Warehouse robots, management devices, warehouse systems, and methods

Abstract

The application relates to a warehouse robot, a management device, a warehouse system and a method. The warehouse system comprises at least one first robot and at least one second robot, the first robot is used for receiving a first scheduling instruction and transporting a to-be-picked object from a first storage location to a target area according to the first scheduling instruction; the second robot is used for receiving a second scheduling instruction and transporting a picked object obtained by picking the to-be-picked object from the target area to a second storage location used for storing order boxes according to the second scheduling instruction; wherein the first robot and the second robot are scheduled so that when the first robot and the second robot are located at the target area, the to-be-picked object on the first robot can be directly picked to the second robot, so that the to-be-picked object becomes the picked object. The warehouse robot, the management device, the warehouse system and the method provided by the application can save warehouse area and improve overall warehouse performance.

Description

Technical Field

[0001] This application relates to the field of intelligent logistics technology, and in particular to a warehouse robot, management equipment, warehousing system and method. Background Technology

[0002] With the development of artificial intelligence and logistics automation, smart warehousing technology, as a crucial component, is becoming increasingly mature. Smart warehousing provides intelligent storage services, ensuring efficiency in all aspects of warehouse management and real-time, accurate data monitoring. However, in the warehousing process, particularly during the receiving, sorting, and shipping of goods, operators typically sort the goods and place them on a sorting wall or conveyor line. Robots then transport the sorted goods to their corresponding storage locations. This method results in a large required area and relatively low flexibility in the warehousing process. Summary of the Invention

[0003] To address or partially address the problems existing in related technologies, this application provides a warehouse robot, management equipment, warehouse system, and method that can save warehouse space and improve overall warehouse performance.

[0004] A first aspect of this application provides a warehousing system, including at least one first robot and at least one second robot.

[0005] The first robot is used to receive a first scheduling instruction and transport the object to be sorted from the first storage location to the target area according to the first scheduling instruction. The object to be sorted includes the goods to be sorted and / or a first container for placing the goods to be sorted.

[0006] The second robot is used to receive a second scheduling instruction and transport the sorted objects obtained from the sorting of the objects to be sorted from the target area to a second storage location for storing order boxes according to the second scheduling instruction. The sorted objects include sorted goods and / or a second container for placing the sorted goods.

[0007] The first robot and the second robot are scheduled such that when both the first robot and the second robot are located in the target area, the goods to be sorted on the first robot can be directly sorted to the second robot, so that the goods to be sorted become the sorted goods.

[0008] A second aspect of this application provides a warehousing method applied to a first robot, the warehousing method comprising:

[0009] Upon receiving a first scheduling instruction, the object to be sorted is transported from the first storage location to the target area according to the first scheduling instruction, and placed so that after sorting, the goods are directly sorted from the object to be sorted located on the first robot to the second robot, and then transported by the second robot to the second storage location for storing order boxes.

[0010] In one embodiment, the storage method is applied to a second robot, the storage method comprising:

[0011] Receive the second scheduling instruction, and transport the sorted objects obtained from the sorting of the objects to be sorted from the target area to the second storage location for storing order boxes according to the second scheduling instruction;

[0012] The sorted objects include sorted goods and / or a second container for placing the sorted goods, and the objects to be sorted include goods to be sorted and / or a first container for placing the goods to be sorted.

[0013] In this process, the objects to be sorted are transported to the target area by the first robot according to the first scheduling instruction, and the sorted goods are directly transferred from the objects to be sorted located on the first robot to the second robot.

[0014] In one embodiment, the warehousing method is applied to managing equipment, the warehousing method comprising:

[0015] A first scheduling instruction is sent to a first robot to cause the first robot to perform a first type of task, the first type of task including: transporting objects to be sorted from a first storage location to a target area according to the first scheduling instruction, the objects to be sorted including goods to be sorted and / or a first container for placing the goods to be sorted; and...

[0016] Send a second scheduling instruction to the second robot to cause the second robot to perform a second type of task, the second type of task including: transporting sorted objects obtained from sorting the objects to be sorted from the target area to a second storage location for storing order boxes according to the second scheduling instruction, the sorted objects including sorted goods and / or a second container for placing the sorted goods;

[0017] The first robot and the second robot are scheduled such that when both the first robot and the second robot are located in the target area, the goods to be sorted on the first robot can be directly sorted to the second robot, so that the goods to be sorted become the sorted goods.

[0018] A third aspect of this application provides a warehouse robot for use in a warehouse system, comprising:

[0019] Processor: and

[0020] A memory that stores executable code, which, when executed by the processor, causes the processor to perform the method described above.

[0021] A fourth aspect of this application provides a management device for a warehousing system, comprising:

[0022] Processor; and

[0023] A memory that stores executable code, which, when executed by the processor, causes the processor to perform the method described above.

[0024] The technical solution provided in this application may include the following beneficial effects:

[0025] The warehousing robot, management equipment, warehousing system, and method provided in this application embodiment include at least one first robot and at least one second robot. The first robot receives a first scheduling instruction and transports objects to be sorted from a first storage location to a target area according to the first scheduling instruction. The objects to be sorted include goods to be sorted and / or a first container for placing the goods to be sorted. The second robot receives a second scheduling instruction and transports sorted objects obtained from the objects to be sorted from the objects to be sorted from the target area to a second storage location for storing order boxes according to the second scheduling instruction. The sorted objects include sorted goods and / or a second container for placing the sorted goods. The first and second robots are scheduled such that when both the first and second robots are located in the target area, the goods to be sorted on the first robot can be directly sorted to the second robot, thus making the goods to be sorted into sorted goods. Through the coordinated actions of the first and second robots, they dock in the target area, thereby completing the sorting of goods without the need for additional space-consuming equipment such as sorting walls or conveyor lines. The corresponding goods can be directly sorted from the first robot to the second robot according to the order requirements, saving the steps of sorting the goods to the seeding wall or conveyor line and then picking them up by another robot, reducing the complexity of sorting and improving sorting efficiency.

[0026] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0027] The above and other objects, features and advantages of this application will become more apparent from the more detailed description of exemplary embodiments thereof in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments thereof.

[0028] Figure 1 This is a schematic diagram of a warehousing system shown in an embodiment of this application;

[0029] Figure 2 This is a schematic diagram of the warehousing method flow shown in the embodiments of this application. Detailed Implementation

[0030] Embodiments of this application will now be described in more detail with reference to the accompanying drawings. While embodiments of this application are shown in the drawings, it should be understood that this application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to make this application more thorough and complete, and to fully convey the scope of this application to those skilled in the art.

