and the number of target containers on movable carrier 11 exceeds a threshold, the second preset condition is met. If the target container does not meet either the first or second preset condition, it indicates that the item in the picking order is not present, possibly because it is located in another warehousing system or because the item is out of stock. At this point, the relevant procedures for controlling the handling of this warehousing system end.

[0120] S105: The first transport robot 3 transports the mobile carrier 11 containing the target container to the workstation 5.

[0121] When the target container meets the second preset condition, the control server will control the first handling robot 3 to move the mobile carrier 11 containing the target container to the workstation 5.

[0122] In one specific embodiment of this disclosure, the step of controlling the first handling robot 3 to transport the movable carrier 11 containing the target container to the workstation 5 for processing includes:

[0123] The transfer robot 2 moves to a position to avoid the movable vehicle 11 in response to the scheduling command of the control server;

[0124] The first handling robot 3, in response to the scheduling instructions from the control server, moves the mobile carrier 11 to the workstation 5 for processing.

[0125] The first transport robot 3 may be blocked by the transfer robot 2 during the transport of the movable carrier 11. For example, the transfer robot 2 may block the entrance / exit of the storage area 13 where the target movable carrier 11 is parked, in which case the transfer robot 2 needs to move aside; only after the transfer robot 2 moves aside can the movable carrier 11 be successfully transported out of the storage area 13. During the transport of the movable carrier 11, the transfer robot 2 located in the alley 14 may also block the path, and the lifting column 26 and the box-retrieving mechanism 21 of the transfer robot 2 need to rise along the fixed column 23 to a position higher than the movable carrier 11 to achieve the avoidance.

[0126] After the transfer robot 2 completes the avoidance, the first handling robot 3 can transport the mobile carrier 11 to the workstation 5 for processing, thereby picking several target containers located on the mobile carrier 11.

[0127] The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, and are not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein. The scope of this disclosure is defined by the appended claims.

Claims

1. A warehousing system, characterized in that, include: Storage area (1), in which multiple movable carriers (11) for storing containers are arranged; in which fixed carriers (12) for storing containers are provided in the storage area (1); Workstation (5), the workstation (5) being configured to process the container; A first handling robot (3) is configured to transfer the mobile vehicle (11) between the storage area (1) and the workstation (5). A second handling robot (4) is configured to transfer the container between the storage area (1) and the workstation (5); The control server is configured to control the second handling robot (4) to transport the target container to the workstation (5) for processing when the target container meets the first preset condition in the scheduling instruction; and to control the first handling robot (3) to transport the mobile carrier (11) containing the target container to the workstation (5) for processing when the target container meets the second preset condition in the scheduling instruction. The first preset condition is that the number of target containers on the mobile vehicle (11) is less than a threshold, or the target containers are located on the fixed vehicle (12); and / or, the second preset condition is that the number of target containers on the mobile vehicle (11) is greater than a threshold.

2. The warehousing system according to claim 1, characterized in that, The control server is configured to control the second transport robot (4) to transport at least one target container on the same mobile carrier (11) to the workstation (5) for processing, or to control the second transport robot (4) to collect the target containers located on different mobile carriers (11) one by one and transport them together to the workstation (5) for processing.

3. The warehousing system according to claim 1, characterized in that, The warehousing system also includes a container loading and unloading device (51) located at the workstation (5), the container loading and unloading device (51) being configured to transfer the target container between the workstation (5) and a mobile carrier (11); and / or, transfer the target container between the workstation (5) and a second handling robot (4).

4. The warehousing system according to claim 1, characterized in that, The bottom of the fixed carrier (12) is configured to have a receiving area (13) for parking the movable carrier (11); the storage system also includes a transfer robot (2) configured to transfer the container between the fixed carrier (12) and the movable carrier (11).

5. The warehousing system according to claim 4, characterized in that, The number of target containers is the number of target containers going to the same workstation (5).

6. The warehousing system according to claim 4, characterized in that, A passageway (14) is formed between two adjacent fixed vehicles (12); a first track (15) extending along the passageway (14) is provided on the fixed vehicle (12) at a position higher than the movable vehicle (11), and the transfer robot (2) is configured to walk along the first track (15) in the passageway (14) to move to a position corresponding to a different column on the fixed vehicle (12) or the movable vehicle (11).

7. The warehousing system according to claim 6, characterized in that, The transfer robot (2) includes: A lifting mechanism, which cooperates with a first track (15) and is configured to move along the first track (15); The container retrieval mechanism (21) is configured to retrieve and place containers; the container retrieval mechanism (21) is disposed on the lifting mechanism and is configured to be controlled by the first drive mechanism (22) to move in the height direction relative to the lifting mechanism to a position that is not on the fixed carrier (12) or the movable carrier (11).

