Barycenter adjustment method, device and warehousing system

Abstract

This application relates to the field of warehousing and logistics technology, and discloses a center of gravity adjustment method, apparatus, and warehousing system. The center of gravity adjustment method includes: acquiring a picking task, and controlling a handling device to transport a target vehicle to a workstation for picking based on the picking task; during the picking process at the workstation, determining the center of gravity position of the target vehicle and its positional relationship with a preset center of gravity area; if the center of gravity position of the target vehicle deviates from the preset center of gravity area, determining first weight information of the target vehicle; and, based on the center of gravity position and first weight information of the target vehicle, controlling the workstation to adjust the position of at least one first slider on the target vehicle to adjust the center of gravity position of the target vehicle to within the preset center of gravity area. The center of gravity adjustment method provided in this application can effectively prevent vehicles from tipping over, especially reducing the risk of tipping over during the handling process.

Description

Technical Field

[0001] This application relates to the field of warehousing and logistics technology, and in particular to a center of gravity adjustment method, apparatus and warehousing system. Background Technology

[0002] During the goods picking process, robots (such as transport robots) can move the shelves containing the containers of an order to the workstation for picking. When the workstation picks up and places different containers on the shelves, the center of gravity of the shelves may shift. When the center of gravity of the shelves deviates too much and exceeds the preset center of gravity area, the shelves may be at risk of tipping over. The risk of shelves tipping over is especially high when transport robots are moving shelves. Summary of the Invention

[0003] To address the aforementioned problems, embodiments of this application provide a center of gravity adjustment method, apparatus, and warehousing system, which can improve the stability of vehicles, effectively prevent vehicle rollovers, and especially reduce the risk of vehicle rollovers during operation, thereby reducing the damage to personnel and materials caused by vehicle rollovers. Specifically, embodiments of this application disclose the following technical solutions:

[0004] The first aspect of this application provides a center of gravity adjustment method, applied to a control device, comprising: first, acquiring a picking task, and controlling a handling device in a warehousing system to transport a target carrier to a workstation for picking according to the picking task; second, during the picking process of the target carrier at the workstation, determining the center of gravity position of the target carrier, and determining the positional relationship between the center of gravity position of the target carrier and a preset center of gravity area; if the center of gravity position of the target carrier deviates from the preset center of gravity area, determining first weight information of the target carrier; finally, based on the center of gravity position and the first weight information of the target carrier, controlling the workstation to adjust the position of at least one first slider on the target carrier to adjust the center of gravity position of the target carrier to the preset center of gravity area; wherein the target carrier is provided with a counterweight device, the counterweight device including multiple sliders, and the multiple sliders including at least one first slider.

[0005] In some embodiments, the center of gravity position of the target vehicle includes a first center of gravity position, which is the center of gravity position of the target vehicle when the current face of the target vehicle completes picking at the workstation; the preset center of gravity region includes the first center of gravity region. Determining the positional relationship between the center of gravity position of the target vehicle and the preset center of gravity region includes: if the first center of gravity position is located outside the first center of gravity region, then determining that the center of gravity position of the target vehicle deviates from the first center of gravity region.

[0006] In some embodiments, after the control workstation adjusts the position of at least one first slider on the target carrier to adjust the center of gravity of the target carrier to a preset center of gravity area, the method further includes: if the other side of the target carrier includes a container to be picked, controlling the conveying device to move the target carrier to a rotatable face position for rotatable face rotation, and after the rotatable face rotation is completed, moving the target carrier from the rotatable face position to the workstation so that the other side of the target carrier faces the workstation; controlling the workstation to pick the container to be picked on the other side of the target carrier.

[0007] In some embodiments, the turnable location is located at the intersection of the running aisles in the warehousing system, the high-speed running aisle between the picking area and the shelving area in the warehousing system, or the picking area.

[0008] In some embodiments, the method further includes: determining a second center of gravity position of the target vehicle when the other side of the target vehicle is picked at the workstation; determining second weight information of the target vehicle if the second center of gravity position is outside the first center of gravity region; controlling the workstation to adjust the position of at least one second slider on the target vehicle according to the second center of gravity position and the second weight information, so as to adjust the center of gravity position of the target vehicle to the first center of gravity region; wherein the plurality of sliders includes at least one second slider; and controlling the handling equipment to move the target vehicle away from the workstation.

[0009] In some embodiments, the center of gravity position of the target vehicle includes a third center of gravity position, which is any center of gravity position of the target vehicle before the workstation completes picking; the preset center of gravity region includes a second center of gravity region, which is greater than or equal to the first center of gravity region. Determining the positional relationship between the center of gravity position of the target vehicle and the preset center of gravity region includes: if the third center of gravity position is outside the second center of gravity region, then determining that the center of gravity position of the target vehicle deviates from the second center of gravity region.

[0010] In some embodiments, based on the center of gravity position of the target vehicle and first weight information, the control workstation adjusts the position of at least one first slider on the target vehicle to adjust the center of gravity position of the target vehicle to a preset center of gravity area, including: determining at least one first slider among a plurality of sliders and a target position corresponding to each first slider based on the center of gravity position of the target vehicle and first weight information; and controlling the adjustment device of the control workstation to move each first slider from its current position to the target position to adjust the center of gravity position of the target vehicle to a preset center of gravity area.

[0011] In some embodiments, determining at least one first slider and a target position corresponding to each first slider among a plurality of sliders based on the center of gravity position of the target vehicle and first weight information includes: determining a first number of first sliders among a plurality of sliders based on the center of gravity position of the target vehicle and first weight information, and determining the next docking point of the docking point where the current position of each first slider is located as the target position of the first slider; or, determining a second number of first sliders among a plurality of sliders and a target position corresponding to each first slider based on the center of gravity position of the target vehicle and first weight information; wherein the second number is greater than 1 and less than the first number; the second number of first sliders includes a third slider, and the target position of the third slider is located at the docking point where the maximum movement position of the third slider is located.