[0031] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0032] It should be understood that although the terms "first," "second," "third," etc., may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0033] This application provides a warehousing system that can be applied to logistics, warehousing, and other fields, without specific limitations. The following detailed explanation uses a system that applies warehousing to the field of smart warehousing and can sort goods based on orders as an example.

[0034] See Figure 1 One embodiment of the warehousing system of this application includes at least one first robot 3 and at least one second robot 4. Optionally, the first robot 3 and the second robot 4 are respectively connected to a management device 5 via a network. Corresponding instructions sent by the management device 5 can control the first robot 3 and / or the second robot 4 to perform corresponding actions. The network can be a wired network or a wireless network, and no specific limitation is made here. It is understood that the management device 5 may include one or more management terminals and / or one or more management servers.

[0035] The management device 5 is used at least to send the first scheduling instruction and the second scheduling instruction.

[0036] The first robot 3 receives a first scheduling instruction and transports the objects to be sorted from the first storage location 11 to the target area 2 according to the first scheduling instruction. The second robot 4 receives a second scheduling instruction and transports the sorted objects obtained from the objects to be sorted from the objects to be sorted from the target area 2 to the second storage location 12 for storing order boxes according to the second scheduling instruction. The first robot 3 and the second robot 4 are scheduled such that when both the first robot 3 and the second robot 4 are located in the target area 2, the objects to be sorted on the first robot 3 can be directly sorted to the second robot 4, so that the goods to be sorted become sorted goods. It is understood that the first scheduling instruction or the second scheduling instruction is not limited to a single instruction, but can also be a combination of multiple instructions.

[0037] Based on the scheduling instructions sent by the management device 5, the first robot 3, loaded with items to be sorted, and the second robot 4, used to transport the sorted goods to the second storage location 12, can dock in the target area 2. By directly completing the sorting and delivery of goods to the order box between the two types of robots, there is no need to set up additional space-consuming equipment such as sorting walls or conveyor lines. On the other hand, it eliminates the need to first sort the goods to a sorting wall or conveyor line and then transport them from the sorting wall or conveyor line to the order box, thereby reducing process complexity and improving sorting efficiency by saving intermediate steps.

[0038] It is understood that the objects to be sorted include goods to be sorted and / or a first container for placing the goods to be sorted, and the sorted objects include sorted goods and / or a second container for placing the sorted goods.

[0039] The first container used to hold the goods to be sorted can be, for example, a cargo box on a shelf. That is, the first robot 3 can transport the goods to be sorted from the cargo box on the shelf to the target area, or it can directly transport the cargo box from the shelf to the target area. Understandably, the goods to be sorted can be, for example, packaging boxes containing multiple SKUs of the same or different goods.

[0040] The management device 5 can determine the type and quantity of goods to be sorted based on the types and quantities of goods required by multiple orders involved in a single order sorting task. It can also dispatch one or more first robots 3 based on inventory information to transport the corresponding goods to the target area for further sorting. Understandably, the quantity of goods transported by the first robot 3 can be greater than or equal to the quantity of goods required by multiple orders. Furthermore, based on the carrying capacity of the first robot 3, one first robot 3 can be dispatched to retrieve multiple goods from the same or different storage locations and transport them to the target area at once, thereby reducing the number of transport trips and improving efficiency.

[0041] In one specific implementation, the management terminal 5 generates a first scheduling instruction based on pre-stored inventory information, the demand goods information of multiple orders involved in a single order sorting task, and the current status information of the first robot 3. The first scheduling instruction includes the location information of the first storage location 11, which is the placement location for the objects to be sorted, determined based on the demand goods information of the multiple orders. The current status information of the first robot 3 includes, for example, its current position and whether it is currently idle. On the other hand, the management terminal 5 generates a second scheduling instruction based on the second storage location 12 corresponding to the order with sorted goods among the multiple orders, and the current status information of the second robot 4. The second scheduling instruction includes the location information of the second storage location 12. The current status information of the second robot 4 includes, for example, its current position and whether it is currently idle.

[0042] The second container used to hold the sorted goods can be, for example, an order box. When the order box is placed on the second robot 4, during the sorting process, the corresponding sorted goods can be directly placed into the order box on the second robot 4 according to the order requirements. Alternatively, the order box can be placed in the second storage location 12. After the second robot 4 receives the sorted goods in the target area, it can transport them to the second storage location 12 and place the sorted goods into the order box in the second storage location 12. No specific limitations are made here. Optionally, the size and shape of the cargo box and the order box can be the same or different, and no specific limitations are made here.

[0043] In one embodiment, the target area 2 includes a first operating position 21 and a second operating position 22. A first robot 3 loads and transports objects to be sorted from a first storage location 11 to the first operating position 21 in the target area 2 according to a first scheduling instruction. A second robot 4 transports and unloads sorted objects obtained from the objects to be sorted from the first operating position 21 in the target area to a second storage location 12 for storing order boxes, according to a second scheduling instruction. When the first robot 3 and the second robot 4 move to their respective fixed positions at the first operating position 21 and the second operating position 22, they can more accurately and efficiently complete the sorting of goods from the first robot 3 to the second robot 4.

[0044] In other embodiments, the first robot 3 moves to the first storage location 11, where other loading mechanisms load the objects to be sorted onto the first robot 3. It is understood that, in this application, the phrase "the first robot 3 moves to the first storage location 11" should be broadly interpreted as not limited to moving to the first storage location 11 itself. In cases such as those described above where loading is performed by other loading mechanisms, it can also refer to moving to any location within the loading range of the first robot 3 where the loading mechanism can load the objects to be sorted from the first storage location 11, for example, a ground location corresponding to the first storage location 11 located at a higher level.

[0045] In other embodiments, the second robot 4 moves to the second storage location 12, where other unloading mechanisms unload the sorted objects to the second storage location 12. It is understood that, in this application, the phrase "the second robot 4 moves to the second storage location 12" should be broadly interpreted as not limited to moving to the second storage location 12 itself. In cases such as those described above where unloading is performed by other unloading mechanisms, it can also refer to moving to any location within the unloading range where the unloading mechanism can unload the sorted objects from the second robot 4 to the second storage location 12, for example, the ground location corresponding to the second storage location 12 located at a higher level.

