Container handling method and warehousing system

Abstract

The application relates to the technical field of warehouse logistics, and discloses a container taking and placing method and a warehouse system. The method comprises the following steps: determining a container hit by a to-be-processed task according to the to-be-processed task, and storing a hit carrier of the hit container; if the deep position of the hit container on the hit carrier is greater than the deep position of a first robot for taking and placing goods for executing the to-be-processed task, then according to the current deep position of the hit container on the hit carrier, the deep position of the first robot for taking and placing goods and the deep position of a second robot for taking and placing goods, the second robot is controlled to push a first container in a target storage column corresponding to the hit container, so that the hit container is moved to a target storage location; wherein the deep position of the target storage location is less than or equal to the deep position of the first robot for taking and placing goods; and according to the target storage location, the first robot is controlled to take out the hit container at the target storage location. The container taking and placing method provided by the application can realize taking and placing of a large-depth container by a robot with a small deep position while ensuring high storage of the warehouse system.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of warehouse logistics, and particularly relates to a container taking and placing method and a warehouse system. BACKGROUND

[0002] In a warehouse system, in order to improve the space utilization of the warehouse system, generally, more numbers of containers can be placed by setting a multi-depth rack. However, when the depth of the rack is greater than the depth of the container robot for taking and placing containers, the container robot can only take and place the containers on the rack with a depth less than or equal to the depth of the container robot, and can not directly take and place the containers on the rack with a depth greater than the depth of the container robot, so that the containers with a greater depth are difficult to take and place, and the implementation is relatively complex. Therefore, how to take and place the containers with a greater depth by using the container robot with a smaller depth becomes a technical problem to be solved. SUMMARY

[0003] In order to solve the above problems, the present application provides a container taking and placing method and a warehouse system, which can take and place the containers with a greater depth by using the robot with a smaller depth. Specifically, the present application discloses the following technical solutions:

[0004] The first aspect of the present application provides a container taking and placing method, which comprises the following steps: first, according to a to-be-processed task, determining a container hit by the to-be-processed task and a hit carrier storing the hit container. Second, if the depth of the hit container on the hit carrier is greater than the depth of a first robot for taking and placing containers for executing the to-be-processed task, then according to the current depth of the hit container on the hit carrier, the depth of the first robot for taking and placing containers and the depth of a second robot for taking and placing containers, the second robot is controlled to push a first container in a target storage column corresponding to the hit container, so as to move the hit container to a target location; wherein the depth of the target location is less than or equal to the depth of the first robot for taking and placing containers, and the first robot and the second robot are respectively located on the two sides of the passage of the hit carrier. Finally, according to the target location, the first robot is controlled to take out the hit container at the target location.

[0005] In some embodiments, according to the current deep position of the hit container on the hit carrier, the deep position of the first robot picking and placing goods, and the deep position of the second robot picking and placing goods, the second robot is controlled to move the hit container to the target storage location by pushing the first container in the target storage column corresponding to the hit container, including: if it is determined that there is a blocking container in the target storage column, the first robot is controlled to carry the blocking container to the target storage location according to the deep position of the blocking container and the deep position of the first robot picking and placing goods; wherein the blocking container is a container in the target storage column with a deep position less than the current deep position of the hit container. If it is determined that there is no blocking container in the target storage column, and the current deep position of the hit container is greater than the deep position of the first robot picking and placing goods, the second robot is controlled to move the hit container to the target storage location by pushing the first container in the target storage column corresponding to the hit container according to the current deep position of the hit container, the deep position of the first robot picking and placing goods, and the deep position of the second robot picking and placing goods.

[0006] In some embodiments, the first robot is controlled to carry the blocking container to the target storage location according to the deep position of the blocking container and the deep position of the first robot picking and placing goods, including: if the deep position of the blocking container is less than or equal to the deep position of the first robot picking and placing goods, the first robot is controlled to carry the blocking container to the target storage location according to the deep position of the blocking container and the deep position of the first robot picking and placing goods.

[0007] In some embodiments, the first robot is controlled to carry the blocking container to the target storage location according to the deep position of the blocking container and the deep position of the first robot picking and placing goods, including: if the deep position of the blocking container is greater than the deep position of the first robot picking and placing goods, and there is a first idle storage location in the target storage column with a deep position less than the deep position of the blocking container, the second robot is controlled to push the to-be-pushed container in the target storage column to move the blocking container to the first idle storage location. The first robot is controlled to carry the blocking container from the first idle storage location to the target storage location according to the deep position of the first idle storage location and the deep position of the first robot picking and placing goods.

[0008] In some embodiments, according to the current deep position of the hit container on the hit carrier, the deep position of the first robot picking and placing goods, and the deep position of the second robot picking and placing goods, the second robot is controlled to move the hit container to the target storage location by pushing the first container in the target storage column corresponding to the hit container, including: according to the current deep position of the hit container, the deep position of the first robot picking and placing goods, and the deep position of the second robot picking and placing goods, the second robot is controlled to push the first container in the target storage column to move the hit container to the target storage location, or the second robot is controlled to place the first container on the box picking mechanism of the second robot and push the first container to move the hit container to the target storage location.

[0009] In some embodiments, the number of the storage locations moved by the hit container is less than or equal to the number of the free storage locations in the target storage column when the first container is pushed by the second robot.

[0010] In some embodiments, the control of the second robot to move the hit container to the target storage location by pushing the first container in the target storage column corresponding to the hit container comprises: controlling the support structure of the second robot to connect with the hit carrier to move the hit container to the target storage location when the toting mechanism of the second robot pushes the first container.

[0011] In some embodiments, the control of the first robot to carry the blocking container from the first free storage location to the target storage location comprises: determining the heat information of the blocking container; and controlling the first robot to carry the blocking container to the target storage location according to the heat information of the blocking container.

[0012] In some embodiments, the control of the first robot to carry the blocking container to the target storage location according to the heat information of the blocking container comprises: controlling the first robot to carry the blocking container to a bottom cache location of the hit carrier if the heat information of the blocking container is higher than a first heat threshold; and controlling the first robot to carry the blocking container to a second free storage location on the hit carrier and / or a temporary storage location of the first robot if the heat information of the blocking container is lower than the first heat threshold; wherein the target storage location comprises at least one of the bottom cache location, the second free storage location and the temporary storage location of the first robot.

[0013] In some embodiments, the second free storage location comprises a free storage location on the hit carrier closest to the blocking container and / or a free storage location on the hit carrier in the same column but different layers from the target storage column where the blocking container is located.

[0014] In some embodiments, the control of the first robot to carry the blocking container to the second free storage location on the hit carrier comprises: if there is a third free storage location in a first storage column on the hit carrier in the same column but different layers from the target storage column and an already-placed container exists in an outer storage location of the third free storage location, controlling the first robot to carry the blocking container to the third free storage location or to the original storage location of the already-placed container according to the heat information of the already-placed container and the heat information of the blocking container; wherein the second free storage location comprises the third free storage location and the original storage location of the already-placed container.

[0015] In some embodiments, the method further includes: based on the goods information of the first to-be-stored container, controlling the first robot to store the first to-be-stored container in a to-be-stored location; and wherein the to-be-stored location is an external location on a target carrier, and the depth of the external location is less than the depth threshold.

[0016] In some embodiments, the method further includes: based on the goods information of the first to-be-stored container, controlling the first robot to store the first to-be-stored container in a to-be-stored location; and wherein the to-be-stored location is an internal location on a first carrier, and the depth of the internal location is greater than or equal to the depth threshold.

[0017] In some embodiments, after the first robot stores the first to-be-stored container in the to-be-stored location, the method further includes: if there is a free location on the inner side of the first to-be-stored container, and there is a to-be-taken container in the storage column where the first to-be-stored container is located, and the depth of the to-be-taken container is greater than the depth at which the second robot takes and places goods, controlling the first robot to push the first to-be-stored container to move the to-be-taken container to a to-be-taken location; and wherein the depth of the to-be-taken location is less than or equal to the depth at which the second robot takes and places goods.

[0018] In some embodiments, the method further includes: based on the goods information of the first to-be-stored container, controlling the first robot to store the first to-be-stored container in a to-be-stored location; and wherein the to-be-stored location is an internal location on a first carrier, and the depth of the internal location is greater than or equal to the depth threshold.

[0019] In some embodiments, the deeper the to-be-stored container is, the higher the heat information of the to-be-stored container is, and the shallower the to-be-stored container is, the lower the heat information of the to-be-stored container is.

[0020] In some embodiments, before controlling the first robot to carry the first to-be-warehoused container to the to-be-warehoused location, the method further comprises: if the hotness information of the first to-be-warehoused container is lower than the second hotness threshold, or the first to-be-warehoused container is hit by a to-be-processed order again within a preset time, controlling the third robot to carry the first to-be-warehoused container to a first bottom-layer cache location of the target carrier; wherein the first bottom-layer cache location is located at the bottom layer of the target carrier and close to the outside of the target carrier. Controlling the first robot to carry the first to-be-warehoused container to the to-be-warehoused location comprises: controlling the first robot to carry the first to-be-warehoused container from the first bottom-layer cache location to the to-be-warehoused location.

[0021] In some embodiments, before controlling the first robot to carry the first to-be-warehoused container to the to-be-warehoused location, the method further comprises: if the hotness information of the first to-be-warehoused container is lower than the second hotness threshold, or the first to-be-warehoused container is hit by a to-be-processed order again within a preset time, controlling the third robot to carry the first to-be-warehoused container to a second bottom-layer cache location of the target carrier; wherein the second bottom-layer cache location is located at the bottom layer of the target carrier and close to the inside of the target carrier.

[0022] In some embodiments, the method further comprises: based on the hotness information of the plurality of to-be-picked containers on the carrier, carrying a to-be-picked container with hotness information higher than a third hotness threshold in the plurality of to-be-picked containers to a first location; wherein the depth of the first location is less than or equal to the depth of the first robot picking and placing goods. Carrying a to-be-picked container with hotness information lower than the third hotness threshold in the plurality of to-be-picked containers to a second location; wherein the depth of the second location is greater than the depth of the first robot picking and placing goods.

[0023] The second aspect of the embodiments of the present application provides a container picking and placing method, which is applied to a robot, and the method comprises: first, obtaining a picking assistance instruction; wherein the picking assistance instruction is generated in the case that the depth of a hit container on a hit carrier is greater than the depth of a first robot picking and placing goods for executing a to-be-processed task. Second, according to the picking assistance instruction, pushing a first container in a target storage column corresponding to the hit container, and moving the hit container to a target location, so that the first robot picks out the hit container at the target location; wherein the depth of the target location is less than or equal to the depth of the first robot picking and placing goods, and the first robot and a second robot are respectively located at passages on both sides of the hit carrier.

[0024] The third aspect of the embodiment of the application provides a warehouse system. The warehouse system comprises a plurality of carriers, a plurality of robots and a control device. The carrier comprises a plurality of storage locations for placing containers. The robot is configured to take and place containers on the carrier. The control device is configured to determine a hit container and a hit carrier of the hit container according to a to-be-processed task, and generate a box taking assistance instruction according to a current depth of the hit container on the hit carrier, a first robot taking and placing depth and a second robot taking and placing depth, if a depth of the hit container on the hit carrier is greater than the first robot taking and placing depth. The plurality of carriers comprises the hit carrier, and the plurality of robots comprises the first robot and the second robot. The second robot is located on a side of the hit carrier and is configured to push a first container in a target storage column corresponding to the hit container according to the box taking assistance instruction, so as to move the hit container to a target storage location. The depth of the target storage location is less than or equal to the first robot taking and placing depth. The control device is further configured to generate a box taking instruction according to the target storage location. The first robot is located on a side of the hit carrier and is configured to take out the hit container from the target storage location according to the box taking instruction.

[0025] The fourth aspect of the embodiment of the application provides an electronic device, comprising a processor and a memory. The memory is used to store computer executable instructions; the processor is used to read the instructions from the memory and execute the instructions to realize the container taking and placing method of the first aspect.

[0026] The fifth aspect of the embodiment of the application provides a computer readable storage medium, which stores computer program instructions. When a computer reads the instructions, the container taking and placing method of the first aspect is executed.

[0027] The sixth aspect of the embodiment of the application provides a computer program product, which comprises a computer program stored on a non-transitory computer readable storage medium. The computer program comprises program instructions, and when the program instructions are executed by a computer, the computer executes the container taking and placing method of the first aspect.

[0028] The container retrieval method and warehousing system provided in this application embodiment, when the depth of the hit container on the hit carrier is greater than the depth of the first robot performing the task of retrieving the hit container, can control a second robot located on the other side of the hit carrier to push a first container located in the same target storage column as the hit container to a target storage location with a depth smaller than the depth of the first robot. Since the depth of the target storage location is smaller than the depth of the first robot's retrieval, the first robot can retrieve the hit container from the target storage location. Therefore, the container retrieval method provided in this application embodiment does not require modification or customization of the robot and container, and can also achieve the retrieval and placement of containers on carriers with greater depths using a robot with a smaller depth. Furthermore, it reduces the implementation complexity and cost while achieving high storage capacity in the warehousing system. Attached Figure Description

[0029] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 A schematic diagram of a warehousing system provided for some embodiments of this application;

[0031] Figure 2 A schematic diagram illustrating a container handling method provided in some embodiments of this application;

[0032] Figure 3 A schematic diagram of another warehousing system provided for some embodiments of this application;

[0033] Figure 4 A schematic diagram illustrating another container handling method provided in some embodiments of this application;

[0034] Figure 5 A schematic diagram of yet another warehousing system provided for some embodiments of this application;

[0035] Figure 6 A schematic diagram of another warehousing system provided for some embodiments of this application;

[0036] Figure 7 A schematic diagram illustrating yet another container handling method provided in some embodiments of this application;

[0037] Figure 8 A schematic diagram of another warehousing system provided for some embodiments of this application;

[0038] Figure 9Another schematic diagram of a container picking and placing method according to some embodiments of the present application;

[0039] Figure 10 Another schematic diagram of a container picking and placing method according to some embodiments of the present application;

[0040] Figure 11 Another schematic diagram of a container picking and placing method according to some embodiments of the present application;

[0041] Figure 12 Another schematic diagram of a container picking and placing device according to some embodiments of the present application;

[0042] Figure 13 A schematic diagram of an electronic device according to some embodiments of the present application. DETAILED DESCRIPTION

[0043] In order to enable personnel in the art to better understand the technical solutions in the embodiments of the present application, and to make the above-mentioned purposes, features and advantages of the embodiments of the present application more apparent and easy to understand, the technical solutions in the embodiments of the present application will be further described in detail below with reference to the drawings.