[0012] In some embodiments, based on the center of gravity position of the target vehicle and first weight information, the control workstation adjusts the position of at least one first slider on the target vehicle to adjust the center of gravity position of the target vehicle to a preset center of gravity area, including: determining a fourth slider among a plurality of sliders based on the center of gravity position of the target vehicle and the first weight information; controlling the adjustment device to determine the current center of gravity position of the target vehicle during the movement of the fourth slider; if the current position of the fourth slider is located at the docking point where the maximum movement position of the fourth slider is located, and the current center of gravity position of the target vehicle deviates from the preset center of gravity area, then determining a fifth slider among a plurality of sliders; wherein at least one first slider includes the fourth slider and the fifth slider; controlling the adjustment device to move the fifth slider to adjust the current center of gravity position of the target vehicle to the preset center of gravity area.

[0013] In some embodiments, the counterweight device of the target vehicle includes a support base, at least one guide groove is provided on the support base, a lead screw is provided in the guide groove, at least one slider is provided on the lead screw, and a driven plate is provided at the end of the lead screw; wherein, when the driven plate drives the lead screw to rotate, at least one slider moves in the guide groove along the axial direction of the lead screw.

[0014] In some embodiments, the workstation includes an adjustment device, which includes a driving member. The driving end of the driving member is provided with a driving disk, and the driving disk is provided with a locking pin. The driven disk is provided with a locking groove, and the locking groove is configured to cooperate with the locking pin. When the locking pin engages with the locking groove, the driving member drives the driving disk to rotate. When the driving disk rotates, the driven disk drives the lead screw to rotate, so that at least one slider moves in the guide groove along the axial direction of the lead screw.

[0015] In some embodiments, the active disk is provided with a first positioning guide cone surface, and the driven disk is provided with a second positioning guide cone surface, and the second positioning guide cone surface is configured to cooperate with the first positioning guide cone surface; when the first positioning guide cone surface and the second positioning guide cone surface are in contact, the locking pin engages with the locking groove.

[0016] In some embodiments, the adjustment device is retractably mounted on the container handling device of the workstation.

[0017] In some embodiments, a counterweight is disposed at the bottom of the target vehicle.

[0018] In some embodiments, based on the center of gravity position of the target vehicle and the first weight information, the workstation is controlled to adjust the position of at least one first slider on the target vehicle to adjust the center of gravity position of the target vehicle to a preset center of gravity area. This includes: if the center of gravity position of the target vehicle is shifted to one side of the target vehicle, the first positioning guide cone surface is controlled to fit with the second positioning guide cone surface, and the drive member is controlled to drive the active disk to rotate, so that the first slider moves along the lead screw to the other side of the target vehicle in the guide groove corresponding to the first slider.

[0019] In some embodiments, the weight of the counterweight is less than a weight threshold, which is less than the maximum load-bearing weight of the vehicle.

[0020] In some embodiments, the method further includes: according to the task to be received, the control workstation places the container to be received corresponding to the task to be received on an empty storage location on the lower level of the vehicle; and if there is no empty storage location on the lower level of the vehicle, the container to be received is placed on an empty storage location on the upper level of the vehicle; and / or, the container to be received containing goods with a weight greater than a weight threshold is placed on an empty storage location on the lower level of the vehicle, and the container to be received containing goods with a weight less than a weight threshold is placed on an empty storage location on the upper level of the vehicle.

[0021] A second aspect of this application provides a warehousing system including multiple carriers, a control device, a handling device, and a workstation. Each carrier is equipped with a counterweight device, which includes multiple sliders. The control device is configured to acquire a picking task and generate a handling instruction based on the picking task. The handling device is configured to transport a target carrier from the multiple carriers to the workstation for picking according to the handling instruction. The control device is configured to, during the picking process of the target carrier at the workstation, determine the center of gravity position of the target carrier and the positional relationship between the center of gravity position of the target carrier and a preset center of gravity area; if the center of gravity position of the target carrier deviates from the preset center of gravity area, determine first weight information of the target carrier; and generate a center of gravity adjustment instruction based on the center of gravity position and the first weight information of the target carrier. The workstation is configured to adjust the position of at least one first slider on the target carrier according to the center of gravity adjustment instruction to adjust the center of gravity position of the target carrier to within the preset center of gravity area; wherein the multiple sliders on the target carrier include at least one first slider.

[0022] A third aspect of this application provides a center of gravity adjustment device, including an acquisition module, a picking module, a determination module, and an adjustment module. The acquisition module is configured to acquire a task to be picked. The picking module is configured to control a handling device in a warehousing system to transport a target vehicle to a workstation for picking based on the task to be picked. The determination module is configured to determine the center of gravity position of the target vehicle during the picking process at the workstation, and to determine the positional relationship between the center of gravity position of the target vehicle and a preset center of gravity area; if the center of gravity position of the target vehicle deviates from the preset center of gravity area, then first weight information of the target vehicle is determined. The adjustment module is configured to control the workstation to adjust the position of at least one first slider on the target vehicle based on the center of gravity position and the first weight information of the target vehicle, so as to adjust the center of gravity position of the target vehicle to within the preset center of gravity area; wherein the target vehicle is provided with a counterweight device, the counterweight device including multiple sliders, and the multiple sliders including at least one first slider.

[0023] A fourth aspect of this application provides an electronic device, including: a processor and a memory, wherein the memory is used to store computer-executable instructions; and the processor is used to read the instructions from the memory and execute the instructions to implement the center of gravity adjustment method described in the first aspect above.

[0024] A fifth aspect of this application provides a computer-readable storage medium storing computer program instructions, which, when read by a computer, execute the center-of-gravity adjustment method described in the first aspect.

[0025] A sixth aspect of this application provides a computer program product including a computing program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions that, when executed by a computer, cause the computer to perform the center of gravity adjustment method described in the first aspect.