[0046] In one specific embodiment, the first operating position 21 and the second operating position 22 can be arranged along the first direction X, and the first robot 3 and the second robot 4 are configured to move to the first operating position 21 and the second operating position 22 respectively in opposite directions along the first direction X, or the first robot 3 and the second robot 4 are configured to move to the first operating position 21 and the second operating position 22 respectively in the same direction along the second direction Y.

[0047] In another specific embodiment, the first operating position and the second operating position are arranged along the second direction Y, and the first robot 3 and the second robot 4 are configured to move to the first operating position and the second operating position respectively in the same direction along the first direction X, or the first robot 3 and the second robot 4 are configured to move to the first operating position and the second operating position respectively in opposite directions along the second direction Y.

[0048] It is understandable that when the first robot 3 and the second robot 4 move to the first operating position 21 and the second operating position 22 respectively, their configured movement directions can be the same or different. The direction of the first robot 3 and the second robot 4 moving to the first operating position 21 and the second operating position 22 can be appropriately adjusted according to the corresponding positional relationship between the first storage position 11, the second storage position 12 and the target area 2, as long as the first robot 3 and the second robot 4 that need to enter the first operating position 21 and the second operating position 22 do not interfere with each other during their movement. No specific limitation is made here.

[0049] In some embodiments, the warehousing system includes multiple first robots 3 and / or multiple second robots 4. The multiple first robots 3 sequentially enter and exit the first operating position 21 of the target area 2 along the same first motion trajectory (e.g., the route indicated by the arrow in the figure). The first motion trajectory includes a first entry trajectory and a first exit trajectory. The multiple second robots 4 sequentially enter and exit the second operating position 22 of the target area along the same second motion trajectory (e.g., the route indicated by the arrow in the figure). The second motion trajectory includes a second entry trajectory and a second exit trajectory. The first and second motion trajectories do not intersect. By setting fixed, non-intersecting first and second motion trajectories, the movement routes of the first robots 3 and second robots 4 during scheduling are optimized to improve efficiency, ensuring sorting accuracy while increasing efficiency, and avoiding confusion in the transportation of goods in the warehousing system.

[0050] It is understandable that, for the first motion trajectory formed by the first entry trajectory and the first exit trajectory, and the second motion trajectory formed by the second entry trajectory and the second exit trajectory, when arranging them in the warehousing system, they can be adaptively set according to the actual situation, such as the positions of the first storage location 11, the second storage location 12, and the first operating position 21 and the second operating position 22 in the target area 2, without specific limitations. For example, when the first storage location 11 and the second storage location 12 are both located on the same side of the target area 2 along the second direction Y, the first direction X and the second direction Y are perpendicular, and the first motion trajectory and the second motion trajectory can be set as an L-shape mirrored along the second direction Y. As another example, the directions of the first entry trajectory and the second entry trajectory are opposite, and the directions of the first exit trajectory and the second exit trajectory are the same; or, the directions of the first entry trajectory and the second entry trajectory are the same, and the directions of the first exit trajectory and the second exit trajectory are opposite. The appropriate direction of the entry and exit trajectories can be selected according to the actual warehousing situation, without specific limitations.

[0051] In an optional embodiment, when multiple first robots 3 and multiple second robots 4 enter and exit the target area 2 along the first and second motion trajectories, the scheduling of the multiple first robots 3 and multiple second robots 4 can be controlled by comprehensively considering factors such as the specific goods information required by the order box, the performance, work efficiency, and cost of the first robots 3 and second robots 4, thereby completing the sorting of goods directly from the first robots 3 to the second robots 4. Several scenarios are listed below, but are not limited to:

[0052] In the first scenario, when the first robot 3 at the first operating position 21 carries more goods to be sorted than the goods required for multiple orders involved in a single order sorting task, the first robot 3 can remain stationary at the first operating position 21 and schedule multiple second robots 4 to queue up and enter and exit the second operating position 22 in sequence, so as to sort the goods to be sorted on the same first robot 3 into different second robots 4, and make the second robots 4 that have obtained the sorted goods move in sequence from the second operating position 21 to the second storage position 12 for storing the order boxes corresponding to the sorted goods.

[0053] Understandably, the second robot can move to the second storage location 12 after receiving part of the required goods for the corresponding order, or it can move to the second storage location 12 after receiving all the required goods for the corresponding order.

[0054] In the second scenario, for example, when the goods required for multiple orders involved in a sorting task exceed the carrying capacity of a single first robot 3, or when multiple first robots 3 are the most efficient means of transporting the goods to be sorted, multiple first robots 3 can be scheduled to transport the goods to be sorted as needed. Taking the need for two first robots 3 (first robot A1 and first robot B1) to transport the goods to be sorted as an example, the two first robots 3 enter sequentially along the first direction X. First robot A1 reaches the first operating position 21, first robot B1 is located behind it, and second robot 4 is located at the second operating position 22. After the required goods are sorted from first robot A1 to second robot 4, first robot A1 is scheduled to move out of the first operating position 21, and first robot B1 is scheduled to move to the first operating position 21. After the additional required goods are sorted from first robot B1 to second robot 4, second robot 4 moves from the second operating position 22 to the second storage position 12. For the first robot B1, the management device 5 can determine whether the first robot B1 has the required goods based on the next order demand. If it does, the first robot B1 can remain at the first operating position 21, and the next second robot 4 in the queue can be dispatched to the second operating position 22 to achieve sorting. Otherwise, the first robot B1 is dispatched to move out of the first operating position 21.

[0055] In the third scenario, building upon the second scenario, the second robot 4 can also include second robot A2 and second robot B2, with second robot A2 preceding second robot B2. When second robot A2 receives the sorted goods and moves them to the second storage location 12, second robot B2 sequentially enters the second operation location 22. If the first robot 3, currently at the first operation location 21, cannot fulfill the order corresponding to second robot B2, but can still fulfill the order of second robot 4 following second robot B2, in order not to affect the sorting of subsequent orders, second robot B2 is scheduled to exit along the second exit trajectory and then turn to the second robot 4 at the rear to rejoin the queue, until it receives the required goods and moves to the second storage location 12.