[0044] In the warehouse system, the robot (such as a box robot) can pick up a box on the shelf, or place a box on the shelf. The size relationship between the robot deep position and the shelf deep position can determine whether the robot can perform picking and placing operations on the box placed on any position of the shelf. For example, when the deep position of the box to be picked and placed on the shelf is greater than the deep position of the robot picking and placing goods, the box picking mechanism of the robot cannot directly move to the position where the box to be picked and placed is placed, and thus cannot pick and place the box to be picked and placed placed on the position.

[0045] In order to solve the problem that when the deep position of the shelf is greater than the deep position of the robot picking and placing goods, the robot cannot perform picking and placing operations on the box with a deep position greater than the deep position of the robot on the shelf, the related technology adjusts the structure of the robot and the structure of the box to pick and place the box with a deep position greater than the deep position of the robot on the shelf.

[0046] In some examples, to retrieve and place boxes on shelves that are deeper than the robot, the structures of both the robot and the boxes can be modified. For instance, a hooking device can be installed on the robot, and a hooking device on the box. The hooking device on the robot can connect to the hooking device on the box, allowing multiple boxes in the same storage column to be connected together, forming a box sequence. When the robot uses its hooking device to retrieve a box located in an outer storage location, that box moves the boxes in the inner storage locations forward, thus allowing the retrieval of the deeper inner storage location. Therefore, while achieving dense storage, it is possible to retrieve and place deeper boxes using a robot with a smaller storage depth.

[0047] However, the above implementation requires special customization of the robot and the cargo box (such as setting up hooking and grappling devices), and the cargo box, as a standard container, is complex and costly to customize. Moreover, since the robot and the cargo box, as well as the cargo boxes themselves, are connected by hooks, connection failures such as disengagement can easily occur, leading to cargo retrieval failure.

[0048] To address the aforementioned issues, this application provides a container retrieval and placement method and a warehousing system. Through cooperation between a first robot and a second robot, the first robot retrieves boxes from one side of the shelf, while the second robot pushes boxes from the other side. This push-pull combination allows the robot with a smaller depth to retrieve and place boxes with a larger depth. The container retrieval and placement method provided in this application ensures high storage capacity of the warehousing system without requiring modifications or customization to the robots or boxes, enabling the retrieval and placement of boxes on the shelf with a depth greater than the robot's depth.

[0049] The warehousing system provided in the embodiments of this application will be described below with reference to the accompanying drawings.

[0050] Figure 1 This is a schematic diagram of a warehousing system provided for some embodiments of this application. For example... Figure 1 As shown, the warehousing system 100 includes multiple carriers 10, multiple robots 20, and a control device. Figure 1 (Not shown in the image).

[0051] In some examples, the control device can communicate with multiple robots 20 via a network. The control device can be deployed on a server or a terminal, or both. When the control device is a terminal, it can include a personal computer, laptop, smartphone, tablet, and portable wearable device, etc.; when the control device is a server, it can be a standalone server or a server cluster consisting of multiple servers. This application does not limit the specific implementation of the control device.

[0052] Exemplarily, the carriers 10 include a plurality of storage locations for storing containers. The robots 20 can include different types of robots. For example, the plurality of robots 20 can include a plurality of bin robots and a plurality of handling robots. Among them, the bin robots are used to take and place containers on the carriers 10, and the handling robots are used to transport containers between the carriers and the workstations.

[0053] As shown in Figure 1 , the plurality of carriers 10 can include a carrier 11 and a carrier 12, and the plurality of robots 20 can include a robot 21, a robot 22 and a robot 23. Among them, the robot 21, the robot 22 and the robot 23 can all be bin robots. It should be noted that the number of carriers 10 and robots 20 is not limited in the embodiments of the present application. For example, the plurality of carriers 10 further includes a larger number of carriers, and the plurality of robots 20 can further include a larger number of robots.

[0054] It should be noted that the embodiments of the present application do not limit the arrangement of the carriers 10 in the warehouse system 100. In order to improve the storage density of the warehouse system 100, the carriers 10 can be multi-deep carriers, and the number of deep positions of the carriers 10 can be greater than the number of deep positions of the goods taken and placed by the robots.

[0055] Exemplarily, two channels are arranged on each side of the carrier, and one channel can be shared between two adjacent rows of carriers. As shown in Figure 1 , one side of the carrier 11 is provided with a channel 111, and the robot 21 is located in the channel 111. The other side of the carrier 11 is provided with a channel 112, and the robot 22 is located in the channel 112. One side of the carrier 12 is provided with the channel 112, and the other side of the carrier 12 is provided with a channel 113, and the robot 23 is located in the channel 113.

[0056] Exemplarily, the bin robots in the robots 20 can run in the channels between the carriers to take and place containers on the carriers 10 on both sides of the channel. As shown in Figure 1 , the robot 21, the robot 22 and the robot 23 run in the channel 111, the channel 112 and the channel 113 respectively. The robot 21 can take and place containers on the carrier 11, the robot 22 can take and place containers on the carrier 11 and / or the carrier 12, and the robot 23 can take and place containers on the carrier 12.

[0057] Exemplarily, the carrier 10 includes a plurality of layers of cross beams, and a plurality of storage columns are arranged between adjacent two layers of cross beams. Among them, the storage columns can be provided with a partition or not, which is not limited in the embodiments of the present application.

[0058] In some examples, multiple storage columns are arranged in each storage column, and each storage column is used to store one container. For example, the number of storage columns of different carriers 10 can be the same or different, and the number of storage columns on the same carrier 10 can be the same.

[0059] It should be noted that the number of storage columns on the carrier 10 and the number of storage columns in each layer can be set according to requirements, and the embodiments of the present application do not limit this. The following embodiments are exemplarily described by taking the number of storage columns on each carrier 10 as the same and the number of storage columns in each storage column as the same.

[0060] As shown in Figure 1 The carrier 11 is provided with 5 layers of cross beams, each layer of cross beam is provided with multiple storage columns, and each storage column is provided with 4 storage columns, i.e. storage column 1 to storage column 4. The depth of the carrier 10 is related to the number of storage columns of each storage column of the carrier 10. For example, each storage column of the carrier 10 is provided with 4 storage columns, and the depth of the carrier 10 is 4.

[0061] In some examples, the depth of the storage column can be determined according to the position of the storage column in the storage column. Among them, the depth of the storage column can be determined by taking one side of the carrier 10 as a reference position.

[0062] For example, taking the robot 21 taking and placing the box on the carrier 11 as an example, the left side of the carrier 11 can be taken as the reference position, since the storage column 1 is the first storage column on the left side, the depth of the storage column 1 is 1, the storage column 2 is the second storage column on the left side, the depth of the storage column 2 is 2, and so on. The depth of the storage column 4 is 4. Taking the robot 22 taking and placing the box on the carrier 11 as an example, the right side of the carrier 11 can be taken as the reference position, since the storage column 4 is the first storage column on the right side, the depth of the storage column 4 is 1, the storage column 3 is the second storage column on the right side, the depth of the storage column 3 is 2, and so on. The depth of the storage column 1 is 4. That is, the depth of the box placed on the storage column is related to which side the robot takes and places the box, and the depth of each storage column in the storage column can be determined by taking the side of the robot taking and placing the box as the starting point.

[0063] In some examples, the depth of the container can be determined according to the depth of the storage column where the container is located, and the depth of the storage column where the container is located is the depth of the container. For example, taking the left side of the carrier 11 as the reference position, when the container is placed in the storage column 3, the depth of the container is 3.

[0064] Exemplarily, the depth of the box robot taking and placing the box is the depth of the storage column that the box taking mechanism of the box robot can reach on the carrier 10. For example, the maximum depth that the box taking mechanism of the box robot can reach is the depth of the box robot taking and placing the box. It should be noted that the depth of the box robot taking and placing the box can also be referred to as the depth of the box robot.

[0065] For example, as shown inFigure 1 As shown, if the container retrieval mechanism 211 of robot 21 can move to the position 1 on the carrier 11 to retrieve the container placed on the position 1, then the depth of robot 21 is 1, that is, robot 21 is a single-depth robot. If the container retrieval mechanism 211 of robot 21 can move to the position 2 to retrieve the container placed on the position 2, then the depth of robot 21 is 2, that is, robot 21 is a double-depth robot.

[0066] For example, it can be determined whether the cargo robot can pick up or place the container on the carrier 10 based on the size relationship between the depth of the cargo robot and the depth of the container on the carrier 10.

[0067] In some examples, when the depth of robot 21 is greater than or equal to the depth of carrier 11, such as when the depth of robot 21 is 4 and the depth of carrier 11 is also 4, robot 21 can retrieve containers placed on storage positions 1 to 4 of carrier 11 by moving the container retrieval mechanism 211.

[0068] In some examples, when the depth of robot 21 is less than the depth of carrier 11, such as when the depth of robot 21 is 2 and the depth of carrier 11 is 4, robot 21 can retrieve containers placed in storage positions 1 to 2 on each storage column of carrier 11 by moving the retrieval mechanism 211, but cannot retrieve containers placed in storage positions 3 and 4.

[0069] For example, if the sum of the depths of the cargo robots distributed on both sides of the carrier 10 is greater than or equal to the depth of the carrier 10, then the container can be picked up or placed at any location on the carrier 10 through the cooperation between the two cargo robots distributed on both sides of the carrier 10.

[0070] In some examples, the depth of different cargo box robots may be the same or different, and this application does not limit this. The following embodiments are illustrated by taking the example that all robots 20 have the same depth. For example, robots 21, 22 and 23 all have the same depth.

[0071] For example, such as Figure 1 As shown, if the depth of both robot 21 and robot 22 is 2 and the depth of carrier 11 is 4, then robot 21 can pick up containers placed on storage location 1 and storage location 2, and robot 22 can pick up containers placed on storage location 3 and storage location 4, thereby realizing the picking and placing of containers on any storage location on carrier 11.

[0072] In some examples, when the sum of the depths of the cargo robots distributed on both sides of the aisle of the carrier 10 is less than the depth of the carrier 10, the two cargo robots, even when working together, cannot perform pick-and-place operations on all the containers in all the cargo positions on the carrier 10.

[0073] For example, as shown in FIG. 2, if the deep positions of the robots 21 and 22 are both 1, and the deep position of the carrier 11 is 4, the robot 21 can take the container placed on the goods position 1, and the robot 22 can take the container placed on the goods position 4. However, neither of the robots 21 and 22 can take the containers placed on the goods positions 2 and 3. Figure 1

[0074] The warehouse system provided by the embodiments of the present application can push the hit container to the target goods position of the carrier 10 by the container pushing method of the container robot on one side of the carrier 10 when the container robots on both sides of the carrier 10 cannot take the hit container on the carrier 10, and the target goods position is the goods position that can be reached by the container robot on the other side of the carrier 10, so that the container robot can take the hit container from the target goods position.

[0075] In some embodiments, the control device is configured to determine, according to the to-be-processed task, a hit container hit by the to-be-processed task and a hit carrier in which the hit container is stored, and generate a container taking assistance instruction according to a current deep position of the hit container on the hit carrier, a deep position at which the first robot takes and stores containers, and a deep position at which the second robot takes and stores containers, if the deep position of the hit container on the hit carrier is greater than the deep position at which the first robot takes containers.

[0076] In some examples, the first robot and the second robot are both container robots in the plurality of robots 20, and the first robot is located in a channel on one side of the hit carrier, and the second robot is located in a channel on the other side of the hit carrier.

[0077] In some embodiments, the second robot is configured to push the first container in a target storage column corresponding to the hit container according to the container taking assistance instruction, so as to move the hit container to a target goods position, and the deep position of the target goods position is less than or equal to the deep position at which the first robot takes and stores containers.

[0078] In some embodiments, the control device is further configured to generate a container taking instruction according to the target goods position, and the first robot is configured to take the hit container from the target goods position according to the container taking instruction.

[0079] ​The warehouse system provided by the embodiments of the present application can control the second robot located on the other side of the hit carrier to push the first container located in the same target storage column as the hit container to the target storage location with a smaller depth than the depth of the first robot when the depth of the hit container on the hit carrier is greater than the depth of the first robot for picking and placing goods. Since the depth of the target storage location is smaller than the depth of the first robot for picking and placing goods, the first robot can pick the hit container from the target storage location. Therefore, the container picking and placing method provided by the embodiments of the present application can realize the picking and placing of containers on a carrier with a larger depth by a robot with a smaller depth without modifying and customizing the robot and the container. Moreover, the implementation complexity and cost are reduced while achieving high storage of the warehouse system.

[0080] The container picking and placing method provided by the embodiments of the present application will be described below with reference to the accompanying drawings.

[0081] Figure 2 A schematic diagram of a container picking and placing method provided by some embodiments of the present application is shown. In some examples, Figure 2 The container picking and placing method shown can be implemented by the control device in the warehouse system 100 of the above-mentioned embodiments, for example, Figure 2 As shown, the method includes the following steps 210 to 230.

[0082] Step 210: According to the to-be-processed task, determine the hit container of the to-be-processed task and the hit carrier on which the hit container is stored.

[0083] In some examples, the control device in the warehouse system 100 can generate a to-be-processed task according to order information. The to-be-processed task is used to instruct the container robot to pick and place the hit container on the hit carrier. The control device can determine the hit container of the to-be-processed task from the plurality of containers in the warehouse system 100 according to the to-be-processed task.