[0026] The center of gravity adjustment method, apparatus, and warehousing system provided in this application can effectively prevent the risk of vehicle rollover by modifying the vehicle and workstation. Specifically, this application embodiment provides a counterweight device at the bottom of the vehicle, which includes multiple sliders. The workstation is equipped with an adjustment device that can adjust the position of the sliders in the counterweight device. When the position of the sliders changes, the center of gravity of the vehicle changes accordingly. When the vehicle is picking items at the workstation and its center of gravity deviates from a preset center of gravity area, the adjustment device can move the center of gravity of the vehicle back to the preset center of gravity area by adjusting the position of the sliders. When the center of gravity of the vehicle is within the preset center of gravity area, the vehicle has high stability, thus effectively reducing the risk of vehicle rollover. In addition, by providing sliders with a certain weight at the bottom of the vehicle, the position of the vehicle's center of gravity can be lowered, thereby further improving the stability of the vehicle. Attached Figure Description

[0027] 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.

[0028] Figure 1 A schematic diagram of a warehousing system provided for some embodiments of this application;

[0029] Figure 2 A schematic diagram of the structure of a workstation provided in some embodiments of this application;

[0030] Figure 3 This application provides a schematic diagram of the structure of a counterweight device according to some embodiments;

[0031] Figure 4 This is a schematic diagram of the structure of another counterweight device provided in some embodiments of this application;

[0032] Figure 5 This application provides a schematic diagram of the structure of an adjustment device according to some embodiments;

[0033] Figure 6 This application provides a schematic diagram of the structure of a container handling device according to some embodiments;

[0034] Figure 7 A schematic diagram illustrating a center of gravity adjustment scenario provided for some embodiments of this application;

[0035] Figure 8 A schematic diagram illustrating a center-of-gravity adjustment method provided in some embodiments of this application;

[0036] Figure 9 A schematic diagram of a counterweight device provided for some embodiments of this application;

[0037] Figure 10 A schematic diagram illustrating another center-of-gravity adjustment method provided in some embodiments of this application;

[0038] Figure 11 A schematic diagram illustrating yet another center-of-gravity adjustment method provided in some embodiments of this application;

[0039] Figure 12 A schematic diagram illustrating yet another center-of-gravity adjustment method provided in some embodiments of this application;

[0040] Figure 13 A schematic diagram illustrating yet another center-of-gravity adjustment method provided in some embodiments of this application;

[0041] Figure 14 This is a schematic diagram of a center of gravity adjustment device according to some embodiments of this application;

[0042] Figure 15 This is a schematic diagram of an electronic device according to some embodiments of this application. Detailed Implementation

[0043] To enable those skilled in the art to better understand the technical solutions in the embodiments of the present invention, and to make the above-mentioned objectives, features and advantages of the embodiments of the present invention more apparent and understandable, the technical solutions in the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0044] During the picking process for items corresponding to orders, a handling robot can move the shelves containing the items to a workstation, where it can then pick the items from the shelves. Shelves are typically heavy, and their total weight increases significantly when many containers are stored on them. For example, a shelf can weigh 200kg to 300kg, and each storage location can bear a maximum weight of 20kg. Therefore, with containers placed at all locations, the total weight of the entire shelf can reach a maximum of 1.2t. When the shelf is heavy, its stability is low, posing a risk of tipping over and seriously affecting warehouse safety. The risk of tipping is even higher when handling robots are moving the shelves. Therefore, effectively preventing shelf tipping or reducing its risk is a pressing issue.

[0045] In some examples, a balanced container placement approach can improve shelf stability. For instance, during shelving, containers can be placed on different sides of the shelf to ensure the weight difference between the two sides does not exceed a preset weight threshold, thus stabilizing the shelf's center of gravity. Alternatively, heavier items can be placed on lower shelves and lighter items on upper shelves to lower the center of gravity and improve stability. However, achieving shelf stability through these methods can impact workstation picking efficiency. For example, during picking, the next container to be picked needs to be determined based on the weight difference between the two sides of the shelf, increasing the system's computational complexity. Furthermore, when the next container is on the other side of the shelf, repeated rotation of the shelf is required, reducing picking efficiency.

[0046] In other examples, adding or removing counterweights can also improve the stability of the shelving. For instance, counterweights can be prepared in the warehouse. When the shelving's center of gravity is unstable, counterweights can be added to one side of the shelving or removed from the other side to ensure stability. However, adding or removing counterweights is difficult to implement, relies on manual labor, reduces warehouse efficiency, and is not precise enough in adjusting the shelving's center of gravity, resulting in a high error rate.

[0047] To address the aforementioned problems, this application provides a warehousing system that uses a counterweight device on a vehicle and an adjustment device at a workstation. The adjustment device can adjust the position of the slider in the counterweight device, thereby adjusting the vehicle's center of gravity, improving stability, and effectively preventing the risk of tipping over. Furthermore, the warehousing system provided in this application does not require manual adjustment of the vehicle's center of gravity, making it simple and highly accurate.

[0048] The warehousing system provided in the embodiments of this application will be described below with reference to the accompanying drawings.

[0049] 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 vehicles 10, multiple handling devices 20, at least one workstation 30, a vehicle docking area 40, and a control device ( Figure 1 (Not shown in the image).

[0050] For example, the carrier 10 may include multiple storage locations (also referred to as storage locations). These storage locations may be used to place containers, bins, or goods directly, or the original packaging of the goods; this application embodiment does not limit this, and the following embodiment uses the use of storage locations for placing containers as an example for illustrative purposes.

[0051] For example, the cargo space can be a rectangular prism-shaped storage space, and multiple cargo spaces on the carrier 10 can be neatly arranged along the length, width, and height of the carrier 10. The container can be a product specifically designed for the carrier 10, a regular cargo box (also called a container), or packaging for goods (also called a box), and this application embodiment does not limit this.