[0056] In some embodiments, the second robot 4 detects whether the sorted goods it transports match the target goods according to a sorting detection instruction. The sorting detection instruction can be sent by the management device 5 or generated by the second robot 4 after detecting the acquisition of sorted goods. In one specific implementation, the second scheduling instruction or sorting detection instruction may include the type and / or quantity of the target goods. After acquiring the sorted goods, the second robot 4 can detect the type and / or quantity of the acquired sorted goods and compare it with the type and / or quantity of the target goods in the second scheduling instruction to determine whether the acquired sorted goods match the target goods; the second robot 4 can determine the type and / or quantity of the acquired sorted goods by taking images, or by using sensing devices, such as weight sensors. If the acquired sorted goods match the target goods, the sorted goods are transported to the second storage location; if they do not match, feedback can be sent to the management device 5, for example. The management device 5 makes the next decision, such as causing the second robot 4 located at the second operating position 22 to continue moving to the second position 12, or returning to the end to re-queue, or moving to a preset fault handling position, etc.

[0057] It is understood that the quantity and / or type of goods to be sorted transported by the first robot 3 are determined based on the needs of multiple orders involved in a single order sorting task, and the quantity and / or type of goods to be sorted is not less than the order requirements. That is, when transporting goods to be sorted by the first robot 3, information such as the quantity and type of goods required by the order can be obtained in advance, and one or more first robots 3 can retrieve goods to be sorted from the corresponding first storage location 11 according to the corresponding first scheduling instruction, with a quantity not less than the order requirements.

[0058] In one embodiment, the warehousing system further includes an operating platform. The operating platform is located in the target area 2, which also includes sorting stations for sorting objects to be sorted. A first operating station 21 and a second operating station 22 are located at opposite ends of the sorting stations. In one specific implementation, an operator standing at the sorting station can sort the objects to be sorted from the first robot 3 located to one side, directly transferring the goods from the first robot 3 to the second robot 4. This allows for convenient and rapid sorting of goods according to the order requirements corresponding to the second robot 4.

[0059] In one embodiment, the warehousing system can also be configured for automated sorting. The warehousing system includes at least one sorting mechanism, and the target area 2 is located in the working area of ​​the sorting mechanism. The sorting mechanism replaces the manual sorting described above, enabling the sorting mechanism to retrieve the goods required for an order from the objects to be sorted on the first robot 3 and transfer them to the second robot 4. It is understood that the sorting mechanism can be configured only to perform the picking and placing of the goods required for an order from the first robot 3 to the second robot 4. Alternatively, a sorting step can be added, whereby the sorting mechanism sorts the objects to be sorted by category carried by the first robot 3, so that the second robot 4 can directly sort the sorted objects from the sorted objects. If the first robot 3 has sufficient space to accommodate the goods sorted by category, when the sorting mechanism performs the sorting work according to the order requirements, it can first sort the goods to be sorted by category on the first robot 3 according to the goods information, resulting in goods placed on the first robot 3 in different locations according to their categories. Then, according to the order requirements, the second robot 4 sorts the goods from the goods placed by category on the first robot 3 to obtain the sorted goods. It is understood that when the second robot 4 directly sorts the sorted goods from the sorted goods to obtain the sorted goods, this can be done through a sorting mechanism or through a mechanism set in the second robot 4 for loading and unloading the sorted goods, without specific limitations.

[0060] In one embodiment, the warehousing system further includes a robotic arm, with a first operating position 21 and a second operating position 22 located within the working range of the robotic arm. The robotic arm is used to sort the goods to be sorted on the first robot 3 located at the first operating position 21 according to the sorting instructions sent by the management device 5, and to directly transfer the sorted goods from the first robot 21 to the second robot 4 at the second operating position 22.

[0061] In one embodiment, the warehousing system further includes a first target shelf and a second target shelf. A first storage location 11 for storing goods to be sorted is located on the first target shelf, and a second storage location 12 for storing order boxes is located on the second target shelf. In the warehousing system, a first robot 3 receives a first scheduling instruction and, according to the first scheduling instruction, loads and transports the objects to be sorted from the first storage location 11 of the first target shelf to the target area 2. A second robot 4 receives a second scheduling instruction. When the sorted object is an order box for placing sorted goods, it transports and unloads a second container from the target area 2 to the second storage location 12 of the second target shelf; when the sorted object is only sorted goods, it transports and unloads the sorted goods from the target area 2 to the order box located at the second storage location 12 of the second target shelf. It is understood that the first target shelf and the second target shelf can be the same shelf or different shelves.

[0062] In some embodiments, the first target shelf and the second target shelf are different shelves, and the distance between the second target shelf and the target area is no greater than the distance between the first target shelf and the target area 2. This saves the round-trip time of the second robot 4, speeds up the turnover rate of the second robot 4, and improves sorting efficiency.

[0063] In some embodiments, the second target shelf simultaneously stores order boxes and other boxes, and the second storage location 12 for storing order boxes is located at the end of the second target shelf closer to the second operating position 22 along its length. This reduces the complexity of the motion trajectory of the second robot 4 and improves the turnover rate of the second robot 4.

[0064] In an optional embodiment, the height of the second storage location 12 for storing order boxes relative to the ground is no more than 180cm. By limiting the height of the second storage location 12 to within the reach of a typical operator, it facilitates convenient and quick access to order boxes, allowing operators to directly access the boxes without the need for external equipment, thus providing convenience for operators. Simultaneously, the height limitation of the second storage location 12 also saves time for the second robot 4 to climb the shelf, improving efficiency.

[0065] Understandably, the settings of the first storage location 11 and the second storage location 12 can be adaptively adjusted according to the occupied or vacant status of the shelves in the system.

[0066] In this embodiment of the application, the warehousing system does not need to set up a seeding wall and a sorting and delivery area for placing sorted goods onto the seeding wall. More shelves can be set up in the same space as the storage area 1 for placing boxes and order boxes, thus simplifying the process and improving space utilization.

[0067] In one embodiment, the second target shelf is located closer to the second operating position 22, and the first target shelf is located closer to the first operating position 21, which reduces the time for the robot to travel between the storage area 1 and the target area 2 and improves efficiency.

[0068] In one embodiment, the management device 5 is also used to send an inbound instruction, and the first robot 3 is used to receive the inbound instruction, transport the goods to be sorted from the preset inbound location and unload them into the corresponding first storage location 11 in the first target shelf according to the inbound instruction, and the management device 5 records the information of the goods to be sorted placed in the first storage location 11 of the first target shelf in the inventory information.

[0069] In one embodiment, the management device 5 is also used to send outbound instructions, and the first robot 3 is also used to receive outbound instructions and load the order box located at the second storage location 12 and transport it to the preset outbound location to wait for loading according to the outbound instructions.

[0070] It is understandable that the first robot 3 and the second robot 4 configured in the warehousing system can be set to be the same robot or different robots, and can be adjusted according to actual usage needs.