8. The warehousing system according to claim 7, characterized in that, Before the first handling robot (3) moves the movable vehicle (11) into or out of the receiving area (13), the control server is configured to control the lifting mechanism to move on the first track (15) to avoid the movable vehicle (11); or to control the box retrieval mechanism (21) to move along the lifting mechanism in the height direction to avoid the movable vehicle (11).

9. The warehousing system according to claim 7, characterized in that, The lifting mechanism includes: A sliding seat (24) is guided and fitted on the first track (15) and is configured to move on the first track (15) under the control of a second drive mechanism (25); A fixed column (23) is connected to the sliding seat (24) and is configured to extend in the height direction; the box retrieval mechanism (21) is configured to move in the height direction of the fixed column (23).

10. The warehousing system according to claim 9, characterized in that, The lifting mechanism also includes a lifting column (26) that is guided and fitted on the fixed column (23); the lifting column (26) is configured to move in the height direction along the fixed column (23) under the control of a third drive mechanism (27); the box retrieval mechanism (21) is connected to the lifting column (26) and is configured to move in the height direction along the lifting column (26) under the control of a first drive mechanism (22).

11. The warehousing system according to claim 10, characterized in that, The bottom of the fixed column (23) is constructed to be higher than the top of the movable vehicle (11); before the first handling robot (3) moves the movable vehicle (11) into or out of the receiving area (13), the control server is configured to control the lifting column (26) to move along the fixed column (23) to a position higher than the movable vehicle (11) in order to avoid the movable vehicle (11).

12. The warehousing system according to claim 9, characterized in that, The storage system also includes a second track (16), the top of which is configured to slide in connection with the second track (16).

13. The warehousing system according to claim 6, characterized in that, The first track (15) is provided with at least two tracks, and the at least two first tracks (15) are configured to be respectively set on fixed carriers (12) on opposite sides of the tunnel (14); the transfer robot (2) is configured to transfer containers between the fixed carriers (12) and the movable carriers (11) on opposite sides of the tunnel (14).

14. The warehousing system according to claim 6, characterized in that, The warehousing system includes a buffer carrier (17) for temporarily storing target containers; the control server is configured to control the transfer robot (2) to transfer a number of target containers less than a threshold from the fixed carrier (12) and / or the mobile carrier (11) to the buffer carrier (17), and the second handling robot (4) is configured to transfer the target containers located in the buffer carrier (17) to the workstation (5) for processing.

15. The warehousing system according to claim 14, characterized in that, The buffer carrier (17) is located at the end area of ​​the fixed carrier (12), and the end area of ​​the buffer carrier (17) is provided with a docking area (18). The second transport robot (4) is configured to walk to the docking area (18) and then pick up and place the target container located on the buffer carrier (17).

16. The warehousing system according to claim 15, characterized in that, The orthographic projection of the buffer vehicle (17) and the docking area (18) in the direction of extension of the alley (14) is located within the orthographic projection range of the fixed vehicle (12) in the direction of extension of the alley (14); the planned path of the second transport robot (4) is isolated from the alley (14).

17. A scheduling method for a warehousing system, implemented by the warehousing system according to any one of claims 1 to 16, characterized in that, Includes the following steps: When the target container in the scheduling instruction meets the first preset condition, the control server controls the second handling robot (4) to transport the target container to the workstation (5) for processing. When the target container meets the second preset condition in the scheduling instruction, the control server controls the first handling robot (3) to transport the mobile carrier (11) containing the target container to the workstation (5) for processing.

18. The scheduling method according to claim 17, characterized in that, When the target container in the scheduling instruction meets the first preset condition, the control server controls the second handling robot (4) to handle the target container to the workstation for processing. The steps include: When the target container in the scheduling instruction is located on the mobile vehicle (11) and the number of target containers is less than a threshold, the control server controls the transfer robot to transfer the target container on the mobile vehicle (11) to the buffer vehicle (17); and / or, when the target container in the scheduling instruction is located on the fixed vehicle (12), the control server controls the transfer robot (2) to transfer the target container located on the fixed vehicle (12) to the buffer vehicle (17); The second transport robot (4) responds to the scheduling instructions of the control server and transports the target container cache carrier (17) to the workstation (5) for processing.

19. The scheduling method according to claim 18, characterized in that, The second transport robot (4) is configured to retrieve the target containers from different buffer carriers (17) one by one in response to the scheduling instructions of the control server, until the predetermined number of containers is retrieved, and then send them to the workstation (5) for processing.

20. The scheduling method according to claim 17, characterized in that, The steps of controlling the first handling robot (3) to transport the movable carrier (11) containing the target container to the workstation (5) for processing include: The transfer robot (2) moves to a position to avoid the movable vehicle (11) in response to the scheduling instructions of the control server; The first transport robot (3) responds to the scheduling instructions of the control server and transports the mobile carrier (11) to the workstation (5) for processing.

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