[0052] In some examples, the carrier 10 may also be referred to as a mobile carrier. For example, the carrier 10 may include a mobile shelf. The mobile shelf includes at least one partition that divides the carrier 10 into at least two layers. At least one storage location is provided on the partition of the carrier 10, and each storage location can accommodate at least one container. The container placed in each storage location can be a box or a pallet; this application embodiment does not limit this. It should be noted that the carrier 10 includes, but is not limited to, partitioned shelves, container shelves, picking shelves, mobile shelves, etc. The carrier 10 provided in this application embodiment can refer to any carrier used for placing containers.

[0053] In some examples, vehicle 10 can be either a high-density storage rack or a low-density storage rack. When vehicle 10 is a high-density storage rack, the gaps between containers are smaller. For example, vehicle 10 can be parked in rack area 101, which can be either a high-density storage area or a low-density storage area. Rack area 101 can include multiple storage locations, which can be neatly arranged in rows and columns. Each storage location can be used to park one vehicle 10.

[0054] In some examples, the carrier 10 can be a single-sided carrier, a double-sided carrier, or a four-sided carrier (capable of retrieving boxes from all four sides). This application embodiment does not limit this; however, it uses a double-sided carrier 10 as an example for illustrative purposes. For instance, when the carrier 10 is a double-sided shelf, partitions can be provided between multiple storage locations along the vertical direction; each side of the carrier 10 can have 30 storage locations, for a total of 60 storage locations on both sides. This application embodiment does not limit the type of carrier 10 or the number of storage locations it includes; this is merely an illustrative example.

[0055] For example, the number of workstations 30 in the warehousing system 100 can be one or more. Each workstation 30 can be equipped with one or more vehicle docking areas 40 for parking vehicles 10. For example, the handling equipment 20 can move the vehicle 10 from the racking area 101 to the vehicle docking area 40 corresponding to the workstation 30, so that the workstation 30 can perform picking operations on the vehicle 10. For example, the workstation 30 can remove containers from the vehicle 10 or place containers on the storage location of the vehicle 10.

[0056] In some examples, vehicle docking area 40 may include one or more docking spots, each for docking a vehicle 10.

[0057] For example, the handling equipment 20 may also be referred to as an automated handling equipment or a vehicle handling equipment, for handling the vehicle 10. For instance, the handling equipment 20 can handle the vehicle 10 between the shelving area 101 and the picking area 102. The picking area 102 includes a workstation 30 and a vehicle docking area 40.

[0058] In some examples, the handling device 20 can be a handling robot, such as an Automated Guided Vehicle (AGV). For example, the handling robot can move under the carrier 10 and then lift the carrier 10 off the ground, thereby carrying the carrier 10 for movement.

[0059] For example, the control device can be coupled to the handling equipment 20 and the workstation 30 respectively, and is used to control the operation of the handling equipment 20 and the workstation 30. For example, the control device can control the movement operation of the handling equipment 20 and the handling operation of the carrier 10, and can also control the workstation 30 to perform picking operations on the goods on the carrier 10, etc.

[0060] In some examples, the control device can be a server or a terminal device, or a device deployed with a warehouse management system (WMS). The terminal device can include at least one of a personal computer, laptop computer, smartphone, tablet computer, and portable wearable device; the server can include a standalone server or a server cluster consisting of multiple servers, and this application embodiment does not limit this.

[0061] In some examples, the control device communicates with the handling equipment 20 and the workstation 30 for data communication. For example, the control device can communicate with the handling equipment 20 and the workstation 30 via a local area network (LAN), a wireless local area network (WLAN), or other networks.

[0062] In some embodiments, the control device can generate a handling instruction based on the acquired picking task and send the handling instruction to the handling equipment 20; the handling equipment 20 will then move the target vehicle from the plurality of vehicles 10 to the workstation 30 for picking according to the handling instruction. For example, the handling equipment 20 can move the target vehicle to the corresponding vehicle docking area 40 of the workstation 30.

[0063] For example, workstation 30 is used to remove containers from target vehicles docked in vehicle docking area 40, or to place containers in the cargo position of target vehicles docked in vehicle docking area 40.

[0064] The following is combined Figure 2 The structure and working principle of workstation 30 are explained.

[0065] Figure 2 This is a schematic diagram of the structure of a workstation provided for some embodiments of this application. For example... Figure 2 As shown, workstation 30 includes a support frame 31, a guiding mechanism 32, a container loading / unloading device 33, and a buffer slot. Figure 2 (Not shown in the image). The buffer position can be set to the support frame 31 or the guide mechanism 32.

[0066] In some examples, a guide mechanism 32 is disposed to a support frame 31. The guide mechanism 32 is movable laterally and vertically relative to the support frame 31. A container loading / unloading device 33 is disposed to the guide mechanism 32 so that the container loading / unloading device 33 is movable laterally and / or vertically relative to the support frame 31.

[0067] In some examples, the container pick-and-place device 33 is coupled to the control device. When the handling equipment 20 moves the carrier 10 to the carrier docking area 40 corresponding to the workstation 30 under the control of the control device, the container pick-and-place device 33 moves laterally (e.g., in the L direction) and / or vertically (e.g., in the H direction) to reach the position corresponding to the storage location 15 in the carrier 10, thereby picking up or placing the container at the storage location 15.

[0068] Exemplarily, the guiding mechanism 32 may include a lateral moving device 34, a moving rod 35, and a vertical moving device 36. The lateral moving device 34 is disposed to the support frame 31 and coupled to a control device. The lateral moving device 34 is laterally movable relative to the support frame 31. The moving rod 35 extends vertically and is disposed to the lateral moving device 34, thereby allowing the moving rod 35 to move laterally relative to the support frame 31. The vertical moving device 36 is disposed to the moving rod 35 and coupled to the control device. The vertical moving device 36 is vertically movable relative to the moving rod 35. A container picking / placing device 33 is disposed to the vertical moving device 36, thereby allowing the container picking / placing device 33 to move vertically relative to the moving rod 35. Therefore, the container picking / placing device 33 can move laterally and / or vertically on the support frame 31.