[0071] For example, the first robot 3 has a greater load-bearing capacity than the second robot 4. This reduces the cost of the second robot 4, allowing for the deployment of more second robots 4 and increasing the speed of unloading sorted goods.

[0072] For example, the first robot 3 and the second robot 4 use different transfer methods. For instance, the transfer mechanism of the second robot 4 is configured to allow the second robot 4 to transfer faster than the first robot 3 while ensuring sufficient transfer accuracy and stability. By configuring the second robot 4 to have a faster transfer speed, the unloading speed of sorted goods can be accelerated, the turnover rate of the second robot 4 can be increased, and the sorting efficiency can be improved.

[0073] For example, the first robot 3 and the second robot 4 are configured to be compatible with the same shelves for lifting and lowering, thus allowing for flexible adjustment or change of the function of each shelf without being limited by whether the first robot 3 and the second robot 4 can lift and lower for loading and unloading. Alternatively, the first robot 3 and the second robot 4 are configured to be compatible with any shelf for climbing.

[0074] In some embodiments, the first robot 3 includes a movable first base, a first transfer mechanism and a first lifting mechanism that can move with the first base; the first transfer mechanism is used at least to load objects to be sorted from a first storage location, and the first lifting mechanism is used to move the first transfer mechanism to a first storage location 11 of a first target shelf.

[0075] In some embodiments, the second robot 4 includes a movable second base, a second transfer mechanism and a second lifting mechanism that move with the second base; the second transfer mechanism is used to unload sorted objects to a second storage location 12, and the second lifting mechanism is used to move the second transfer mechanism to the second storage location 12 of the second target shelf. The lifting mechanism in this embodiment may include, for example, a lifting guide rail and a lifting drive motor.

[0076] Understandably, in some embodiments, the first transfer mechanism and the second transfer mechanism use different transfer methods. In some embodiments, the first lifting mechanism and the second lifting mechanism use the same lifting method and can be matched with the same rack for lifting. This eliminates the need for differentiated design and management of the racks, reducing system management complexity and improving system flexibility.

[0077] In some embodiments, the first transfer mechanism includes a first support base and a first robotic arm. The first support base is used to place the object to be sorted, and the first robotic arm is used to move the object to be sorted, placed at the first storage location, to the first support base, for example, by gripping, releasing, or pushing.

[0078] In some embodiments, the second transfer mechanism is similar to the first transfer mechanism, including a second support base and a second robotic arm. The second support base is used to place the sorted objects, and the second robotic arm is used to move the sorted objects placed on the second support base to a second storage location, for example, by gripping, releasing, or pushing.

[0079] In some embodiments, the second transfer mechanism uses a different transfer method than the first transfer mechanism. The second transfer mechanism includes a movable transfer support and is configured to unload sorted objects placed on the transfer support to a second storage location 12 via the movement of the transfer support platform. The transfer support may be, for example, but not limited to, a translatable belt, a flip-over pallet, etc.

[0080] This application also provides a warehousing method, see [link to relevant documentation] Figure 2 The warehousing method of one embodiment of this application is applied to various devices in the warehousing system described above, such as a first robot, a second robot, and a management device. The warehousing method includes the following steps:

[0081] S100. Send a first scheduling instruction and / or a second scheduling instruction to cause the first robot to perform a first type of task, the first type of task including: transporting objects to be sorted from a first storage location to a target area according to the first scheduling instruction, the objects to be sorted including goods to be sorted and / or a first container for placing the goods to be sorted; and sending a second scheduling instruction to the second robot to cause the second robot to perform a second type of task, the second type of task including: transporting sorted objects obtained from sorting the objects to be sorted from the target area to a second storage location for storing order boxes according to the second scheduling instruction, the sorted objects including sorted goods and / or a second container for placing the sorted goods; wherein the first robot and the second robot are scheduled such that when both the first robot and the second robot are located in the target area, the goods to be sorted on the first robot can be directly sorted to the second robot so that the goods to be sorted become sorted goods.

[0082] In this embodiment, this step can be performed by a management device, and before sending the first scheduling instruction, the management device includes: generating a first scheduling instruction based on pre-stored inventory information, received order demand information for multiple orders involved in a single order sorting task, and the current status information of the first robot; the first scheduling instruction includes the location information of a first storage location, which is the storage location for the objects to be sorted determined based on the demand information of multiple orders. Before sending the second scheduling instruction, the management device includes: generating a second scheduling instruction based on the second storage location corresponding to the order with sorted goods among the multiple orders, and the current status information of the second robot; the second scheduling instruction includes the location information of the second storage location.

[0083] In one embodiment, multiple first robots can be scheduled to perform a first type of task, and multiple second robots can be scheduled to perform a second type of task; wherein, the multiple first robots sequentially enter and exit a first operating position in the target area along the same first motion trajectory, and the multiple second robots sequentially enter and exit a second operating position in the target area along the same second motion trajectory, and the first motion trajectory and the second motion trajectory do not intersect.

[0084] When the management equipment schedules multiple first robots to perform a first type of task, and schedules multiple second robots to perform a second type of task, it specifically also includes:

[0085] The first robot moves in and out of the first operating position of the target area along a first motion trajectory, the first motion trajectory including a first entry trajectory and a first exit trajectory;

[0086] The second robot moves in and out of the second operating position of the target area along a second motion trajectory, which includes a second entry trajectory and a second exit trajectory.

[0087] The first and second motion trajectories do not intersect.

[0088] The directions of the first arrival trajectory and the second arrival trajectory are opposite, and the directions of the first exit trajectory and the second exit trajectory are the same; or...

[0089] The first and second entry trajectories are in the same direction, while the first and second exit trajectories are in opposite directions.

[0090] When the management equipment schedules the first robot to perform the first type of task and the second robot to perform the second type of task, it also needs to consider the following situations to select a reasonable scheduling method, but is not limited to the following: such as the first robot and the second robot are the same; the first robot and the second robot have different load capacities; the first robot and the second robot have different transfer methods; the first robot and the second robot are constructed to match the same shelf for lifting and lowering.

[0091] The management equipment is also used to send sorting instructions to the robotic arm based on relevant information about the scheduling of the first and second robots, so that the robotic arm can sort the goods to be sorted on the first robot, and the sorted goods can be directly transferred from the first robot to the second robot.