[0084] For example, the number of hit containers can be one or more, which is not limited by the embodiments of the present application. It should be noted that since the picking and placing processes of the hit containers are similar, the embodiments of the present application will be exemplarily described by taking the picking and placing of one hit container as an example.

[0085] In some examples, after determining the hit container, the control device can determine the hit carrier from the plurality of carriers 10 according to the hit container. The hit carrier is a carrier 10 in the plurality of carriers 10 of the warehouse system 100 on which the hit container is stored.

[0086] In some examples, after determining the hit container and the hit carrier, the control device can send a to-be-processed task to a case robot performing the to-be-processed task, such as the first robot. Wherein, the first robot can be the one closest to the hit carrier, such as the first robot can be the case robot distributed in the passage on one side of the hit carrier. The first robot can take and place the hit container on the hit carrier according to the to-be-processed task.

[0087] In step 220, if the hit container is at a deeper position on the hit carrier than the first robot performing the to-be-processed task, the second robot is controlled to move the hit container to a target storage column corresponding to the hit container according to the current position of the hit container on the hit carrier, the position of the first robot taking and placing goods, and the position of the second robot taking and placing goods.

[0088] Exemplarily, the target storage column is at a position less than or equal to the position of the first robot taking and placing goods (hereinafter referred to as the position of the first robot), and the first robot and the second robot are respectively located in the passages on both sides of the hit carrier.

[0089] Exemplarily, when the control device determines that the hit container is at a deeper position on the hit carrier than the first robot performing the to-be-processed task, the control device can generate a case taking assistance instruction and send the case taking assistance instruction to the second robot 33. The second robot 33 pushes the first container in the target storage column corresponding to the hit container according to the case taking assistance instruction to move the hit container to the target storage column. Wherein, the target storage column is the storage column where the hit container is located, and the target storage column includes multiple storage columns on the hit carrier where the hit container is located.

[0090] Figure 3 Another schematic diagram of a warehouse system is provided for some embodiments of the present application. As shown in Figure 3 The warehouse system 100 includes a hit carrier 31, a first robot 32, and a second robot 33. The hit carrier 31 is provided with multiple layers of cross beams, and each layer of cross beams is provided with multiple storage columns. Each storage column is provided with six storage positions, i.e., storage position 1 to storage position 6. The hit container 34 is placed on the storage position 3 of the target storage column.

[0091] In some examples, the first robot 32 and the second robot 33 are distributed in the passages on both sides of the hit carrier 31. As shown in Figure 3 The first robot 32 is located in the passage on one side of the hit carrier 31, and the second robot 33 is located in the passage on the other side of the hit carrier 31. Wherein, the first robot 32 and the second robot 33 can take and place containers on the hit carrier 31.

[0092] Exemplarily, the first robot 32 is tasked to take the hit container 34 on the hit carrier 31, and the first robot 32 has a deep position of 2, and the hit container 34 has a deep position of 3, which is greater than the deep position of the first robot 32, so the first robot 32 cannot take the hit container 34 on the hit carrier 31. In order to take the hit container 34 out, the control device can control the second robot 33 to move the hit container 34 to the target storage location by pushing the first container in the target storage column corresponding to the hit container 34 according to the current deep position of the hit container 34 on the hit carrier 31, the deep position of the first robot 32, and the deep position of the second robot 33.

[0093] In some examples, the first robot is closer to the hit container than the second robot, that is, the control device assigns the task to the first robot which is closer to the hit container when assigning the task to be processed. In the case where the deep positions of the first robot and the second robot are the same, since the deep position of the hit container is greater than the deep position of the first robot which is closer to the hit container, the first robot cannot directly take the hit container out of the hit carrier, and the second robot which is farther away from the hit container also cannot directly take the hit container out of the hit carrier, so the first robot and the second robot can cooperate with each other to take the hit container out of the hit carrier.

[0094] Figure 4 Another schematic diagram of a container taking and placing method provided for some embodiments of the present application is shown in FIG. 4, and the above step 220 includes steps 410 to 430 shown in FIG. 4. Figure 4

[0095] Step 410, determine whether there is a blocking container in the target storage column.

[0096] For example, if it is determined that there is a blocking container in the target storage column, step 420 is performed, and if it is determined that there is no blocking container in the target storage column, step 430 is performed.

[0097] Exemplarily, the blocking container is a container in the target storage column which has a deep position less than the current deep position of the hit container. That is, the blocking container is a container which blocks the first robot 32 from taking the hit container 34 out.

[0098] In some examples, the target storage column can have a blocking container or can have no blocking container. When the target storage column has a blocking container, the number of blocking containers can be one or multiple.

[0099] For example, continuing to refer to Figure 3 ​The outer side of the storage location 3 where the hit container 34 is located has two outer storage locations, which are the storage location 1 and the storage location 2. The storage location 1 is provided with the container A, and the storage location 2 is provided with the container B. When the first robot 32 needs to take out the hit container 34, the container A and the container B need to be taken out first, and thus the container A and the container B are the blocking containers of the hit container 34. When the storage location 1 and the storage location 2 are not provided with containers, there is no blocking container.

[0100] In step 420, according to the deep location of the blocking container and the deep location of the first robot, the first robot is controlled to carry the blocking container to a target storage location.

[0101] For example, if the target storage column has a blocking container, the first robot 32 cannot directly take out the hit container 34, and the blocking container needs to be removed first before the hit container 34 is taken out. The deep location of the blocking container can be greater than the deep location of the first robot 32, or can be less than the deep location of the first robot 32.

[0102] In some embodiments, if the deep location of the blocking container is less than or equal to the deep location of the first robot 32, the first robot 32 is controlled to carry the blocking container to a target storage location according to the deep location of the blocking container and the deep location of the first robot 32.

[0103] For example, continuing to refer to Figure 3 The outer storage locations of the hit container 34 have two blocking containers, which are the container A and the container B. The container A is placed on the storage location 1, and the deep location of the container A is 1. The container B is placed on the storage location 2, and the deep location of the container B is 2. If the deep location of the first robot 32 is 2, and the deep locations of the container A and the container B are less than or equal to the deep location of the first robot 32, the first robot 32 can carry out the container A and the container B. In this case, the control device can generate a first carrying instruction, and send the first carrying instruction to the first robot 32. The first robot 32 takes out the container A and the container B from the hit carrier 31 in sequence according to the first carrying instruction, and places the container A and the container B on the target storage location.

[0104] In some examples, the container taking mechanism of the first robot 32 can first move to the position of the storage location 1, take out the container A placed on the storage location 1, and place the container A on a target storage location. When the container A is taken out and the storage location 1 is idle, the container taking mechanism of the first robot 32 can move to the position of the storage location 2, take out the container B placed on the storage location 2, and place the container B on another target storage location.

[0105] When the target storage column includes blocking containers, as long as the depth of the blocking container is less than or equal to the depth of the first robot 32, the first robot 32 can retrieve each blocking container sequentially, regardless of the number of blocking containers. When the depth of the blocking container is greater than the depth of the first robot 32, the first robot 32 cannot retrieve the blocking container directly and needs the cooperation of the second robot 33 to retrieve it.

[0106] In some embodiments, if the depth of the blocking container is greater than the depth of the first robot 32, and there is a first free storage location in the target storage column with a depth less than the depth of the blocking container, then the second robot 33 is controlled to push the container to be pushed in the target storage column to move the blocking container to the first free storage location; based on the depth of the first free storage location and the depth of the first robot 32, the first robot 32 is controlled to transport the blocking container from the first free storage location to the target storage location.

[0107] For example, when the control device determines that there is a blocking container in the target storage column, the depth of the blocking container is greater than the depth of the first robot 32, and there is a first free storage location in the target storage column with a depth less than the depth of the blocking container, it can generate a first push-box instruction and send the first push-box instruction to the second robot 33. The second robot 33, according to the first push-box instruction, pushes the container to be pushed in the target storage column to move the blocking container to the first free storage location. The cooperative retrieval instruction includes the first push-box instruction.

[0108] After the blocking container reaches the first vacant storage location, the control device can generate a second handling task and send it to the first robot 32. The first robot 32, according to the second handling task, moves the blocking container located in the first vacant storage location to the target storage location.

[0109] Figure 5 This is a schematic diagram of yet another warehousing system provided for some embodiments of this application. For example... Figure 5 As shown, there is a blocking container in the target storage column. The blocking container is container B placed on the storage location 2, and the depth of container B is 2. If the depth of the first robot 32 is 1, since the depth of container B is greater than the depth of the first robot 32, the first robot 32 cannot directly take out container B.

[0110] In some examples, there is a first available storage location, namely storage location 1, outside container B. Since the depth of the first available storage location (i.e., storage location 1) is equal to the depth of the first robot 32, in this case, the control device can generate a first push command and send it to the second robot 33. The second robot 33 pushes the container to be pushed according to the first push command to move container B to storage location 1. When container B moves to storage location 1, the first robot 32 can remove container B from storage location 1 and place it in the target storage location according to a second handling command.

[0111] In some examples, the first idle storage location can be an originally idle storage location in the target storage column, or can be an idle storage location after the first robot 32 takes out the blocking container located on the first idle storage location. As shown in Figure 5 , no container is initially placed on the storage location 1; or, after the first robot 32 takes out the container A on the storage location 1, the storage location 1 becomes the first idle storage location. The embodiments of the present application do not limit this.

[0112] Exemplarily, the to-be-pushed container pushed by the second robot 33 can be a container in the target storage column, or can be a new container.

[0113] In some examples, when the to-be-pushed container is a container in the target storage column, the to-be-pushed container is located closer to the second robot 33 than the hit container 34 in the target storage column, and the container taking mechanism of the second robot 33 can reach the storage location where the to-be-pushed container is located.

[0114] As shown in Figure 5 , in the target storage column, the containers with a depth greater than that of the hit container 34 include the container C on the storage location 4, the container D on the storage location 5, and the container E on the storage location 6. Taking the depth of the first robot 32 and the second robot 33 as 1 for example, the second robot 33 pushes the container E according to the first container pushing instruction, and when the second robot 33 pushes the container E to move left, each container located to the left of the container E moves left in turn. When the container E reaches the storage location 5 from the storage location 6, the container B moves from the storage location 2 to the storage location 1, and the hit container 34 moves from the storage location 3 to the storage location 2. When the container B reaches the storage location 1, the first robot 32 can take out the container B by the container taking mechanism and place it on a target storage location.

[0115] In some examples, as shown in Figure 3 , if there are two blocking containers on the external storage location of the hit container 34, which are the container A and the container B, and the depth of the first robot 32 is 2, since the depth of the container A is less than the depth of the first robot 32, the first robot 32 can directly take out the container A and place it on a target storage location. After the container A is taken out, as shown in Figure 5 , the second robot 33 can push the container E to move left, or push the container F which needs to be placed back to the hit vehicle 31 after the last task is completed, so that the container B moves from the storage location 2 to the storage location 1, and the hit container 34 moves from the storage location 3 to the storage location 2. When the container B reaches the storage location 1 and the hit container 34 reaches the storage location 2, since the depth of the container B and the depth of the hit container 34 are less than or equal to the depth of the first robot 32, the first robot 32 can take out the container B and the hit container 34 in turn.

[0116] In other words, when the depth of the blocking container is less than or equal to the depth of the first robot 32, the first robot 32 can directly remove all the blocking containers, and then the second robot 33 can push the container to be pushed to remove the hit container 34; or, the first robot can also remove the blocking containers on the outer storage location first. Since there is an empty storage location outside the hit container 34 after the blocking containers are removed, the second robot 33 can push the container to be pushed to remove the blocking containers and the hit container 34 on the inner storage location.

[0117] In some examples, when the container to be pushed is a new container, the second robot 33 can place the retrieved new container in the box-retrieving mechanism, and then move to the target storage column to push the blocking container to the first free storage location by pushing the new container.

[0118] For example, the new container can be a container that needs to be returned to the hit vehicle after the previous task is completed. For instance, the new container can be a container awaiting storage. The second robot 33 can push the container awaiting storage, thereby both placing it into the storage location of the target storage column and simultaneously pushing the obstructing container to the first free storage location. By coinciding with storage and pushing, the pushing can be completed simultaneously with storage, thereby reducing additional pushing actions and improving container retrieval efficiency.

[0119] like Figure 5 As shown, a new container F is placed in the retrieval mechanism of the second robot 33. According to the first push command, the second robot 33 pushes container E with the new container F to place the new container F in storage location 6. When the new container F is placed in storage location 6, each container in the target storage column moves one storage location to the left in sequence: container E moves from storage location 6 to storage location 5, container B moves from storage location 2 to storage location 1, and the hit container 34 moves from storage location 3 to storage location 2. When container B moves to storage location 1, the first robot 32 can retrieve container B from storage location 1 and place it in the target storage location. Container F can be a container that needs to be returned to the hit carrier after the previous task is completed.

[0120] For example, when the second robot 33 pushes container B with the new container F, container E can be placed on storage location 6, or the storage location can be empty. When storage location 6 is empty, the second robot 33 can place the new container F on storage location 6, and then push container B to the first empty storage location (i.e., storage location 1) with the new container F.

[0121] In some examples, after the first robot 32 removes the blocking container, step 410 can be executed to further determine whether all the blocking containers in the target storage column have been removed by the first robot 32. If it is determined that there are no blocking containers in the target storage column, step 430 is executed.

[0122] If the current deep position of the hit container is greater than the deep position of the first robot, the second robot is controlled to move the hit container to the target storage location by pushing the first container in the target storage column corresponding to the hit container according to the current deep position of the hit container, the deep position of the first robot and the deep position of the second robot.

[0123] For example, when the control device determines that there is no blocking container in the target storage column and the current deep position of the hit container 34 is greater than the deep position of the first robot 32, a second pushing box instruction is generated and sent to the second robot 33, and the second robot 33 pushes the first container in the target storage column according to the second pushing box instruction to move the hit container to the target storage location.

[0124] For example, when the target storage column has no blocking container and the deep position of the hit container 34 is greater than the deep position of the first robot 32, the first robot 32 cannot directly take out the hit container 34 and needs to cooperate with the second robot 33 to take out the hit container 34.