[0069] In some examples, buffer positions can be used to place containers. For example, the container loading and unloading device 33 can move containers between different loading positions 15, or between loading positions 15 and buffer positions, thereby enabling the adjustment of the loading position of containers on the same carrier 10, or enabling the movement of containers between multiple carriers 10.

[0070] In some examples, workstation 30 may not have support frame 31. When workstation 30 does not have support frame 31, container loading and unloading device 33 can move laterally and / or vertically via guide mechanism 32.

[0071] For example, when the workstation 30 is not equipped with the support frame 31, the workstation 30 may include at least one guide mechanism 32 and a container pick-and-place device 33. The container pick-and-place device 33 is disposed on the guide mechanism 32, and the container pick-and-place device 33 can move laterally and / or vertically through the guide mechanism 32.

[0072] In some embodiments, the lateral moving device 34 is coupled to the moving rod 35 and configured to drive the moving rod 35 to move laterally; the moving rod 35 extends in a vertical direction, and the container picking and placing device 33 is disposed on the moving rod 35 so that the moving rod 35 drives the container picking and placing device 33 to move laterally; the vertical moving device 36 is coupled to the container picking and placing device 33 and configured to drive the container picking and placing device 33 to move vertically relative to the moving rod 35.

[0073] In some examples, the lateral moving device 34 can be disposed on the moving rod 35 or on the container picking and placing device 33; the vertical moving device 36 can be disposed on the moving rod 35. For example, the lateral moving device 34 and the vertical moving device 36 can be two drive motors. The specific positions of the lateral moving device 34 and the vertical moving device 36 are not limited in the embodiments of this application, as long as the lateral moving device 34 can drive the moving rod 35 to move laterally, and the vertical moving device 36 can drive the container picking and placing device 33 to move vertically relative to the moving rod 35.

[0074] In some examples, the guiding mechanism 32 can be a robotic arm (also known as an automated robotic arm), and the container picking and placing device 33 can be connected to the robotic arm. The container picking and placing device 33 can move laterally and / or vertically via the robotic arm (for example, the robotic arm can move laterally and / or vertically with the container picking and placing device 33). The robotic arm can be fixed to the ground or a guide rail. The robotic arm can be permanently fixed to the ground or a guide rail, or it can be temporarily fixed to the ground or a guide rail. This application embodiment does not limit this.

[0075] In some embodiments, the carrier 10 is provided with a counterweight device, which includes a plurality of sliders. The workstation 30 also includes an adjustment device for adjusting the position of the sliders in the counterweight device of the carrier 10.

[0076] For example, the counterweight device can be installed at the bottom of the vehicle 10. For instance, the counterweight device can be installed below the lowest level (i.e., the layer closest to the ground) of the vehicle 10; or, the layer closest to the ground of the vehicle 10 can be removed and replaced with a counterweight device. This application embodiment does not limit this.

[0077] In some examples, the counterweight may also include multiple slide rails, with sliders mounted on and moving along the rails. The adjustment device can move laterally and / or vertically on the workstation to adjust the position of the sliders on the counterweight, thereby adjusting the center of gravity of the vehicle to ensure its stability.

[0078] In some embodiments, the weight of the counterweight is less than a weight threshold, which is less than the maximum load-bearing weight of the vehicle.

[0079] It should be noted that the weight of the counterweight should not be too large. Since the total load capacity of the vehicle is fixed, if the weight of the counterweight is too high, the number of containers (such as goods) that can be placed on the vehicle will decrease, thus affecting the space utilization of the vehicle. At the same time, the weight of the counterweight should not be too low either. If the weight of the counterweight is too small, the center of gravity of the vehicle cannot be effectively adjusted.

[0080] In some examples, the weight of the counterweight device can be determined based on the number of sliders and the weight of each slider. For example, the size (or weight) of each slider in the counterweight device can be the same or different. For easier control, the size of each slider in the counterweight device provided in this application embodiment is the same.

[0081] For example, the counterweight device can be equipped with 5 sliders, each weighing 20kg. This ensures that the counterweight device has a certain weight, which can effectively adjust the center of gravity of the vehicle. In addition, it will not affect the overall weight of the vehicle or reduce the space utilization of the vehicle.

[0082] This application embodiment provides a counterweight module at the bottom of the vehicle 10, which lowers the position of the center of gravity of the vehicle 10 under the same conditions. The lower the center of gravity of the vehicle, the more stable the vehicle is. Therefore, the stability of the vehicle can be improved by setting a counterweight device.

[0083] The following is combined Figure 3 and Figure 4 The specific structure of the counterweight device is described.

[0084] Figure 3 This is a schematic diagram of the structure of a counterweight device provided in some embodiments of this application. For example... Figure 3As shown, the counterweight device 11 includes a support base 112, on which at least one guide groove 113 is provided. A lead screw 114 is provided in each guide groove 113. At least one slider 111 is provided on the lead screw 114, and a driven plate 115 is provided at the end of the lead screw 114.

[0085] In some examples, the support base 112 may have one guide groove 113 or multiple guide grooves 113, such as... Figure 3 As shown, the support base 112 is provided with three guide grooves 113.

[0086] For example, one end of the guide groove 113 is located on one side of the carrier 10 (such as side A), and the other end is located on the opposite side of the carrier 10 (such as side B). Each guide groove 113 is provided with a lead screw 114. The lead screw 114 is arranged along the length of the guide groove, and both ends of the lead screw 114 are rotatably connected to the edge of the support base 112.

[0087] In some examples, each lead screw 114 may be provided with one slider 111 or multiple sliders 111. This application embodiment does not limit this. This application embodiment takes the example of each lead screw 114 being provided with one slider 111 for illustrative purposes.

[0088] In some examples, a driven disc 115 is provided at the end of the lead screw 114. For example, a driven disc 115 may be provided at each of the two ends of the lead screw 114, or a driven disc 115 may be provided at either end of the lead screw 114. This application embodiment does not limit this. Figure 3 As shown, both ends of the lead screw 114 are provided with driven discs 115.