[0092] After sorting, the goods are directly transferred from the objects to be sorted on the first robot to the second robot. After the sorting task is completed, the management equipment is also used to perform the following steps: if the sorting task is completed, determine whether there are any remaining goods to be sorted on the objects to be sorted on the first robot. If so, the first robot will transport the objects to be sorted to the first storage location or a new placement location.

[0093] The management device can also perform the following steps:

[0094] Before sending the first scheduling instruction: send an inbound instruction, so that the first robot can transport the object to be sorted from the preset inbound location to the first storage location of the first target shelf according to the inbound instruction.

[0095] After sending the second scheduling instruction: send an outbound instruction, so that the first robot will transport the order box used to place the sorted goods from the second storage location of the second target shelf to the preset outbound location according to the outbound instruction.

[0096] S110. Receive the first scheduling instruction and transport the object to be sorted from the first storage location to the target area according to the first scheduling instruction, so that the sorted goods are directly sorted from the object to be sorted at the first robot to the second robot and then transported by the second robot to the second storage location for storing order boxes.

[0097] In this embodiment, this step can be performed by a first robot. Simultaneously, the first robot can also perform the following steps: the target area includes a first operating position and a second operating position; according to a first scheduling instruction, the objects to be sorted are transported from the first storage location to the target area, so that the sorted goods are directly sorted from the objects to be sorted at the first robot to the second robot, including:

[0098] According to the first scheduling instruction, the objects to be sorted are loaded from the first storage location and transported to the first operating position in the target area, so that the sorted goods are directly sorted from the first robot at the first operating position to the second robot at the second operating position.

[0099] S120. Receive a second scheduling instruction and transport the sorted objects obtained from the sorted objects to be sorted from the target area to a second storage location for storing order boxes according to the second scheduling instruction. The sorted objects include sorted goods and / or a second container for placing the sorted goods, and the objects to be sorted include goods to be sorted and / or a first container for placing the goods to be sorted. The objects to be sorted are transported to the target area by the first robot according to the first scheduling instruction, and the sorted goods are directly sorted from the objects to be sorted located on the first robot to the second robot.

[0100] In this embodiment, this step can be performed by a second robot. The second robot can also perform the following steps: the target area includes a first operating position and a second operating position; the objects to be sorted are transported to the first operating position by the first robot according to a first scheduling instruction; after sorting, the goods are directly transferred from the first robot at the first operating position to the second robot at the second operating position; according to the second scheduling instruction, the sorted objects obtained from the objects to be sorted are transported from the target area to a second storage location for storing order boxes, including:

[0101] Receiving a second scheduling instruction and transporting the sorted objects obtained from the sorting of objects to be sorted from the target area to the second location according to the second scheduling instruction includes:

[0102] According to the second scheduling instruction, the sorted objects are transported from the second operating position and unloaded to the second storage position used to store order boxes.

[0103] Once sorting is complete, the second robot is also used to receive sorting completion instructions.

[0104] The second robot is also used to perform the following steps: receiving a sorting inspection instruction and checking the accuracy of the sorted objects being transported according to the sorting inspection instruction; if the requirements are met, receiving a second scheduling instruction and causing the first robot to receive a sorting completion instruction.

[0105] It is understood that the features in the above method embodiments can be referred to the specific descriptions of the corresponding features in the previous system embodiments, and will not be repeated here.

[0106] This application provides a management device for a warehouse system, the management device including a memory and a processor. It will be understood that the management device may include one or more management terminals and / or one or more management servers.

[0107] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0108] Memory can include various types of storage units, such as system memory, read-only memory (ROM), and permanent storage devices. ROM can store static data or instructions required by the processor or other modules of the computer. Permanent storage devices can be read-write storage devices. Permanent storage devices can be non-volatile storage devices that retain stored instructions and data even when the computer is powered off. In some embodiments, permanent storage devices use high-capacity storage devices (e.g., magnetic or optical disks, flash memory) as permanent storage devices. In other embodiments, permanent storage devices can be removable storage devices (e.g., floppy disks, optical drives). System memory can be a read-write storage device or a volatile read-write storage device, such as dynamic random access memory. System memory can store some or all of the instructions and data required by the processor during operation. Furthermore, memory can include any combination of computer-readable storage media, including various types of semiconductor memory chips (DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and disks and / or optical disks can also be used. In some implementations, the memory may include removable storage devices that are readable and / or writable, such as laser discs (CDs), read-only digital versatile optical discs (e.g., DVD-ROMs, dual-layer DVD-ROMs), read-only Blu-ray discs, ultra-high density optical discs, flash memory cards (e.g., SD cards, mini SD cards, Micro-SD cards, etc.), magnetic floppy disks, etc. Computer-readable storage media do not contain carrier waves or transient electronic signals transmitted wirelessly or via wired connections.

[0109] The memory stores executable code, which, when processed by the processor, can cause the processor to execute some or all of the methods described above.

[0110] Furthermore, the method according to this application can also be implemented as a computer program or computer program product, which includes computer program code instructions for performing some or all of the steps in the method described above.

[0111] Alternatively, this application may be implemented as a non-transitory machine-readable storage medium (or computer-readable storage medium, or machine-readable storage medium) storing executable code (or computer program, or computer instruction code) thereon, which, when executed by a processor of an electronic device (or electronic device, server, etc.), causes the processor to perform part or all of the steps of the above-described method according to this application.

[0112] This application also provides a warehouse robot for use in a warehousing system. It can be either the first robot as described above or the second robot. The warehouse robot includes a processor and a memory, such as the processor and memory in a management device, which will not be described in detail here.

[0113] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they 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 improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A warehousing system, characterized in that, Includes at least one first robot and at least one second robot. The first robot is used to receive a first scheduling instruction and transport the object to be sorted from the first storage location to the target area according to the first scheduling instruction. The object to be sorted includes the goods to be sorted and / or a first container for placing the goods to be sorted. The second robot is used to receive a second scheduling instruction and transport the sorted objects obtained from the sorting of the objects to be sorted from the target area to a second storage location for storing order boxes according to the second scheduling instruction. The sorted objects include sorted goods and / or a second container for placing the sorted goods. The first robot and the second robot are scheduled such that when both the first robot and the second robot are located in the target area, the goods to be sorted on the first robot can be directly sorted to the second robot, so that the goods to be sorted become the sorted goods. The target area includes a first operating bit and a second operating bit; When the first robot located at the first operating position carries more goods to be sorted than the goods required for multiple orders involved in a single order sorting task, the first robot remains stationary at the first operating position, and multiple second robots are scheduled to queue up and enter and exit the second operating position in sequence to sort the goods to be sorted on the same first robot into different second robots.