[0125] For example, the target storage column has no blocking container includes that the target storage column initially has no blocking container, or the blocking container in the target storage column has been completely taken out by the first robot 32 so that the target storage column has no blocking container.

[0126] In some examples, if the target storage column initially has no blocking container, the current deep position of the hit container 34 is the same as the original deep position of the hit container 34. If the target storage column has a blocking container and the blocking container is taken out by the first robot 32, the current deep position of the hit container 34 can be different from the original deep position.

[0127] For example, when the deep position of the blocking container is greater than the deep position of the first robot 32, the second robot 33 needs to push the to-be-pushed container to enable the first robot 32 to take out the blocking container, the location of the hit container 34 changes, and the current deep position of the hit container 34 is different from the original deep position. When the deep position of the blocking container is less than or equal to the deep position of the first robot 32, the second robot 33 can not need to push the to-be-pushed container, in which case the location of the hit container 34 can not change, and the current deep position of the hit container 34 is the same as the original deep position.

[0128] For example, when the second robot 33 moves the container B to the storage location 1 by pushing the container E, the hit container 34 is moved from the storage location 3 to the storage location 2, and the original deep location of the hit container 34 is 3 and the current deep location of the hit container 34 is 2. When the deep location of the first robot 32 is 1, the first robot 32 still cannot take out the hit container 34, and the first robot 32 needs to take out the container B, and then the second robot 33 pushes the hit container 34 to the storage location 1, so that the first robot 32 can take out the hit container 34.

[0129] With reference to the above description of the warehouse system, the method for taking out the hit container 34 by the first robot 32 will be described in detail. Figure 5 For example, when the second robot 33 moves the container B to the storage location 1 by pushing the container E, the hit container 34 is moved from the storage location 3 to the storage location 2, and the original deep location of the hit container 34 is 3 and the current deep location of the hit container 34 is 2. When the deep location of the first robot 32 is 1, the first robot 32 still cannot take out the hit container 34, and the first robot 32 needs to take out the container B, and then the second robot 33 pushes the hit container 34 to the storage location 1, so that the first robot 32 can take out the hit container 34.

[0130] In some embodiments, the step 430 can include: if there is no blocking container in the target storage column, and the current deep location of the hit container 34 is greater than the deep location of the first robot 32, then according to the current deep location of the hit container 34, the deep location of the first robot 32 and the deep location of the second robot 33, the second robot 33 is controlled to push the first container in the target storage column to move the hit container 34 to the target storage location, or the second robot 33 is controlled to place the first container on the taking mechanism of the second robot 33 and push the first container to move the hit container to the target storage location.

[0131] For example, the first container can be a container in the target storage column, or a new container taken by the second robot 33 (for example, a container that needs to be placed back to the hit vehicle after the end of the last task).

[0132] It should be noted that the process of pushing the first container in the target storage column by the second robot 33 to move the hit container 34 to the target storage location is similar to the process of pushing the to-be-pushed container in the target storage column by the second robot 33 to move the blocking container to the first idle storage location, and thus will not be described herein again to avoid repetition.

[0133] Figure 6 Another schematic diagram of a warehouse system is provided for some embodiments of the present application. As shown in FIG. 6, the warehouse system includes a first robot 32, a second robot 33, a hit container 34, a target storage column 1, a target storage location 1, a first container E and a second container B. Figure 6As shown, the deep positions of the first robot 32 and the second robot 33 are both 2, the hit container 34 is located at the goods position 3, and the current deep position is 3; the target storage column does not have a blocking container, that is, no container is placed on the external goods position 1 and the goods position 2 of the hit container 34; in this case, the second robot 33 can push the container E (i.e., the first container) to move the hit container 34 to the target goods position.

[0134] In some examples, the target goods position is a goods position with a deep position less than or equal to the deep position of the first robot 32. For example, the target goods position can be the goods position 1 or the goods position 2. That is, the second robot 33 can push the hit container 34 to the goods position 1 or the goods position 2 by pushing the first container. When the hit container 34 reaches the target goods position, the first robot 32 can take out the hit container 34 from the target goods position.

[0135] In some examples, when the deep positions of the first robot 32 and the second robot 33 are N (where N is an integer greater than or equal to 1), the second robot 33 can push the container to move any one of 1 to N deep positions. For example, the second robot 33 can push the container sequence formed by the containers in the target storage column to the first robot 32 side by 1 to N deep positions when pushing the box, and the first robot 32 can take out the hit container 34 when the hit container 34 is pushed to a goods position with a deep position less than or equal to N.

[0136] For example, when the second robot is a single-deep-position robot, the container can be pushed to move 1 deep position, and when the second robot 33 is a double-deep-position robot, the container can be pushed to move 1 deep position or 2 deep positions.

[0137] Referring to Figure 6 When the deep positions of the first robot 32 and the second robot 33 are 2, if the second robot 33 pushes the container E to move one goods position to the left, i.e., the container E moves from the goods position 6 to the goods position 5, the hit container 34 moves from the goods position 3 to the goods position 2, and since the deep position of the goods position 2 is equal to the deep position of the first robot 32, the container taking mechanism of the first robot 32 can move to the goods position 2 to take out the hit container 34; if the second robot 33 pushes the container E to move two goods positions to the left, i.e., the container E moves from the goods position 6 to the goods position 4, the hit container 34 moves from the goods position 3 to the goods position 1, and since the deep position of the goods position 1 is less than the deep position of the first robot 32, the first robot 32 can take out the hit container 34 from the goods position 1.

[0138] In some embodiments, when the second robot 33 pushes the first container, the hit container 34 moves to a number of goods positions less than or equal to the number of idle goods positions in the target storage column.

[0139] In some examples, ensuring that the number of storage locations moved by the hit container 34 is less than or equal to the number of free storage locations in the target storage column includes: during the pushing process of the second robot 33, ensuring that the number of free storage locations that the hit carrier 31 can be pushed on the side of the first robot 32 is greater than or equal to the number of storage locations that the second robot 33 pushes the first container to move the hit container 34, otherwise the hit container 34 will be pushed to the ground.

[0140] For example, if the number of free cargo spaces that the hit vehicle 31 can push on the side of the first robot 32 cannot be greater than or equal to the number of cargo spaces that the hit container 34 moves, the first robot 32 can remove the container from the side of the first robot 32 so that the number of free cargo spaces is greater than or equal to the number of cargo spaces that the hit container 34 moves, and then the second robot 33 can perform the box-pushing operation.

[0141] like Figure 6 As shown, in the target storage column, the number of free storage locations that the hit container 31 can be pushed to the side of the first robot 32 is 2 (i.e., storage location 1 and storage location 2). When the depth of the second robot 33 is 2, the second robot 33 pushes the container E, and the hit container 34 can move to the left by a maximum of 2 storage locations, i.e., from storage location 3 to storage location 1. Therefore, the hit container 34 will not be pushed out of the hit container 31. When the depth of the second robot 33 is 3, the second robot 33 pushes the container E, and the hit container 34 can move to the left by a maximum of 3 storage locations. If the second robot 33 pushes the container E to move by 3 storage locations, the hit container 34 will fall off the hit container 31. If the second robot 33 pushes the container E to move by 1 or 2 storage locations, the hit container 34 will not be pushed out of the hit container 31.

[0142] It should be noted that when the second robot 33 performs the box-pushing operation, it must ensure that no container falls and hits the vehicle 31. For example, when the second robot 33 pushes the container to be pushed, it must also ensure that the blocking container does not fall and hit the vehicle 31.

[0143] In some embodiments, controlling the second robot to move the first container to the target storage location by pushing the first container in the target storage column corresponding to the hit container includes: when the second robot's retrieval mechanism pushes the first container, controlling the support structure of the second robot to connect with the hit carrier to move the hit container to the target storage location.

[0144] In some examples, the second robot 33 may be provided with a support structure that ensures that the hit vehicle 31 will not move or tip over when the second robot 33 pushes the container, thereby ensuring the stability of the hit vehicle 31.

[0145] In some examples, the support structure can include an electromagnet and a hooking device. Before the second robot 33 pushes the container, the support structure on the second robot 33 can be flexibly connected with the hit carrier 31, for example, the hooking device on the second robot 33 can hook the hit carrier 31, so as to ensure the stability of the hit carrier 31.

[0146] In step 230, the first robot is controlled to take out the hit container from the target storage location according to the target storage location.

[0147] In some examples, when the hit container 34 moves to the target storage location, since the depth of the target storage location is less than or equal to the depth of the first robot 32, after the hit container 34 reaches the target storage location, the control device can send a to-be-processed task to the first robot 32, and the first robot 32 takes out the hit container 34 on the target storage location according to the to-be-processed task.

[0148] The container taking and placing method provided by the embodiments of the present application can control the second robot 33 located on the other side of the hit carrier 31 to push the first container located in the same target storage column as the hit container 34, so as to push the hit container 34 to the target storage location with a depth less than the depth of the first robot 32, when the depth of the hit container 34 on the hit carrier 31 is greater than the depth of the side passage of the hit carrier and the depth of the first robot 32 performing the task of taking out the hit container. Since the depth of the target storage location is less than the depth of the first robot 32, the first robot 32 can take out the hit container 34 on the target storage location. Therefore, the container taking and placing method provided by the embodiments of the present application can realize the taking and placing of containers on a carrier with a larger depth by a robot with a smaller depth without modifying and customizing the robot and the container, and can realize high storage of the warehouse system while reducing the implementation complexity and cost.

[0149] The process that the control device controls the first robot 32 to carry the blocking container to the target storage location according to the depth of the blocking container and the depth of the first robot 32 in step 420 in the above embodiments will be described below with reference to the accompanying drawings.

[0150] Figure 7 A schematic diagram of another container taking and placing method provided by some embodiments of the present application is shown in FIG. 7. Figure 7 As shown in FIG. 7, step 420 in the above embodiments includes steps 710 to 720 as shown below.

[0151] In step 710, the heat information of the blocking container is determined.

[0152] For example, before the first robot 32 places the blocking container on the target storage location, the control device can first determine the heat information of the blocking container.

[0153] In some examples, the container heat information can be represented by the heat of the goods in the container. The heat of the goods is related to the indicators such as the goods delivery rate, inventory quantity, etc. For example, the higher the goods delivery probability, the higher the heat of the goods; the lower the goods delivery probability, the lower the heat of the goods.

[0154] In some examples, the higher the heat of the goods, the higher the heat of the container where the goods are placed, and the higher the delivery probability of the container, that is, the greater the frequency of the container being taken out and placed.

[0155] Exemplarily, the container can be placed on the carrier 10 according to the heat information of the container.

[0156] In some examples, the container with high heat information can be placed on the outer storage position of the carrier 10, and the container with low heat information can be placed on the inner storage position of the carrier 10. That is, the heat information of the containers placed from the outer storage position to the inner storage position of the carrier 10 decreases.

[0157] At step 720, the first robot is controlled to carry the blocking container to a target storage position according to the heat information of the blocking container.

[0158] In some embodiments, the target storage position includes at least one of a bottom layer cache position of the carrier 31, a second idle storage position, and a temporary storage position of the first robot.

[0159] In some examples, the carrier 10 can be provided with a bottom layer cache position, which is located at the bottom layer of the carrier 10, such as the bottommost layer of the carrier 10. For example, the bottom layer cache position can include a first type cache position and a second type cache position. At least one first type cache position and at least one second type cache position can be provided on the carrier 10, and the number of first type cache positions and the number of second type cache positions on each carrier 10 are not limited in the embodiments of the present application.

[0160] In some examples, the first type cache position can be located outside the bottom layer of the carrier 10, and the container can be taken out and placed on the first type cache position by the container robot (such as the first robot or the second robot) and / or the carrying robot. For example, the carrying robot can carry the container to the bottom of the carrier 10 and place the container on the first type cache position, and the container robot can take the container from the first type cache position and place the container on the storage position of the carrier 10; or the container robot can take the container on the storage position and place it on the first type cache position, and the carrying robot can carry the container on the first type cache position away.

[0161] In some examples, the second type of buffer position can be located at the inner side of the bottom layer of the carrier 10, and the container placed on the second type of buffer position cannot be taken or placed by the bin robot, and the container placed on the second type of buffer position can only be taken or placed by the transfer robot. For example, the transfer robot can transfer the container from the working station to the second type of buffer position; or the transfer robot can transfer the container placed on the second type of buffer position to the working station.

[0162] Exemplarily, a channel can be arranged between the first type of buffer position and the second type of buffer position, and the transfer robot can run in the channel.

[0163] Figure 8 Another schematic diagram of a warehouse system provided for some embodiments of the present application.

[0164] As shown in Figure 8 The hit carrier 31 is provided with a bottom layer buffer position 312. The bottom layer buffer position 312 includes a buffer position a, a buffer position b, a buffer position c and a buffer position d. Among them, the buffer position a and the buffer position d are located at the outer side of the bottom layer of the hit carrier 31, and the buffer position a and the buffer position d are the first type of buffer position; the buffer position b and the buffer position c are located at the inner side of the bottom layer of the hit carrier 31, and the buffer position b and the buffer position c are the second type of buffer position.

[0165] In some embodiments, if the hotness information of the blocking container is higher than the first hotness threshold, the first robot 32 is controlled to transfer the blocking container to the bottom layer buffer position 312 of the hit carrier 31.

[0166] In some examples, the first hotness threshold can be a preset hotness, and the first hotness threshold can be set according to requirements, or the first hotness threshold can also be determined according to the hotness information of each container in the warehouse system, and the embodiments of the present application are not limited thereto.

[0167] In some examples, when the hotness information of the blocking container is higher than the first hotness threshold, it indicates that the hotness of the blocking container is relatively high, that is, the delivery probability of the blocking container is relatively high, and therefore, the blocking container has a relatively high probability of being hit by other orders. Therefore, when the hotness information of the blocking container is higher than the first preset threshold, the first robot 32 can place the blocking container taken out from the target storage column of the hit carrier 31 on the bottom layer buffer position 312, such as on the first type of buffer position, so as to facilitate the transfer robot to transfer the blocking container from the bottom layer buffer position 312.