[0089] For example, the driven disk 115 can rotate. When the driven disk 115 rotates, it can drive the lead screw 114 connected to it to rotate. When the lead screw 114 rotates, the slider 111 provided on the lead screw 114 can move in the guide groove along the axial direction of the lead screw 114.

[0090] For example, slider 111 can move along lead screw 114 to different sides of carrier 10, such as slider 111 can move from one side of surface A of carrier 10 to one side of surface B of carrier 10. When slider 111 moves from surface A of carrier to surface B of carrier 10, the weight of surface B of carrier 10 increases, that is, the center of gravity of carrier 10 shifts towards surface B of carrier 10.

[0091] Figure 4 This is a schematic diagram of another counterweight device provided in some embodiments of this application. For example... Figure 4 As shown, the driven disk 115 is provided with a slot 116 and a second positioning guide cone surface 117.

[0092] Figure 5 This is a schematic diagram of the structure of an adjustment device provided in an embodiment of this application. The following is in conjunction with... Figure 5 The structure of the regulating device is described. For example... Figure 5 As shown, the adjustment device 37 includes a drive member 371, and the drive end of the drive member 371 is provided with an active disk 372. The active disk 372 is provided with a locking pin 373 and a first positioning guide cone surface 374.

[0093] For example, the slot 116 on the driven plate 115 of the counterweight device 11 is configured to cooperate with the pin 373 on the driving plate 372, and the pin 373 can be engaged in the slot 116. There can be multiple pins 373, and the number of slots 116 can be greater than or equal to the number of pins 373.

[0094] In some examples, such as Figure 4 and Figure 5 As shown, the driven disk 115 can have multiple slots 116, which are evenly distributed around the circumference of the driven disk 115. The driven disk 372 can have four locking pins 373, which are evenly distributed around the circumference of the driving disk 372. This facilitates the engagement of the locking pins 373 on the driving disk 372 with the slots 116. The number of slots 116 can be determined based on the diameter of the driven disk 115; this embodiment does not limit this number.

[0095] In some examples, the locking pin 373 can be a spring-loaded locking pin. When the locking pin 373 engages with the slot 116, the drive member 371 can drive the drive disc 372 to rotate. When the drive disc 372 rotates, it can drive the driven disc 115 to rotate, thereby driving the lead screw 114 to rotate.

[0096] For example, the first positioning guide cone surface 374 can fit into the second positioning guide cone surface 117. When the first positioning guide cone surface 374 can fit into the second positioning guide cone surface 117, the locking pin 373 can be more precisely engaged into the slot 116.

[0097] In some examples, the driven disk 115 has a tapered groove, the diameter of which is larger than the diameter of its bottom wall. The second positioning guide tapered surface 117 forms the inner peripheral wall of this groove. The driving disk 372 has a tapered protrusion, the cross-section of which is larger at the end near the driving disk 372 than at the end away from it. The first positioning guide tapered surface 374 forms the outer peripheral wall of this protrusion. When the protrusion on the driving disk 372 is inserted into the groove of the driven disk 115, the first positioning guide tapered surface 374 can fit against the second positioning guide tapered surface 117, at which point the driven disk 115 and the driving disk 372 are coaxially connected.

[0098] For example, the cross-section of the opening of the groove is larger than the cross-section of the end of the protrusion away from the active disk 372, which makes it easier for the protrusion to be inserted into the groove, thereby playing a guiding role, so that the driven disk 115 and the active disk 372 are coaxially connected, and the locking pin 373 can be more accurately locked into the slot 116.

[0099] In some embodiments, when the locking pin 373 engages with the slot 116, the driving member 371 can drive the active disk 372 to rotate, thereby causing the driven disk 115 to rotate, so as to adjust the position of the slider 111 on the lead screw 114.

[0100] For example, the slider 111 moves in different directions when the rotation direction of the active disk 372 is different. For example, continuing to refer to... Figure 3 When the rotation direction of the active disk 372 is the first direction (such as clockwise), the slider 111 can move along the lead screw 114 to one side of the A surface of the carrier 10; when the rotation direction of the active disk 372 is the second direction (such as counterclockwise), the slider 111 can move along the lead screw 114 to one side of the B surface of the carrier 10. This application embodiment does not limit this.

[0101] In some examples, when workstation 30 picks containers on surface A of carrier 10, such as when a container is taken out, the weight of surface A of carrier 10 will decrease, and the center of gravity of carrier 10 may shift to surface B. When the center of gravity of carrier 10 deviates too much, the container picking and placing device 33 can be controlled to move to the position of counterweight device 11 and extend at least one slider 111 on adjusting device 37 to move slider 111 to one side of surface A of carrier until the weight difference between the two sides of carrier 10 is not too large, thus maintaining the stability of carrier 10.

[0102] In some embodiments, the adjustment device 37 is retractably mounted on the container handling device 33 of the workstation 30.

[0103] Figure 6 This is a schematic diagram of a container handling device provided for some embodiments of this application. For example... Figure 6 As shown, the adjustment device 37 is located at the end of the container handling device 33.

[0104] In some examples, the adjustment device 37 may be located at the end of the container handling device 33 facing the carrier 10, and the adjustment device 37 may move laterally and / or vertically as the container handling device 33 moves. For example, the adjustment device 37 may be retractably connected to the container handling device 33 via the other end of the drive member 371.

[0105] Figure 7 This is a schematic diagram illustrating a center-of-gravity adjustment scenario provided for some embodiments of this application. For example... Figure 7As shown, the container picking and placing device 33 can drive the adjusting device 37 to the position of the counterweight device 11.

[0106] like Figure 7 As shown, when the container handling device 33 moves the adjusting device 37 to the position of the counterweight device 11, the adjusting device 37 can extend in the direction of the arrow to fit the first positioning guide cone surface 374 of the active disk 372 and the second positioning guide cone surface 117 of a driven disk 115 on the counterweight device 11, so that the locking pin 373 engages with the locking groove 116; when the locking pin 373 engages with the locking groove 116, the driving member 371 can drive the active disk 372 to rotate, thereby driving the driven disk 115 to rotate, and realizing the adjustment of the position of the slider 111 on the lead screw 114 corresponding to the driven disk 115.