2. The warehousing system according to claim 1, characterized in that, The first robot transports the object to be sorted from the first storage location to the target area according to the first scheduling instruction, including: loading the object to be sorted from the first storage location and transporting it to the target area at the first operating position according to the first scheduling instruction; The second robot, according to the second scheduling instruction, transports the sorted objects obtained from the objects to be sorted from the target area to the second storage location for storing order boxes from the target area, including: transporting and unloading the sorted objects obtained from the objects to be sorted from the second operation position in the target area to the second storage location for storing order boxes according to the second scheduling instruction.

3. The warehousing system according to claim 2, characterized in that, The first operating bit and the second operating bit are arranged along a first direction; The first robot and the second robot are configured to move in opposite directions along the first direction to the first operating position and the second operating position, respectively. or, The first robot and the second robot are configured to move in the same direction to the first operating position and the second operating position, respectively, along a second direction perpendicular to the first direction.

4. The warehousing system according to claim 1, characterized in that, Including multiple first robots and multiple second robots, The plurality of first robots sequentially enter and exit the target area along the same first motion trajectory, the first motion trajectory including a first entry trajectory and a first exit trajectory; The plurality of second robots sequentially enter and exit the target area along the same second motion trajectory, the second motion trajectory including a second entry trajectory and a second exit trajectory; The first motion trajectory and the second motion trajectory do not intersect.

5. The warehousing system according to claim 4, characterized in that, The first arrival trajectory and the second arrival trajectory are in opposite directions, and the first departure trajectory and the second departure trajectory are in the same direction; or... The first arrival trajectory and the second arrival trajectory are in the same direction, while the first departure trajectory and the second departure trajectory are in opposite directions.

6. The warehousing system according to claim 2, characterized in that, The system also includes an operating console, and the target area is located on the operating console: The target area further includes sorting positions for sorting the objects to be sorted, with the first operation position and the second operation position located at both ends of the sorting position; or, The system also includes a robotic arm, with the first operating position and the second operating position located within the working range of the robotic arm. The robotic arm is used to sort the goods to be sorted on the first robot at the first operating position according to the sorting instructions, and to directly sort the sorted goods from the first robot to the second robot at the second operating position.

7. The warehousing system according to claim 1, characterized in that, The system also includes at least one sorting mechanism, and the target area is located in the working area of ​​the sorting mechanism: The sorting mechanism is used to sort the objects to be sorted by category transported by the first robot, so that the second robot can directly sort the sorted goods from the objects to be sorted by category.

8. The warehousing system according to claim 2, characterized in that, The first robot transports the object to be sorted from the first storage location to the target area according to the first scheduling instruction, including: loading the object to be sorted from the first storage location of the first target shelf and transporting it to the target area according to the first scheduling instruction; and / or, The second robot, according to the second scheduling instruction, transports the sorted objects obtained from the objects to be sorted from the target area to the second storage location for storing order boxes, including: transporting and unloading the sorted goods sorted from the objects to be sorted from the target area to the second container at the second storage location of the second target shelf according to the second scheduling instruction, or transporting and unloading the second container for placing the sorted goods to the second storage location of the second target shelf according to the second scheduling instruction.

9. The warehousing system according to claim 8, characterized in that, The distance between the second target shelf and the target area is no greater than the distance between the first target shelf and the target area.

10. The warehousing system according to claim 8, characterized in that, The second storage location is located at the end closer to the second operating position in the length direction of the second target shelf.

11. The warehousing system according to claim 1, characterized in that, The warehousing system does not have a seeding wall or a sorting and delivery area for placing sorted goods onto the seeding wall at each seeding position.

12. The warehousing system according to claim 1, characterized in that, The height of the second cargo space relative to the ground shall not exceed 180cm.

13. The warehousing system according to claim 1, characterized in that, The first robot is also configured to receive an inbound instruction, and according to the inbound instruction, transport and unload the goods to be sorted from a preset inbound location to the first storage location in the first target shelf; and / or, The first robot is also used to receive outbound instructions and, according to the outbound instructions, load the order box located in the second storage location and transport it to the preset outbound location.

14. The warehousing system according to any one of claims 1-13, characterized in that, The second robot is also used to detect whether the sorted goods being transported match the target goods according to the sorting and detection instructions.

15. The warehousing system according to any one of claims 1-13, characterized in that, The first robot has a greater load-bearing capacity than the second robot; and / or, The first robot and the second robot use different transfer methods; or, The first robot and the second robot are identical; and / or, The first robot and the second robot are configured to be compatible with the same shelves for lifting and lowering.

16. The warehousing system according to any one of claims 1-13, characterized in that, The first robot includes a movable first base, a first transfer mechanism and a first lifting mechanism that can move with the first base; the first transfer mechanism is used to load the object to be sorted from the first storage location, and the first lifting mechanism is used to move the first transfer mechanism to the first storage location of the first target shelf. The second robot includes a movable second base, a second transfer mechanism and a second lifting mechanism that can move with the second base; the second transfer mechanism is used to unload the sorted goods to the second storage location, and the second lifting mechanism is used to move the second transfer mechanism to the second storage location of the second target shelf; Wherein, the first transfer mechanism and the second transfer mechanism use different transfer methods; and / or, The first lifting mechanism and the second lifting mechanism have the same lifting method.

17. The warehousing system according to claim 16, characterized in that, The first transfer mechanism includes: The first support base is used to place the object to be sorted; A first robotic arm is used to move the object to be sorted, which is placed at the first storage location, to the first support base; The second transfer mechanism includes: a movable transfer support, the second transfer mechanism being configured to unload the sorted object placed on the transfer support to the second storage location by means of the movement of the transfer support; or, The second transfer mechanism includes: a second support base for placing the sorted object; and a second robotic arm for moving the sorted object placed on the second support base to the second storage location.

18. A warehousing method, characterized in that, The storage method, applied to the first robot, includes: Upon receiving a first scheduling instruction, the object to be sorted is transported from the first storage location to the target area according to the first scheduling instruction, so that after sorting, the goods are directly sorted from the object to be sorted located on the first robot to the second robot, and then transported by the second robot to the second storage location for storing order boxes; the object to be sorted includes the goods to be sorted and / or a first container for placing the goods to be sorted. The target area includes a first operating bit and a second operating bit; When the first robot located at the first operating position carries more goods to be sorted than the goods required for multiple orders involved in a single order sorting task, the first robot remains stationary at the first operating position, and multiple second robots are scheduled to queue up and enter and exit the second operating position in sequence to sort the goods to be sorted on the same first robot into different second robots.