[0168] As shown in Figure 8As shown, when the heat information of container A is higher than the first heat threshold, the first robot 32 can take out the container A originally placed on the storage site 1 and carry it to the buffer site a (the first type buffer site). Since the heat information of container A is high, when container A is hit by other orders, the carrying robot can move to the passage between buffer site a and buffer site b, and carry away container A.

[0169] In some embodiments, the warehouse system includes a container buffer area and a container storage area, the container buffer area includes at least one buffer site, which is a buffer site arranged on the bottom layer of the carrier (e.g., a buffer site on the first layer of the shelf). For example, the bottom layer of a carrier can be provided with one buffer site, or multiple buffer sites (e.g., a first type buffer site and a second type buffer site). The container storage area includes multiple storage sites, which can be high-layer storage sites on the carrier.

[0170] When the workstation needs a container, the carrying robot (e.g., the RS robot) takes the container down and places it on the buffer site to wait for the transfer robot (e.g., the P robot) to transfer it. When the picking is completed, the transfer robot sends the container from the workstation back to the buffer site, and the carrying robot returns the container on the buffer site to the high-layer storage site.

[0171] For example, in order to fully utilize the buffer sites in the container buffer area and improve the work efficiency of the warehouse system, when carrying containers between the container buffer area and the container storage area, the occupancy ratio of the buffer sites in the container buffer area can be determined first; and when the occupancy ratio of the buffer sites exceeds a set ratio threshold, the container scores of the containers stored in each buffer site in the container buffer area are determined, wherein the container score is determined based on the target quantity of the container in the to-be-executed picking task; then, according to the container score, the to-be-released buffer sites in the container buffer area are determined, and a return task for the to-be-returned containers in the to-be-released buffer sites is generated, wherein the return task is used to indicate returning the to-be-returned containers from the to-be-released buffer sites to the container storage area.

[0172] In some examples, when the occupancy ratio of the buffer bits exceeds the set ratio threshold, it indicates that too many containers are stored in the container buffer area, which causes the buffer bits used for performing the container handover to be insufficient. At this time, the container score of each buffer bit storing a container in the container buffer area can be determined to determine the buffer bit to be released in the container buffer area, and a corresponding return task is generated to return the container to be returned in the buffer bit to be released to the container storage area, so as to dynamically control the occupancy ratio of the buffer bits in the container buffer area, and ensure that there are sufficient buffer bits in the container buffer area for container handover. Therefore, in addition to being used for container handover, the container buffer area can also be used for container storage, that is, after the container is picked up at the workstation, the transfer robot sends the container back to the container buffer area, and the container does not need to be sent back to the container storage area. The container can be directly stored in the buffer area. Subsequently, based on the occupancy ratio of the buffer bits in the container buffer area, the transfer of the container in the buffer area is dynamically controlled, and the container can be stored in the container buffer area, thereby improving the container reuse rate, and further improving the container delivery efficiency and the target object picking efficiency, and greatly saving the transport resources of the robot.

[0173] In some embodiments, determining the occupancy ratio of the buffer bits in the container buffer area comprises: determining the number of occupied buffer bits in the container buffer area; determining the number of buffer bits to be occupied and the number of buffer bits to be released according to the current container transfer task; and determining the occupancy ratio of the buffer bits in the container buffer area according to the number of occupied buffer bits, the number of buffer bits to be occupied, and the number of buffer bits to be released.

[0174] The embodiment determines the number of buffer bits to be occupied and the number of buffer bits to be released according to the current container transfer task, and then determines the occupancy ratio of the buffer bits in the container buffer area in combination with the number of occupied buffer bits, the number of buffer bits to be occupied, and the number of buffer bits to be released. In this way, when determining the occupancy ratio of the buffer bits in the container buffer area, the dynamic changes of the buffer bits in the container buffer area are considered, so that the occupancy ratio of the buffer bits in the container buffer area is more accurate, which fits the actual application scenario and ensures the accuracy and real-time performance of the dynamic control of the buffer bits in the container buffer area.

[0175] In some embodiments, determining the container score of each buffer bit storing a container in the container buffer area comprises: determining the number of picking tasks matched by at least one target object group in a first container, wherein the first container is any container stored in the container buffer area and the container storage area, and target objects with the same identifier constitute a target object group; determining a heat value of the first container according to the number of picking tasks matched by the at least one target object group; determining the container type of the first container, and determining a basic score of the first container according to the container type; and determining the container score of the first container according to the heat value and the basic score.

[0176] In some embodiments, the determining of the base score of the first container according to the container type comprises: in a case where the container type of the first container is a hit container, determining the base score of the first container as a first set value, wherein the hit container refers to a container selected to perform the picking task, the first set value is a lower boundary value of a first score range; in a case where the container type of the first container is a non-hit container and the container is in the container cache area, determining the base score of the first container as a second set value, wherein the second set value is a lower boundary value of a second score range; in a case where the container type of the first container is a non-hit container and the container is in the container storage area, determining the base score of the first container as a third set value, wherein the third set value is a lower boundary value of a third score range; wherein the first score range, the second score range and the third score range are obtained based on container score division, the first set value is higher than the second set value, and the second set value is higher than the third set value.

[0177] The embodiment can divide the container score into a container heat value and a base score, different types of containers can be set with different base scores, and then the heat value matched with the picking task is added to the base score to determine the container score, thereby improving the determination accuracy of the container score.

[0178] In some embodiments, the determining of the to-be-released cache position in the container cache area according to the container score comprises: determining a difference between the occupation ratio and a set proportion threshold, and determining the number of to-be-released cache positions according to the difference; sorting the container scores of the containers stored in each cache position, and selecting the number of to-be-released cache positions according to the sorting result.

[0179] The embodiment can sort the container scores of the containers stored in each cache position from high to low (or from low to high) after determining the number of to-be-released cache positions, and select the cache positions corresponding to the number of container scores at the rear (at the front) of the sorting as the to-be-released cache positions. In this way, in a case where the occupation ratio of the cache positions in the container cache area exceeds the set proportion threshold, the containers with lower container scores in the container cache area can be returned to the container storage area to release the container cache positions in the container cache area.

[0180] In some embodiments, the generating of the return task for the to-be-returned container in the to-be-released cache position comprises: determining a target storage position; and generating the return task based on the to-be-released cache position and the target storage position, wherein the return task is used to return the to-be-returned container stored in the to-be-released cache position to the target storage position.

[0181] In some examples, the target storage position can be any storage position of the container storage area of each aisle of the warehouse storage area, that is, the to-be-returned container in the to-be-released cache position can be returned to any storage position of the container storage area.

[0182] Exemplarily, when the target storage position for placing the blocking container is a second free storage position on the hit carrier in the container storage area, the target storage position for placing the container to be returned can be different from the target storage position for placing the blocking container. In order to distinguish the target storage position for placing the container to be returned from the target storage position for placing the blocking container, the target storage position for placing the blocking container can be referred to as a first target storage position, and the target storage position for placing the container to be returned can be referred to as a second target storage position.

[0183] For example, one free storage position can be randomly selected from the container storage area of each aisle of the warehouse storage area as the target storage position, a storage position in the same aisle as the to-be-released cache position is preferentially selected, and if there is no free storage position in the container storage area in the same aisle as the to-be-released cache position, a storage position in a different aisle from the to-be-released cache position can be selected as the target storage position.

[0184] The embodiment generates a return task based on the to-be-released cache position and the target storage position, that is, the position identifiers of the to-be-released cache position and the target storage position are carried in the return task. When the robot receives the return task, the container to be returned stored in the to-be-released cache position can be returned to the target storage position, so as to release the container cache position in the container cache area, thereby dynamically regulating the occupancy ratio of the cache positions in the container cache area.

[0185] In some embodiments, before determining the container score of the container stored in each cache position in the container cache area, the method further includes: determining a to-be-moved container to be moved from the container storage area to the container cache area every first preset time interval; determining a first cache position corresponding to the to-be-moved container in the container cache area; and generating a container moving task of the to-be-moved container based on a first storage position and the first cache position, wherein the first storage position is the storage position of the to-be-moved container in the container storage area, and the container moving task is used to instruct to move the to-be-moved container from the first storage position to the first cache position.

[0186] In addition to returning the low-score container in the container cache area to the container storage area as described above, the embodiment can also determine a to-be-moved container to be moved from the container storage area to the container cache area at a time, and the to-be-moved container is a high-score container in the current container storage area, so that the high-score container in the container storage area can be moved to the container cache area at a time, thereby ensuring the number of occupied cache positions in the container cache area and also ensuring the quality of the containers occupying the cache positions.

[0187] In some embodiments, the warehouse system comprises at least two aisles, each of which is provided with a container storage area and a container buffer area; determining a first buffer position corresponding to the container buffer area of the to-be-transferred container comprises: determining whether there is an available buffer position in the first container buffer area, wherein the first container buffer area and the container storage area where the to-be-transferred container is located belong to the same aisle; if there is an available buffer position, determining the first buffer position from the available buffer position; if there is no available buffer position, determining the first buffer position from the second container buffer area, wherein the second container buffer area and the container storage area where the to-be-transferred container is located do not belong to the same aisle.

[0188] The embodiment can transfer the to-be-transferred container to the buffer position in the same aisle, or transfer the to-be-transferred container to the buffer position in the other aisle. When transferring the high-score container in the container storage area to the container buffer area, the container can be transferred in the same aisle or across aisles, thereby balancing the container scores of the containers stored in the container buffer areas of different aisles and avoiding accumulation of high-score containers in a certain aisle.

[0189] In some embodiments, the first buffer position and the first storage position belong to the same aisle; generating a container transfer task of the to-be-transferred container based on the first storage position and the first buffer position comprises: determining whether the first buffer position currently stores a container; if the first buffer position stores a container, generating a replacement task for the container stored in the first buffer position, wherein the replacement task is used to instruct the transfer robot to return the stored container in the first buffer position to the container storage area and transfer the to-be-transferred container from the first storage position to the first buffer position; if the first buffer position does not store a container, generating a first container transfer task for the to-be-transferred container based on the first storage position and the first buffer position, wherein the first container transfer task is used to instruct the transfer robot to transfer the to-be-transferred container from the first storage position to the first buffer position.

[0190] The embodiment can execute the container transfer task or the container replacement task in the same aisle, thereby transferring the high-score container in the container storage area of the aisle to the container buffer area in the same aisle, and ensuring the number of occupied buffer positions in the container buffer area and the quality of the containers occupying the buffer positions.

[0191] In some embodiments, the first buffer position and the first storage position belong to different aisles; generating a container transfer task of the to-be-transferred container based on the first storage position and the first buffer position comprises: generating a second container transfer task for the to-be-transferred container based on the first storage position, wherein the second container transfer task is used to instruct the transfer robot to transfer the to-be-transferred container from the first storage position to a second buffer position, and the second buffer position and the first storage position belong to the same aisle; in the case that the to-be-transferred container is transferred to the second buffer position, generating a transfer task for the to-be-transferred container based on the second buffer position and the first buffer position, wherein the transfer task is used to instruct the transfer robot to transfer the to-be-transferred container from the second buffer position to the first buffer position.

[0192] For example, the cross-lane transfer task can be divided into two stages. In the first stage, the container to be transferred is moved to the container buffer area in the same lane. In the second stage, the container to be transferred is transferred from the container buffer area in the same lane to the first buffer position of the container buffer area across lanes.

[0193] In some embodiments, generating a transfer task for a container to be transferred based on a second cache location and a first cache location includes: determining whether a container is currently stored in the first cache location; if a container is stored there, generating a third container handling task for the container stored in the first cache location, wherein the third container handling task is used to instruct a handling robot to move the container stored in the first cache location from the first cache location to a second storage location, wherein the first cache location and the second storage location are located in the same aisle or different aisles; and generating a transfer task for a container to be transferred based on the second cache location and the first cache location when the container stored in the first cache location is moved out of the first cache location.

[0194] This embodiment can transfer containers to other lanes' buffer locations, balancing the container scores stored in the container buffer areas of different lanes and preventing high-scoring containers from piling up in a certain lane.

[0195] In some embodiments, if the heat information of the blocking container is lower than a first heat threshold, the first robot 32 is controlled to move the blocking container to a second vacant storage location on the hit carrier 31, and / or a temporary storage location of the first robot 32.

[0196] In some examples, when the heat information of the blocking container is lower than the first heat threshold, it indicates that the heat of the blocking container is low, that is, the probability of the blocking container being shipped is low. Therefore, the blocking container is unlikely to be hit by other orders. Thus, when the heat information of the blocking container is lower than the first preset threshold, the first robot 32 can take the blocking container out of the target storage column of the hit carrier 31 and place it in the second free storage position on the hit carrier 31, and / or the temporary storage position of the first robot 32.

[0197] For example, multiple storage locations may be provided on the cargo robot (such as the first robot 32 and the second robot 33). The storage locations can be used to temporarily store containers retrieved from the carrier 10 by the cargo robot's retrieval mechanism.

[0198] like Figure 8 As shown, the first robot 32 is equipped with multiple temporary storage positions 321. When the heat information of the container B placed on the hit carrier 31 is lower than the first heat threshold, the first robot 32 takes out the container B originally placed on the cargo position 2 and places it on the temporary storage position 321.

[0199] For example, after the first robot 32 takes out the hit container 34, the blocking container placed on the temporary storage position 321 can be put back to the original position of the blocking container. For example, after the first robot 32 takes out the hit container 34, the container B on the temporary storage position can be put back to the storage position 2 of the target storage column.

[0200] In some embodiments, the second idle storage position includes an idle storage position on the hit carrier 31 closest to the blocking container, and / or an idle storage position on the hit carrier 31 in the same column as the target storage column but in a different layer.

[0201] In some examples, the idle storage position is a storage position without a container. The second idle storage position is an idle storage position in a storage column (e.g., the first storage column) different from the target storage column on the hit carrier 31. Since the hit carrier 31 can include multiple idle storage positions, to improve the efficiency of taking and placing containers, the idle storage position closest to the blocking container can be determined as the second idle storage position.