[0107] The warehousing system 100 provided in this application embodiment can effectively prevent the risk of the vehicle 10 tipping over by modifying the vehicle 10 and the workstation 30. Specifically, this application embodiment provides a counterweight device 11 at the bottom of the vehicle 10. The counterweight device 11 includes multiple sliders 111. The workstation 30 is provided with an adjustment device 37, which can adjust the position of the sliders 111 in the counterweight device 11. When the position of the sliders 111 changes, the center of gravity of the vehicle 10 changes accordingly. When the vehicle 10 is picking items at the workstation 30, and the center of gravity of the vehicle 10 deviates from a preset center of gravity area, the adjustment device 37 can adjust the position of at least one slider 111 to move the center of gravity of the vehicle 10 back to the preset center of gravity area. When the center of gravity of the vehicle 10 is within the preset center of gravity area, the vehicle 10 has high stability, thus effectively reducing the risk of the vehicle 10 tipping over.

[0108] The method for adjusting the center of gravity provided in the embodiments of this application will be described below with reference to the accompanying drawings. It should be noted that the method for adjusting the center of gravity in the following embodiments can be implemented by the warehousing system 100, specifically by the control device in the warehousing system 100.

[0109] Figure 8 This is a schematic diagram illustrating a center-of-gravity adjustment method provided in some embodiments of this application. For example... Figure 8 As shown, the center of gravity adjustment method includes steps 810 to 840 as shown below.

[0110] Step 810: Obtain the picking task and control the handling equipment in the warehousing system to move the target vehicle to the workstation for picking according to the picking task.

[0111] In some examples, the control device can generate a handling instruction based on the acquired task to be picked and send the handling instruction to the handling equipment (such as a handling robot). The handling equipment then moves the target carrier corresponding to the task to be picked to the workstation for picking according to the handling instruction.

[0112] For example, the handling equipment for transporting the target vehicle can be any handling equipment in the warehousing system. This equipment could be the nearest available handling equipment to the target vehicle. The target vehicle can be the vehicle corresponding to the picking task among multiple vehicles in the shelving area, with the corresponding pickup container placed on the target vehicle.

[0113] For example, the workstation for picking the target vehicle can be any workstation in the warehousing system, such as the idle workstation closest to the target vehicle. This application embodiment does not limit this. The transport equipment moving the target vehicle to the workstation may include the transport equipment moving the target vehicle to a parking space in the vehicle parking area corresponding to the workstation.

[0114] Step 820: During the process of picking the target vehicle at the workstation, determine the center of gravity position of the target vehicle and determine the positional relationship between the center of gravity position of the target vehicle and the preset center of gravity area.

[0115] In some examples, the process of a workstation picking a target vehicle includes the period from when the target vehicle is moved to the workstation by the handling equipment until the target vehicle is moved away from the workstation by the handling equipment. For example, the center of gravity of the target vehicle can be determined during the period from when the target vehicle arrives at the corresponding vehicle docking area of ​​the workstation and the workstation begins picking the target container on the target vehicle until the workstation completes the picking operation on the target vehicle.

[0116] In some examples, determining the center of gravity of a target vehicle during the picking process at a workstation includes: determining the center of gravity of the target vehicle before the workstation completes picking the target vehicle, and determining the center of gravity of the target vehicle after the workstation completes picking the target vehicle.

[0117] In some examples, the weight of the first face of the target vehicle changes dynamically before the workstation completes picking the current face (hereinafter also referred to as the first face). When the weight of the first face changes, the center of gravity of the target vehicle also shifts. Therefore, the center of gravity of the target vehicle can be dynamically determined before the first face is picked. After the first face is picked, the weight of the target vehicle no longer changes, so the center of gravity of the target vehicle is determined again after the first face is picked.

[0118] In some examples, the control device can calculate the center of gravity of the target vehicle based on the picking process, the placement and removal of containers on the target vehicle, the distribution of remaining containers, and the weight of the target vehicle.

[0119] For example, the preset center of gravity region is the area formed by the center of gravity position of the target vehicle when the target vehicle remains stable and there is no risk of tipping over or overturning.

[0120] For example, when the handling equipment moves the target container to the workstation, its center of gravity may have shifted before picking is performed. However, this shift will not cause the target container to tip over; that is, the target container's center of gravity remains within a preset center of gravity area. As the workstation picks up or places containers on the first side of the target container, the weight difference between the two sides changes, and the target container's center of gravity also changes. When the target container's center of gravity deviates from the preset center of gravity area, it indicates that the shift is too large and there is a potential risk of tipping over. Therefore, when the target container's center of gravity deviates from the preset area, it needs to be adjusted to bring its center of gravity back within the preset area.

[0121] In some examples, when the target vehicle is stationary, its stability is good, and even a significant shift in its center of gravity may not cause it to overturn. In other words, when the target vehicle is stationary, its corresponding preset center of gravity area is relatively large. When the target vehicle is being moved by a transport device, its stability is poor. A significant shift in its center of gravity, such as the same shift as when stationary, may cause it to overturn. In other words, when the target vehicle is in motion, its corresponding preset center of gravity area is relatively small.

[0122] For example, before the first side of the target carrier is picked, the target carrier remains stationary, so any shift in its center of gravity may not cause it to tip over. However, once the first side of the target carrier is picked, it needs to be moved from the workstation by handling equipment. In this case, the current shift in the target carrier's center of gravity may cause it to tip over during the handling process. Therefore, in related technologies, to ensure the stability of the target carrier during handling, the center of gravity of the target carrier needs to be kept within a small center of gravity area during the picking process. In this case, when the workstation picks the first side of the target carrier, if the center of gravity of the target carrier deviates from this small center of gravity area, the target carrier needs to be rotated to perform the picking operation on the opposite side (hereinafter also referred to as the second side). This repeated rotation cannot guarantee the continuity of picking operations on the same side of the target carrier, reducing the picking efficiency of the warehousing system.