19. The method according to claim 18, characterized in that, The step of transporting the objects to be sorted from the first storage location to the target area according to the first scheduling instruction, so that the sorted goods are directly sorted from the objects to be sorted located on the first robot to the second robot, includes: According to the first scheduling instruction, the object to be sorted is loaded from the first storage location and transported to the first operating position in the target area, so that the sorted goods are directly sorted from the first robot at the first operating position to the second robot at the second operating position.

20. A warehousing method, characterized in that, The storage method, applied to a second robot, includes: Receive the second scheduling instruction, and transport the sorted objects obtained from the sorting of the objects to be sorted from the target area to the second storage location for storing order boxes according to the second scheduling instruction; The sorted objects include sorted goods and / or a second container for placing the sorted goods, and the objects to be sorted include goods to be sorted and / or a first container for placing the goods to be sorted. The objects to be sorted are transported to the target area by the first robot according to the first scheduling instruction, and the sorted goods are directly sorted from the objects to be sorted located on the first robot to the second robot; The target area includes a first operating bit and a second operating bit; When the first robot located at the first operating position carries more goods to be sorted than the goods required for multiple orders involved in a single order sorting task, the first robot remains stationary at the first operating position, and multiple second robots are scheduled to queue up and enter and exit the second operating position in sequence to sort the goods to be sorted on the same first robot into different second robots.

21. The method according to claim 20, characterized in that, The object to be sorted is transported to the first operating position by the first robot according to the first scheduling instruction, and the sorted goods are directly sorted from the first robot at the first operating position to the second robot at the second operating position; The step of transporting the sorted objects obtained from the sorting of objects to be sorted according to the second scheduling instruction from the target area to the second storage location for storing order boxes includes: According to the second scheduling instruction, the sorted objects are transported from the second operating position and unloaded to the second storage position for storing order boxes.

22. A warehousing method, characterized in that, The storage method, applied to the management of equipment, includes: A first scheduling instruction is sent to a first robot to cause the first robot to perform a first type of task, the first type of task including: transporting objects to be sorted from a first storage location to a target area according to the first scheduling instruction, the objects to be sorted including goods to be sorted and / or a first container for placing the goods to be sorted; and... Send a second scheduling instruction to the second robot to cause the second robot to perform a second type of task, the second type of task including: transporting sorted objects obtained from sorting the objects to be sorted from the target area to a second storage location for storing order boxes according to the second scheduling instruction, the sorted objects including sorted goods and / or a second container for placing the sorted goods; The first robot and the second robot are scheduled such that when both the first robot and the second robot are located in the target area, the goods to be sorted on the first robot can be directly sorted to the second robot, so that the goods to be sorted become the sorted goods. The target area includes a first operating bit and a second operating bit; When the first robot located at the first operating position carries more goods to be sorted than the goods required for multiple orders involved in a single order sorting task, the first robot remains stationary at the first operating position, and multiple second robots are scheduled to queue up and enter and exit the second operating position in sequence to sort the goods to be sorted on the same first robot into different second robots.

23. The method according to claim 22, characterized in that, include: Schedule multiple first robots to perform the first type of task, and schedule multiple second robots to perform the second type of task; The plurality of first robots sequentially enter and exit the first operating position of the target area along the same first motion trajectory, and the plurality of second robots sequentially enter and exit the second operating position of the target area along the same second motion trajectory, wherein the first motion trajectory and the second motion trajectory do not intersect.

24. The method according to claim 22, characterized in that, The first robot enters and exits the first operating position of the target area along a first motion trajectory, the first motion trajectory including a first entry trajectory and a first exit trajectory; The second robot moves in and out of the second operating position of the target area along a second motion trajectory, the second motion trajectory including a second entry trajectory and a second exit trajectory; Wherein, the first motion trajectory and the second motion trajectory do not intersect; The first arrival trajectory and the second arrival trajectory are in opposite directions, and the first departure trajectory and the second departure trajectory are in the same direction; or... The first arrival trajectory and the second arrival trajectory are in the same direction, while the first departure trajectory and the second departure trajectory are in opposite directions.

25. The method according to claim 22, characterized in that, Before sending the first scheduling instruction, the process includes: sending an inbound instruction, causing the first robot to transport the object to be sorted from a preset inbound location to the first storage location of the first target shelf according to the inbound instruction; and / or, After sending the second scheduling instruction, the process includes: sending an outbound instruction, causing the first robot to transport the order box containing the sorted goods from the second location of the second target shelf to the preset outbound location according to the outbound instruction.

26. The method according to claim 22, characterized in that, Also includes: If the sorting task is completed, determine whether there are any remaining items to be sorted at the first robot. If so, the first robot will transport the items to be sorted to the first storage location or a new placement location.

27. The method according to any one of claims 22 to 26, characterized in that, The first robot and the second robot have different load-bearing capacities; and / or, The first robot and the second robot use different transfer methods; or, The first robot and the second robot are identical; and / or, The first robot and the second robot are configured to be matched with the same shelf for lifting and lowering.

28. The method according to any one of claims 22 to 26, characterized in that, Before sending the first scheduling instruction, the process includes: generating the first scheduling instruction based on pre-stored inventory information, the demand goods information of multiple orders involved in a single order sorting task, and the current status information of the first robot; the first scheduling instruction includes the location information of the first storage location, which is the storage location for the object to be sorted determined based on the demand goods information of the multiple orders. Before sending the second scheduling instruction, the process includes: generating the second scheduling instruction based on the second storage location corresponding to the order containing the sorted goods among the plurality of orders, and the current status information of the second robot; the second scheduling instruction includes the location information of the second storage location.

29. The method according to any one of claims 22 to 26, characterized in that, Also includes: Based on the relevant information regarding the scheduling of the first robot and the second robot, a sorting instruction is sent to the robotic arm, so that the robotic arm sorts the goods to be sorted located on the first robot, and the sorted goods are directly transferred from the first robot to the second robot.

30. A warehouse robot for use in a warehouse system, characterized in that, include: processor; as well as A memory having executable code stored thereon, which, when executed by the processor, causes the processor to perform the method as described in any one of claims 18-21.

31. A management device for a warehousing system, characterized in that, include: processor; as well as A memory having executable code stored thereon, which, when executed by the processor, causes the processor to perform the method as described in any one of claims 22-29.

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