[0202] In some examples, to improve the carrying efficiency of the first robot 32, an idle storage position in the first storage column in the same column as the target storage column but in a different layer can also be determined as the second idle storage position, so that the first robot 32 can carry the blocking container to the second idle storage position on the hit carrier 31 without moving in the aisle. For example, an idle storage position in the storage column in the same column as the target storage column but in a different layer and closest to the blocking container can be determined as the second idle storage position.

[0203] In some embodiments, the control of the first robot 32 to carry the blocking container to the second idle storage position on the hit carrier 31 includes: if there is a third idle storage position in the first storage column in the same column as the target storage column but in a different layer on the hit carrier 31, and there is a placed container on the outer storage position of the third idle storage position, then according to the hotness information of the placed container and the hotness information of the blocking container, the first robot 32 is controlled to carry the blocking container to the third idle storage position, or to carry the blocking container to the original storage position of the placed container.

[0204] For example, the second idle storage position can be the third idle storage position, or the original storage position of the placed container.

[0205] In some embodiments, according to the hotness information of the placed container and the hotness information of the blocking container, if the hotness information of the placed container is lower than the hotness information of the blocking container, the first robot 32 is controlled to push the placed container to move the placed container to the third idle storage position, and the blocking container is carried to the original storage position of the placed container.

[0206] Figure 9 Another schematic view of a warehouse system is provided for some embodiments of the present application.

[0207] like Figure 9 As shown, the first storage column is located in the same column but on a different layer as the target storage column and is closest to the blocking container. If the storage location 2 in the first storage column is in an idle state, then the storage location 2 in the first storage column can be determined as the third idle storage location. The container G is placed on the outer storage location of the third idle storage location, that is, the storage location 1 in the first storage column. Container G is an already placed container.

[0208] For example, when the heat information of container G (with a container already placed) is lower than that of container B (blocking container), then container B, with higher heat information, needs to be placed in an external storage location, and container G, with lower heat information, should be placed in an internal storage location. Therefore, the first robot 32 can first push container G to the third available storage location (i.e., the first storage column location 2), making the original storage location of container G (i.e., the first storage column location 1) available. The first robot 32 then removes container B from location 2 of the target storage column and places it in the original storage location of container G (i.e., the first storage column location 1). In this case, the second available storage location is the original storage location of container G.

[0209] In some embodiments, based on the heat information of the placed container and the heat information of the blocking container, if the heat information of the placed container is higher than that of the blocking container, the first robot 32 is controlled to move the placed container to the temporary storage position of the first robot 32, move the blocking container to the third vacant storage position, and move the placed container in the temporary storage position to the original storage position of the placed container.

[0210] like Figure 9 As shown, when the heat information of container G (the container already placed) is higher than that of container B (the blocking container), container G, with higher heat information, needs to be placed in the outer storage location, while the blocking container B, with lower heat information, needs to be placed in the inner storage location. Therefore, the first robot 32 can first remove container G from its original storage location (i.e., storage location 1 in the first storage column) and place it in the temporary storage location 321 of the first robot 32. When storage location 1 in the first storage column becomes available, the first robot 32 removes container B from storage location 2 in the target storage column and places it in the third available storage location (i.e., storage location 2 in the first storage column). Finally, the first robot 32 moves container G, placed in the temporary storage location 321, back to its original storage location (i.e., storage location 1 in the first storage column). In this case, the second available storage location becomes the third available storage location.

[0211] The container retrieval and placement method provided in this application embodiment uses the heat information of the blocking container to place the blocking container on the corresponding target storage location. When the heat information of the blocking container is high, the blocking container can be placed in the bottom cache location; when the heat information of the blocking container is low, the blocking container can be placed in the temporary storage location of the first robot 32 or the second idle storage location of the hit carrier 31, thereby improving the container retrieval and placement efficiency and the working efficiency of the warehousing system.

[0212] Figure 10 This is a schematic diagram illustrating another container handling method provided in some embodiments of this application, such as... Figure 10 As shown, the container handling method further includes steps 1010 to 1030 as shown below. The following is in conjunction with... Figure 10 The process of container receiving in the warehousing system 100 is described.

[0213] Step 1010: Based on the cargo information of the first container to be put into storage, control the first robot to move the first container to be put into storage to the storage location.

[0214] For example, the storage location to be received is an external storage location on the target vehicle, and the depth of the external storage location is less than a depth threshold. Specifically, the storage location to be received is a storage location on the target vehicle used to place the container to be received.

[0215] In some examples, the container to be loaded is a container waiting to be placed on vehicle 10. There can be one or more containers to be loaded. The container to be loaded includes a first container to be loaded.

[0216] In some examples, the target vehicle can be one of multiple vehicles 10 that needs to store the container to be stored. For example, the target vehicle can also be the hit vehicle 31, which is not limited in this embodiment. It should be noted that the following embodiments use the hit vehicle 31 as an example for illustrative purposes.

[0217] In some embodiments, prior to step 1010, the method further includes: if the heat information of the first container to be put into storage is lower than a second heat threshold, or if the first container to be put into storage is not hit by a pending order again within a preset time, then controlling the third robot to move the first container to be put into storage to the first bottom-level cache position of the target vehicle. Controlling the first robot 32 to move the first container to be put into storage from the first bottom-level cache position to the storage location.

[0218] For example, the first underlying cache bit is located at the bottom layer of the target vehicle and close to the outer side of the target vehicle; that is, the first underlying cache bit is a first type of cache bit. The first underlying cache bit can be, for example, a... Figure 8 The cache bit 'a' in the cache.

[0219] The plurality of robots 20 includes a third robot, which is a transfer robot, and the transfer robot is configured to pick up and place the container on the bottom layer buffer position of the carrier 10.

[0220] In some examples, if the hotness information of the first to-be-warehoused container is lower than the second hotness threshold, or the first to-be-warehoused container is hit again by a to-be-processed order within a preset time, it indicates that the probability of the first to-be-warehoused container being hit in the future is small. In this case, the third robot can transfer the first to-be-warehoused container to the bottom layer of the hit carrier 31, and place the first to-be-warehoused container on the first bottom layer buffer position (such as buffer position a) of the hit carrier 31, and then the first robot 32 transfers the first to-be-warehoused container placed on the first bottom layer buffer position to the to-be-warehoused location on the hit carrier 31.

[0221] For example, the second hotness threshold and the preset time can be set according to requirements, and the embodiments of the present application do not make any limitation.

[0222] In some embodiments, before step 1010, the method further includes: if the hotness information of the first to-be-warehoused container is higher than the second hotness threshold, or the first to-be-warehoused container is hit again by a to-be-processed order within a preset time, controlling the third robot to transfer the first to-be-warehoused container to the second bottom layer buffer position of the target carrier.

[0223] For example, the second bottom layer buffer position is located at the bottom layer of the target carrier and close to the inner side of the target carrier, that is, the second bottom layer buffer position is a second type buffer position, and the second bottom layer buffer position may, for example, be buffer position b and buffer position c in the above. Figure 8

[0224] In some examples, if the hotness information of the first to-be-warehoused container is higher than the second hotness threshold, or the first to-be-warehoused container is hit again by a to-be-processed order within a preset time, it indicates that the probability of the first to-be-warehoused container being hit in the future is large, that is, the probability of the first to-be-warehoused container being picked out again is large. In this case, the third robot can transfer the first to-be-warehoused container to the bottom layer of the hit carrier 31, and place the first to-be-warehoused container on the second bottom layer buffer position of the hit carrier 31. When the first to-be-warehoused container is hit again by a to-be-processed order, the third robot can directly move to the bottom layer of the hit carrier 31 and remove the first to-be-warehoused container on the second bottom layer buffer position.

[0225] For example, the first container can include the first to-be-warehoused container. That is, the second robot 33 can push the first to-be-warehoused container that needs to be warehoused to push the hit container to the target location.

[0226] ​For example, when the first robot 32 pushes the hit container 34 by the first container, if the first container is the first to-be-stored container, the first robot 32 can take the first to-be-stored container by the taking mechanism, and push the hit container 34 to the target storage location by pushing the first to-be-stored container. Since the first to-be-stored container can be placed in the target storage location and the hit container 34 can be pushed to the target storage location when the first to-be-stored container is pushed, the efficiency of taking and placing containers can be improved.

[0227] In step 1020, if there is a free storage location on the inner side of the first to-be-stored container, the first robot is controlled to push the first to-be-stored container by the at least one second to-be-stored container based on the cargo information of the at least one second to-be-stored container and the deep position of the first robot, so as to carry the second to-be-stored container to the target carrier.

[0228] For example, when the first to-be-stored container is placed on the to-be-stored storage location, if there is at least one second to-be-stored container, the first robot 32 can sequentially push the first to-be-stored container by the at least one second to-be-stored container to move to the free storage location on the inner side, so as to also place the at least one second to-be-stored container on the target carrier (i.e., the hit carrier 31).

[0229] In step 1030, if there is a free storage location on the inner side of the first to-be-stored container, and there is a to-be-taken container corresponding to the second robot in the storage column where the first to-be-stored container is located, and the deep position of the to-be-taken container is greater than the deep position of the second robot, the first robot is controlled to push the first to-be-stored container to move the to-be-taken container to the to-be-taken storage location.

[0230] For example, the deep position of the to-be-taken storage location is less than or equal to the deep position of the second robot 33.

[0231] For example, if the inner storage location of the first to-be-stored container is a free storage location, and there is a to-be-taken container corresponding to the second robot 33 in the storage column where the first to-be-stored container is located, and the deep position of the to-be-taken container is greater than the deep position of the second robot 33, the first robot 32 can move the to-be-taken container to the to-be-taken storage location by pushing the first to-be-stored container, and the second robot 33 takes out the to-be-taken container at the to-be-taken storage location. The deep position of the first to-be-stored container is less than or equal to the deep position of the first robot 32.

[0232] For example, the to-be-stored storage location can be an inner storage location on the first carrier, and the depth of the inner storage location is greater than or equal to a depth threshold. For example, the first carrier can include the hit carrier 31.

[0233] In some embodiments, if there is a free storage location outside the to-be-stored location, the first robot 32 is controlled to place the at least one second to-be-stored container on the free storage location outside the to-be-stored location based on the cargo information of the at least one second to-be-stored container and the deep position of the first robot 32.

[0234] For example, when the to-be-stored location is an internal storage location on the hit carrier 31, if an external storage location of the to-be-stored location is free, the second to-be-stored container that needs to be stored can be placed on the external free storage location. The number of the at least one second to-be-stored container can be determined according to the number of the free storage locations outside the to-be-stored location.

[0235] In some embodiments, the deeper the position of a container in the at least one second to-be-stored container, the higher the heat information of the container, and the greater the position of the container, the lower the heat information of the container.

[0236] For example, when storing the at least one to-be-stored container, the to-be-stored containers can be sorted according to the heat information of the to-be-stored containers. Preferably, the to-be-stored containers with lower heat information are placed on internal storage locations, i.e., storage locations with larger deep positions, and the to-be-stored containers with lower heat information are placed on external storage locations, i.e., storage locations with smaller deep positions. Therefore, after the storage is completed, from the external storage location to the internal storage location on the carrier 10, the heat information of the containers becomes lower and lower.

[0237] In some examples, if the container robot only performs a storage task, the storage task can be performed by the container robot in part of the channel on either side of the carrier 10.

[0238] In some embodiments, the container picking and placing method further comprises: based on the heat information of the plurality of to-be-picked containers on the carrier, transporting to-be-picked containers with heat information higher than a third heat threshold to a first storage location; and transporting to-be-picked containers with heat information lower than the third heat threshold to a second storage location.

[0239] For example, the deep position of the first storage location is less than or equal to the deep position of the first robot 32; and the deep position of the second storage location is greater than the deep position of the first robot 32.

[0240] In some examples, when the first robot 32 or the second robot 33 is in an idle state, the first robot 32 and / or the second robot 33 can pick the containers placed on the hit carrier 31. It should be noted that the process of the first robot 32 and the second robot 33 performing the picking task is similar, and the following embodiments will be illustratively described by taking the first robot 32 performing the picking task as an example.

[0241] For example, the control device can send a picking instruction to the first robot 32, and the first robot 32 picks the containers placed on the hit carrier 31 according to the picking instruction.

[0242] In some examples, the first robot 32 can carry the to-be-picked containers with the heat information higher than the second heat threshold to the first storage location, and carry the to-be-picked containers with the heat information lower than the second heat threshold to the second storage location. For example, the first robot 32 can place the to-be-picked containers with higher heat information on the storage locations that can be reached by the first robot 32, and place the to-be-picked containers with lower heat information on the storage locations that cannot be reached by the first robot 32, so as to further improve the efficiency of container picking and placing.

[0243] Figure 11 Another schematic diagram of a container picking and placing method provided by an embodiment of the present application is shown. As shown in the figure, the method includes steps 1110 to 1120 shown in the figure. Figure 11

[0244] In some examples, Figure 11 The container picking and placing method shown in the figure can be implemented by a robot, for example, can be implemented by the second robot 33 in the above-mentioned embodiments.

[0245] Step 1110: Obtain a picking assistance instruction.

[0246] For example, the second robot 33 can obtain the picking assistance instruction through the control device.

[0247] Exemplarily, the picking assistance instruction is generated in a case where the deep position of the hit container on the hit carrier in the to-be-processed task is greater than the deep position of the first robot 32 performing the to-be-processed task.

[0248] Step 1120: According to the picking assistance instruction, push the first container in the target storage column corresponding to the hit container, and move the hit container to the target storage location, so that the first robot picks up the hit container at the target storage location.

[0249] Wherein, the deep position of the target storage location is less than or equal to the deep position of the first robot picking and placing goods, and the first robot and the second robot are respectively located on the passages on both sides of the hit carrier.

[0250] In some embodiments, the picking assistance instruction includes a first pushing instruction and / or a second pushing instruction. Wherein, the first pushing instruction is generated in a case where there is a blocking container in the target storage column, and the deep position of the blocking container is greater than the deep position of the first robot picking and placing goods, and there is a first idle storage location in the target storage column with a deep position less than that of the blocking container; the second pushing instruction is generated in a case where there is no blocking container in the target storage column, and the current deep position of the hit container is greater than the deep position of the first robot picking and placing goods.

[0251] ​In some embodiments, the step 1120 described above comprises: pushing the to-be-pushed container in the target storage column according to the first pushing instruction to move the blocking container to the first idle storage location; and pushing the first container in the target storage column according to the second pushing instruction to move the hit container to the target storage location.

[0252] In some embodiments, the step 1120 described above comprises: pushing the first container in the target storage column according to the second pushing instruction to move the hit container to the target storage location.

[0253] In some embodiments, pushing the first container in the target storage column according to the second pushing instruction to move the hit container to the target storage location comprises: pushing the first container in the target storage column according to the second pushing instruction to move the hit container to the target storage location; or placing the first container on the container taking mechanism of the second robot according to the second pushing instruction and the carrying instruction, and pushing the first container to move the hit container to the target storage location.

[0254] In some embodiments, pushing the first container in the target storage column according to the second pushing instruction to move the hit container to the target storage location comprises: controlling the support structure of the second robot to be connected with the hit carrier when the first container is pushed by the container taking mechanism of the second robot according to the second pushing instruction, so as to move the hit container to the target storage location.

[0255] In some embodiments, the number of storage locations to which the hit container is moved when the first container is pushed by the second robot is less than or equal to the number of idle storage locations in the target storage column.

[0256] It should be noted that, Figure 11 The container taking and placing method shown in the above embodiments (such as Figure 2 The corresponding method embodiments have been described in detail, and to avoid repetition, they will not be described here.

[0257] Figure 12 A schematic diagram of a container taking and placing device provided for some embodiments of the present application is shown. As shown in the figure, Figure 12 The container taking and placing device 1200 comprises a determination module 1201, a first control module 1202 and a second control module 1203. Among them,

[0258] The determination module 1201 is configured to determine, according to a to-be-processed task, a container hit by the to-be-processed task and a hit carrier storing the hit container.

[0259] The first control module 1202 is configured to, if the hit container is at a deeper position on the hit carrier than the first robot picking and placing goods for performing a to-be-processed task, control the second robot to move the hit container to a target storage column corresponding to the hit container according to the current position of the hit container on the hit carrier, the position of the first robot picking and placing goods, and the position of the second robot picking and placing goods by pushing the first container in the target storage column. The target storage column is at a position less than or equal to the position of the first robot picking and placing goods, and the first robot and the second robot are located on both sides of the hit carrier.

[0260] The second control module 1203 is configured to control the first robot to pick the hit container at the target storage column according to the target storage column.

[0261] In some embodiments, the first control module 1202 is configured to, if it is determined that there is a blocking container in the target storage column, control the first robot to carry the blocking container to a target storage position according to the position of the blocking container and the position of the first robot picking and placing goods. The blocking container is a container in the target storage column that is at a position less than the current position of the hit container. If it is determined that there is no blocking container in the target storage column and the current position of the hit container is greater than the position of the first robot picking and placing goods, the second robot is controlled to move the hit container to a target storage position by pushing the first container in the target storage column according to the current position of the hit container, the position of the first robot picking and placing goods, and the position of the second robot picking and placing goods.

[0262] In some embodiments, the first control module 1202 is configured to, if the position of the blocking container is less than or equal to the position of the first robot picking and placing goods, control the first robot to carry the blocking container to a target storage position according to the position of the blocking container and the position of the first robot picking and placing goods.

[0263] In some embodiments, the first control module 1202 is configured to, if the position of the blocking container is greater than the position of the first robot picking and placing goods and there is a first idle storage position in the target storage column that is at a position less than the position of the blocking container, control the second robot to push a to-be-pushed container in the target storage column to move the blocking container to the first idle storage position. The first robot is controlled to carry the blocking container from the first idle storage position to a target storage position according to the position of the first idle storage position and the position of the first robot picking and placing goods.

[0264] In some embodiments, the first control module 1202 is configured to control the second robot to push the first container located at the target storage column to move the hit container to the target storage location, or to place the first container on a bin taking mechanism of the second robot and push the first container to move the hit container to the target storage location, according to the current depth of the hit container, the depth of the first robot picking and placing goods, and the depth of the second robot picking and placing goods.

[0265] In some embodiments, the number of storage locations that the hit container moves when the second robot pushes the first container is less than or equal to the number of free storage locations in the target storage column.

[0266] In some embodiments, the first control module 1202 is configured to control a support structure of the second robot to connect with the hit carrier to move the hit container to the target storage location when the bin taking mechanism of the second robot pushes the first container.

[0267] In some embodiments, the determination module 1201 is configured to determine the heat information of the blocking container. The first control module 1202 is configured to control the first robot to carry the blocking container to the target storage location according to the heat information of the blocking container.

[0268] In some embodiments, the first control module 1202 is configured to control the first robot to carry the blocking container to a bottom layer buffer location of the hit carrier if the heat information of the blocking container is higher than a first heat threshold, and to carry the blocking container to a second free storage location on the hit carrier and / or a temporary storage location of the first robot if the heat information of the blocking container is lower than the first heat threshold; wherein the target storage location includes at least one of the bottom layer buffer location, the second free storage location, and the temporary storage location of the first robot.

[0269] In some embodiments, the second free storage location includes a free storage location on the hit carrier closest to the blocking container, and / or a free storage location on the hit carrier in the same column as the target storage column but in a different layer.

[0270] In some embodiments, the first control module 1202 is configured to control the first robot to carry the blocking container to a third free storage location in a first storage column on the hit carrier in the same column as the target storage column but in a different layer, or to carry the blocking container to an original storage location of a placed container, according to the heat information of the placed container and the heat information of the blocking container, if the third free storage location exists and an outer storage location of the third free storage location exists the placed container; wherein the second free storage location includes the third free storage location and the original storage location of the placed container.

[0271] In some embodiments, the first control module 1202 is configured to: if the heat information of the placed container is lower than the heat information of the blocking container, control the first robot to push the placed container to move the placed container to the third empty storage location and carry the blocking container to the original storage location of the placed container; and if the heat information of the placed container is higher than the heat information of the blocking container, control the first robot to carry the placed container to a temporary storage location of the first robot and carry the blocking container to the third empty storage location, and carry the placed container on the temporary storage location to the original storage location of the placed container.

[0272] In some embodiments, the container taking and placing device further comprises a third control module configured to: based on the cargo information of the first to-be-stored container, control the first robot to carry the first to-be-stored container to a to-be-stored storage location; wherein the to-be-stored storage location is an external storage location on a target carrier, the depth of the external storage location is less than the depth threshold, and the target carrier comprises a hit carrier, and the first container comprises the first to-be-stored container.

[0273] In some embodiments, the third control module is configured to: if there is a free storage location on the inner side of the first to-be-stored container, based on the cargo information of at least one second to-be-stored container and the depth of the first robot taking and placing goods, control the first robot to push the first to-be-stored container by the second to-be-stored container to carry the second to-be-stored container to the target carrier; or if there is a free storage location on the inner side of the first to-be-stored container, and there is a to-be-taken container corresponding to the second robot in the storage column where the first to-be-stored container is located, and the depth of the to-be-taken container is greater than the depth of the second robot taking and placing goods, control the first robot to push the first to-be-stored container to move the to-be-taken container to a to-be-taken storage location; wherein the depth of the to-be-taken storage location is less than or equal to the depth of the second robot taking and placing goods.

[0274] In some embodiments, the container taking and placing device further comprises a fourth control module configured to: based on the cargo information of the first to-be-stored container, control the first robot to carry the first to-be-stored container to a to-be-stored storage location; wherein the to-be-stored storage location is an internal storage location on a first carrier, and the depth of the internal storage location is greater than or equal to the depth threshold. If there is a free storage location on the outer side of the to-be-stored storage location, based on the cargo information of at least one second to-be-stored container and the depth of the first robot taking and placing goods, control the first robot to place the at least one second to-be-stored container on the free storage location on the outer side of the to-be-stored storage location.

[0275] In some embodiments, the deeper the container with higher heat information is in the at least one second to-be-stored container, the greater the depth of the container with lower heat information is.

[0276] In some embodiments, the container taking and placing device further comprises a fifth control module configured to: before controlling the first robot to carry the first to-be-warehoused container to the to-be-warehoused location, if the heat information of the first to-be-warehoused container is lower than a second heat threshold, or the first to-be-warehoused container is not hit by a to-be-processed order again within a preset time, control the third robot to carry the first to-be-warehoused container to a first bottom-layer cache position of the target carrier; wherein the first bottom-layer cache position is located at the bottom layer of the target carrier and close to the outer side of the target carrier. The fourth control module is configured to: control the first robot to carry the first to-be-warehoused container from the first bottom-layer cache position to the to-be-warehoused location.

[0277] In some embodiments, the fifth control module is further configured to: before controlling the first robot to carry the first to-be-warehoused container to the to-be-warehoused location, if the heat information of the first to-be-warehoused container is higher than the second heat threshold, or the first to-be-warehoused container is hit by a to-be-processed order again within a preset time, control the third robot to carry the first to-be-warehoused container to a second bottom-layer cache position of the target carrier; wherein the second bottom-layer cache position is located at the bottom layer of the target carrier and close to the inner side of the target carrier.

[0278] In some embodiments, based on the heat information of the plurality of to-be-picked containers on the carrier, a to-be-picked container with heat information higher than a third heat threshold among the plurality of to-be-picked containers is carried to a first location; wherein the depth of the first location is less than or equal to the depth of the first robot picking and placing goods. A to-be-picked container with heat information lower than the third heat threshold among the plurality of to-be-picked containers is carried to a second location; wherein the depth of the second location is greater than the depth of the first robot picking and placing goods.

[0279] Figure 13 A schematic diagram of an electronic device is provided in the embodiments of the present application. In some embodiments, the electronic device includes one or more processors and a memory. The memory is configured to store one or more programs. Wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the container taking and placing method in the above-mentioned embodiments.

[0280] As shown in Figure 13 , the electronic device 1000 includes a processor 1001 and a memory 1002. The electronic device 1000 may, for example, also include a communications interface 1003 and a communications bus 1004.

[0281] The processor 1001, the memory 1002, and the communications interface 1003 communicate with each other through the communications bus 1004. The communications interface 1003 is used to communicate with network elements such as clients or other servers.

[0282] In some embodiments, the processor 1001 is configured to execute programs 1005, and specifically, execute the related steps in the container taking and placing method embodiments described above. Specifically, the programs 1005 can include program codes containing computer-executable instructions.

[0283] For example, the processor 1001 can be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement one or more embodiments of the present application. The one or more processors of the electronic device 1000 can be of the same type, such as one or more CPUs, or can be of different types, such as one or more CPUs and one or more ASICs.

[0284] In some embodiments, the memory 1002 is configured to store the programs 1005. The memory 1002 can include a high-speed RAM memory, and can also include a non-volatile memory (NVM), such as at least one disk memory.

[0285] The programs 1005 can specifically be invoked by the processor 1001 to cause the electronic device 1000 to perform the operations of the container taking and placing method in the embodiments described above.

[0286] The computer-readable storage medium provided by the embodiments of the present application stores at least one executable instruction, which, when executed on the electronic device 1000, causes the electronic device 1000 to perform the container taking and placing method in the embodiments described above.

[0287] The executable instruction can specifically be used to cause the electronic device 1000 to perform the operations of the container taking and placing method in the embodiments described above.

[0288] For example, the computer-readable storage medium can be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0289] The beneficial effects that can be achieved by the warehouse system, the container taking and placing device, the electronic device, and the computer-readable storage medium provided by the embodiments of the present application can refer to the beneficial effects of the corresponding container taking and placing method provided above, which will not be repeated here.

[0290] It is to be understood that the phrases "in one embodiment" or "implementing the embodiment" as used herein does not necessarily refer to the same embodiment, although it may. Further, the terms "comprises", "comprising", or other any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0291] Each of the embodiments described in this specification has at least one aspect. Relatively, the same or similar parts among the embodiments can be mutually referred to, and each embodiment focuses on the difference from other embodiments. In particular, for the device embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the part of the method embodiments.

[0292] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered a part of a method, a process, a logic function, and / or an algorithm, which when the logic function and / or algorithm is performed, can be embodied in any computer readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor- based system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions, or a combination thereof.

[0293] For the purposes of this specification, a "computer-readable medium" can be any apparatus that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.

[0294] More specific examples (a non-exhaustive list) of the computer readable medium include the following: an electrical connection having one or more wires (electrical apparatus), a portable computer diskette (magnetic apparatus), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM).

[0295] Additionally, the computer readable medium can even be paper or other suitable medium upon which the program is printed, as the program can be electronically captured, for instance via an optical scanner, then compiled, interpreted, or otherwise processed, as necessary, to create a machine executable form, and then stored in a computer memory. It will be understood that parts of this application can be implemented in hardware, software, firmware, or a combination thereof.

[0296] In the embodiments described above, the steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any of the following technologies, known in the art, or their combinations can be used: discrete logic circuitry having logic gates for implementing logic functions upon data signals, application specific integrated circuits having appropriate combinational logic gates, programmable gate arrays (PGA), field programmable gate arrays (FPGA), and the like.

[0297] The embodiments of the application described above do not represent the only possible implementations of the application.

Claims

1. A container taking and placing method characterized by, The method is applied to a control device, and the method comprises: According to a to-be-processed task, a container hit by the to-be-processed task is determined, and a hit carrier storing the hit container is determined; If a deep position of the hit container on the hit carrier is greater than a deep position of a first robot for picking and placing goods for executing the to-be-processed task, according to a current deep position of the hit container on the hit carrier, the deep position of the first robot for picking and placing goods and a deep position of a second robot for picking and placing goods, the second robot is controlled to move the hit container to a target storage column by pushing a first container in the target storage column, so that the hit container is moved to a target storage position; wherein the target storage position has a deep position less than or equal to the deep position of the first robot for picking and placing goods, and the first robot and the second robot are respectively located on both sides of a channel of the hit carrier; According to the target storage position, the first robot is controlled to pick the hit container at the target storage position.

2. The method of claim 1, wherein, The control of the second robot to move the hit container to a target storage position by pushing a first container in the target storage column according to a current deep position of the hit container on the hit carrier, a deep position of the first robot for picking and placing goods and a deep position of a second robot for picking and placing goods comprises: If it is determined that there is a blocking container in the target storage column, according to the deep position of the blocking container and the deep position of the first robot for picking and placing goods, the first robot is controlled to carry the blocking container to a target storage position; wherein the blocking container is a container in the target storage column with a deep position less than the current deep position of the hit container; If it is determined that there is no blocking container in the target storage column and the current deep position of the hit container is greater than the deep position of the first robot for picking and placing goods, according to the current deep position of the hit container, the deep position of the first robot for picking and placing goods and the deep position of the second robot for picking and placing goods, the second robot is controlled to move the hit container to the target storage position by pushing the first container in the target storage column.

3. The method of claim 2, wherein, The control of the first robot to carry the blocking container to a target storage position according to the deep position of the blocking container and the deep position of the first robot for picking and placing goods comprises: If the deep position of the blocking container is less than or equal to the deep position of the first robot for picking and placing goods, the first robot is controlled to carry the blocking container to the target storage position according to the deep position of the blocking container and the deep position of the first robot for picking and placing goods.

4. The method of claim 2, wherein, The control of the first robot to carry the blocking container to a target storage position according to the deep position of the blocking container and the deep position of the first robot for picking and placing goods comprises: If the deep position of the blocking container is greater than the deep position of the first robot for picking and placing goods and there is a first idle storage position with a deep position less than the deep position of the blocking container in the target storage column, the second robot is controlled to push a to-be-pushed container in the target storage column to move the blocking container to the first idle storage position; According to the deep position of the first idle storage location and the deep position of the first robot, the first robot is controlled to carry the blocking container from the first idle storage location to the target storage location.

5. The method according to any one of claims 2-4, characterized in that, According to the current deep position of the hit container, the deep position of the first robot, and the deep position of the second robot, the second robot is controlled to move the hit container to the target storage location by pushing the first container in the target storage column, including: According to the current deep position of the hit container, the deep position of the first robot, and the deep position of the second robot, the second robot is controlled to push the first container located in the target storage column to move the hit container to the target storage location, or the second robot is controlled to place the first container on the box taking mechanism of the second robot and push the first container to move the hit container to the target storage location.

6. The method according to any one of claims 1-4, characterized in that, When the second robot pushes the first container, the number of storage locations that the hit container moves is less than or equal to the number of idle storage locations in the target storage column.

7. The method according to any one of claims 1-4, characterized in that, According to the current deep position of the hit container, the deep position of the first robot, and the deep position of the second robot, the second robot is controlled to move the hit container to the target storage location by pushing the first container in the target storage column corresponding to the hit container, including: When the box taking mechanism of the second robot pushes the first container, the support structure of the second robot is controlled to be connected with the hit carrier to move the hit container to the target storage location.

8. The method according to any one of claims 2-4, characterized in that, The control of the first robot to carry the blocking container to the target storage location includes: Determining the hotness information of the blocking container; According to the hotness information of the blocking container, the first robot is controlled to carry the blocking container to the target storage location.

9. The method of claim 8, wherein, According to the hotness information of the blocking container, the first robot is controlled to carry the blocking container to the target storage location. If the hotness information of the blocking container is higher than a first hotness threshold, the first robot is controlled to carry the blocking container to a bottom layer cache location of the hit carrier; If the hotness information of the blocking container is lower than the first hotness threshold, the first robot is controlled to carry the blocking container to a second idle storage location on the hit carrier and / or a temporary storage location of the first robot; The target storage location includes at least one of the bottom layer cache location, the second idle storage location, and the temporary storage location of the first robot.

10. The method of claim 9, wherein, The second idle storage location includes the closest idle storage location to the blocking container on the hit carrier and / or an idle storage location on the hit carrier that is in the same column but different layers from the target storage column where the blocking container is located.

11. The method of claim 10, wherein, The control of the first robot to carry the blocking container to the second idle storage location on the hit carrier includes: If a third empty storage column exists in a first storage column on the hit carrier and at a same column different layer as the target storage column, and an outer storage column of the third empty storage column has a placed container, the first robot is controlled to carry the blocking container to the third empty storage column or the original storage column of the placed container according to the hotness information of the placed container and the hotness information of the blocking container; wherein the second empty storage column includes the third empty storage column and the original storage column of the placed container.

12. The method of claim 11, wherein, The control of the first robot to carry the blocking container to the third empty storage column or the original storage column of the placed container according to the hotness information of the placed container and the hotness information of the blocking container includes: If the hotness information of the placed container is lower than the hotness information of the blocking container, the first robot is controlled to push the placed container to move the placed container to the third empty storage column and carry the blocking container to the original storage column of the placed container; If the hotness information of the placed container is higher than the hotness information of the blocking container, the first robot is controlled to carry the placed container to a temporary storage position of the first robot and carry the blocking container to the third empty storage column, and carry the placed container on the temporary storage position to the original storage column of the placed container.

13. The method of claim 1, wherein, The method further includes: Based on the goods information of the first to-be-warehoused container, the first robot is controlled to carry the first to-be-warehoused container to a to-be-warehoused storage column; wherein the to-be-warehoused storage column is an external storage column on a target carrier, a depth of the external storage column is less than a depth threshold, and the target carrier includes the hit carrier, and the first container includes the first to-be-warehoused container.

14. The method of claim 13, wherein, After the first robot carries the first to-be-warehoused container to the to-be-warehoused storage column, the method further includes: If there is an empty storage column on the inner side of the first to-be-warehoused container, the first robot is controlled to push the first to-be-warehoused container by at least one second to-be-warehoused container to carry the second to-be-warehoused container to the target carrier based on the goods information of the second to-be-warehoused container and a depth at which the first robot takes and places goods; or If there is an empty storage column on the inner side of the first to-be-warehoused container, and there is a to-be-taken container corresponding to the second robot in the storage column where the first to-be-warehoused container is located, and a depth of the to-be-taken container is greater than a depth at which the second robot takes and places goods, the first robot is controlled to push the first to-be-warehoused container to move the to-be-taken container to a to-be-taken storage column; wherein the depth of the to-be-taken storage column is less than or equal to the depth at which the second robot takes and places goods.

15. The method of claim 13, wherein, The method further includes: Based on the goods information of the first to-be-warehoused container, the first robot is controlled to carry the first to-be-warehoused container to a to-be-warehoused storage column; wherein the to-be-warehoused storage column is an internal storage column on a first carrier, and a depth of the internal storage column is greater than or equal to a depth threshold; If there is an idle storage location outside the target storage location, the first robot is controlled to place the at least one second to-be-stored container in the idle storage location outside the target storage location based on the goods information of the at least one second to-be-stored container and the deep location of the first robot.

16. The method of claim 15, wherein, The deeper the location of a container with higher heat information in the at least one second to-be-stored container is, and the deeper the location of a container with lower heat information in the at least one second to-be-stored container is.

17. The method according to any one of claims 13-16, characterized by, Before the control of the first robot to carry the first to-be-stored container to the target storage location, the method further comprises: If the heat information of the first to-be-stored container is lower than a second heat threshold, or the first to-be-stored container is not hit by a to-be-processed order again within a preset time, the third robot is controlled to carry the first to-be-stored container to a first bottom layer cache location of the target carrier; wherein the first bottom layer cache location is located at the bottom layer of the target carrier and close to the outside of the target carrier. The control of the first robot to carry the first to-be-stored container to the target storage location comprises: controlling the first robot to carry the first to-be-stored container from the first bottom layer cache location to the target storage location.

18. The method according to any one of claims 13-16, characterized by, Before the control of the first robot to carry the first to-be-stored container to the target storage location, the method further comprises: If the heat information of the first to-be-stored container is higher than a second heat threshold, or the first to-be-stored container is hit by a to-be-processed order again within a preset time, the third robot is controlled to carry the first to-be-stored container to a second bottom layer cache location of the target carrier; wherein the second bottom layer cache location is located at the bottom layer of the target carrier and close to the inside of the target carrier.

19. The method according to any one of claims 13-16, characterized by, The method further comprises: Based on the heat information of a plurality of to-be-picked containers on the carrier, a to-be-picked container with heat information higher than a third heat threshold in the plurality of to-be-picked containers is carried to a first storage location; wherein the deep location of the first storage location is less than or equal to the deep location of the first robot for picking and placing goods. A to-be-picked container with heat information lower than the third heat threshold in the plurality of to-be-picked containers is carried to a second storage location; wherein the deep location of the second storage location is greater than the deep location of the first robot for picking and placing goods.

20. A container picking method characterized by comprising: The method applied to the second robot comprises: An instruction for assisting in picking up a container is obtained; wherein the instruction for assisting in picking up a container is generated in the case that the deep location of a hit container of a to-be-processed task on a hit carrier is greater than the deep location of a first robot for picking and placing goods for executing the to-be-processed task; According to the instruction for assisting in picking up a container, a first container is pushed in a target storage column corresponding to the hit container to move the hit container to a target storage location, so that the first robot picks up the hit container at the target storage location; wherein the deep location of the target storage location is less than or equal to the deep location of the first robot for picking and placing goods, and the first robot and the second robot are respectively located in the passages on both sides of the hit carrier.

21. The method of claim 20, wherein, The taking box assisting instruction comprises a first pushing box instruction and / or a second pushing box instruction; the first pushing box instruction is generated in the case that there is a blocking container in the target storage column, the depth of the blocking container is greater than the depth of the first robot taking and placing goods, and there is a first idle goods location in the target storage column, the depth of which is less than the depth of the blocking container; the second pushing box instruction is generated in the case that there is no blocking container in the target storage column, and the current depth of the hit container is greater than the depth of the first robot taking and placing goods.

22. The method of claim 21, wherein, The pushing of the first container in the target storage column corresponding to the hit container according to the taking box assisting instruction, and the moving of the hit container to a target goods location, so that the first robot takes out the hit container at the target goods location, comprises: According to the first pushing box instruction, the container to be pushed in the target storage column is pushed to move the blocking container to the first idle goods location; According to the second pushing box instruction, the first container in the target storage column is pushed to move the hit container to the target goods location.

23. The method of claim 21, wherein, The pushing of the first container in the target storage column corresponding to the hit container according to the taking box assisting instruction, and the moving of the hit container to a target goods location, so that the first robot takes out the hit container at the target goods location, comprises: According to the second pushing box instruction, the first container in the target storage column is pushed to move the hit container to the target goods location.

24. The method of claim 22 or 23, wherein, The pushing of the first container in the target storage column corresponding to the hit container according to the taking box assisting instruction, and the moving of the hit container to a target goods location, so that the first robot takes out the hit container at the target goods location, comprises: According to the second pushing box instruction, the first container in the target storage column is pushed to move the hit container to the target goods location; or, According to the second pushing box instruction and the carrying instruction, the first container is placed on the taking box mechanism of the second robot, and the first container is pushed to move the hit container to the target goods location.

25. The method of claim 22 or 23, wherein, The pushing of the first container in the target storage column corresponding to the hit container according to the taking box assisting instruction, and the moving of the hit container to a target goods location, so that the first robot takes out the hit container at the target goods location, comprises: According to the second pushing box instruction, when the first container is pushed by the taking box mechanism of the second robot, the support structure of the second robot is controlled to be connected with the hit carrier to move the hit container to the target goods location.

26. The method of any one of claims 20-23, wherein, When the second robot pushes the first container, the number of goods locations through which the hit container moves is less than or equal to the number of idle goods locations in the target storage column.

27. A warehousing system characterized by The warehouse system comprises: a carrier, the carrier comprising a plurality of goods locations for placing containers; a plurality of robots configured to take and place containers on the carrier; The control device is configured to determine a container hit by a to-be-processed task according to the to-be-processed task, and determine a hit carrier storing the hit container; if a deep position of the hit container on the hit carrier is greater than a deep position of a first robot for picking and placing goods for executing the to-be-processed task, generate a box picking assistance instruction according to a current deep position of the hit container on the hit carrier, the deep position of the first robot for picking and placing goods and a deep position of a second robot for picking and placing goods; wherein the plurality of carriers include the hit carrier, and the plurality of robots include the first robot and the second robot; The second robot is located in a passage on one side of the hit carrier, and is configured to push a first container in a target storage column corresponding to the hit container to move the hit container to a target storage location according to the box picking assistance instruction; wherein the deep position of the target storage location is less than or equal to the deep position of the first robot for picking and placing goods; The control device is further configured to generate a box picking instruction according to the target storage location; The first robot is located in a passage on one side of the hit carrier, and is configured to pick the hit container at the target storage location according to the box picking instruction.

28. The warehousing system of claim 27, wherein, The plurality of robots further include a third robot; The control device is further configured to generate a first storage instruction if hotness information of a first to-be-stored container is lower than a second hotness threshold or the first to-be-stored container is not hit by a to-be-processed order again within a preset time; The third robot is configured to carry the first to-be-stored container to a first bottom layer cache position of a target carrier according to the first storage instruction; wherein the first bottom layer cache position is located at a bottom layer of the target carrier and close to an outer side of the target carrier.

29. The warehousing system of claim 28, wherein, The control device is further configured to generate a second storage instruction if the hotness information of the first to-be-stored container is higher than the second hotness threshold or the first to-be-stored container is hit by a to-be-processed order again within a preset time; The third robot is further configured to carry the first to-be-stored container to a second bottom layer cache position of the target carrier according to the second storage instruction; wherein the second bottom layer cache position is located at a bottom layer of the target carrier and close to an inner side of the target carrier.

30. An electronic device, comprising: Comprise: One or more processors; And Memory configured to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the container picking and placing method according to any one of claims 1-19.

31. A computer readable storage medium, characterized in that, A computer program is stored thereon, and when the computer program is executed by a processor, the container picking and placing method according to any one of claims 1-19 is implemented.

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