[0123] The center of gravity adjustment method provided in this application can adjust the center of gravity position of the target carrier after the first side is picked, so as to adjust the center of gravity position of the target carrier to the smaller center of gravity area corresponding to the moving state, thereby ensuring the stability of the target carrier during the handling process. In this way, before the first side of the target carrier is picked, the center of gravity position of the target carrier can be shifted to the larger center of gravity area corresponding to the stationary state. Therefore, this application embodiment is equivalent to increasing the center of gravity area corresponding to the center of gravity position of the target carrier before the picking is completed, thereby reducing the number of times the target carrier is turned and improving the picking efficiency of the warehousing system.

[0124] In some embodiments, the preset center of gravity region may include a first center of gravity region and a second center of gravity region. The first center of gravity region may be a region composed of multiple center of gravity positions that ensure no risk of rollover when the target vehicle is in operation, and the second center of gravity region may be a region composed of multiple center of gravity positions that ensure no risk of rollover when the target vehicle is stationary.

[0125] For example, since the center of gravity region corresponding to the running state is smaller than the center of gravity region corresponding to the stationary state, the first center of gravity region is smaller than or equal to the second center of gravity region. The center point of gravity of the first center of gravity region and the center point of gravity of the second center of gravity region may be the same or different. This application embodiment does not limit this.

[0126] In some examples, the first and second centroid regions can be set as needed or obtained through multiple experiments; however, this application does not limit this.

[0127] In some examples, when the target vehicle is stationary, it is only necessary to ensure that the center of gravity of the target vehicle is within the second center of gravity region. Since the second center of gravity region is large, that is, the offset range of the target vehicle's center of gravity is larger, it may be possible to ensure that the target vehicle does not need to be turned before the current vehicle completes picking, or to reduce the number of times the target vehicle is turned, thereby improving the picking efficiency of the warehouse system.

[0128] After the current front of the target vehicle is picked up and before it is moved by the handling equipment, the positional relationship between the center of gravity of the target vehicle and the first center of gravity area is further determined.

[0129] In some embodiments, the center of gravity position of the target vehicle includes a first center of gravity position, which is the center of gravity position of the target vehicle when the current face of the target vehicle completes picking at the workstation; determining the positional relationship between the center of gravity position of the target vehicle and the preset center of gravity area in step 820 above includes: if the first center of gravity position is located outside the first center of gravity area, then determining that the center of gravity position of the target vehicle deviates from the first center of gravity area.

[0130] For example, the current face of the target vehicle is the face that the target vehicle is currently picking (i.e., the first face). When the workstation picks the current face of the target vehicle and completes the picking, the center of gravity position of the target vehicle is determined as the first center of gravity position. Since the current face has been picked, the first center of gravity position will not change.

[0131] In some examples, the picking task includes a first sub-picking task and a second sub-picking task, wherein the first sub-picking task is the picking task corresponding to the current side of the target vehicle, and the second sub-picking task is the picking task corresponding to the other side of the target vehicle.

[0132] For example, when the target vehicle arrives at the workstation and its first face faces the workstation, the control device can send a first sub-picking instruction to the workstation according to a first sub-picking task, so as to control the workstation to pick the containers to be picked (such as the first container to be picked) on the first face of the target vehicle. When the target vehicle arrives at the workstation and its second face faces the workstation, the control device can send a second sub-picking instruction to the workstation according to a second sub-picking task, so as to control the workstation to pick the containers to be picked (such as the second container to be picked) on the second face of the target vehicle.

[0133] In some examples, "picking complete on the current face of the target vehicle" means that there is no first container to be picked on the current face of the target vehicle.

[0134] For example, when a workstation finishes picking the current face of a target carrier, the transport equipment can move the target carrier back to the shelf area; or, it can move the target carrier to another workstation for picking; or, it can move the target carrier to a turnable face position for turning to continue picking the other face.

[0135] For example, during the process of transporting a target vehicle by a handling device, the device has a certain speed. If the device accelerates forward or decelerates to a stop, the target vehicle may be at risk of tipping over. Therefore, before transporting the target vehicle, the positional relationship between the center of gravity position (i.e., the first center of gravity position) of the target vehicle after the first side has been picked and the first center of gravity area can be determined.

[0136] In some examples, if the first center of gravity is located within the first center of gravity region, it is determined that the first center of gravity of the target vehicle has not deviated from the first center of gravity region. In this case, the transport equipment will not cause the target vehicle to tip over, regardless of whether it accelerates forward or decelerates to a stop. In this case, the transport equipment can directly move the target vehicle away from the workstation.

[0137] In some examples, if the first center of gravity is located outside the first center of gravity region, then the first center of gravity of the target vehicle is determined to be deviated from the first center of gravity region. In this case, when the handling equipment is transporting the target vehicle, acceleration or deceleration may cause the target vehicle to tip over, i.e., there is a risk of tipping over. In this situation, the handling equipment cannot directly handle the target vehicle; instead, the center of gravity of the target vehicle needs to be adjusted to ensure that the handling equipment can safely move the target vehicle away from the workstation.

[0138] In some embodiments, the center of gravity position of the target vehicle further includes a third center of gravity position, which is any center of gravity position of the target vehicle before the workstation completes picking. Determining the positional relationship between the center of gravity position of the target vehicle and the preset center of gravity region in step 820 above includes: if the third center of gravity position is located outside the second center of gravity region, then it is determined that the center of gravity position of the target vehicle deviates from the second center of gravity region.

[0139] In some examples, due to the large second center of gravity region, the center of gravity of the target vehicle typically does not exceed this region before the picking process is complete; that is, the target vehicle's center of gravity remains stable before the picking process is finished. However, if there are many containers to be picked on the current face, the target vehicle's center of gravity may deviate from the second center of gravity region.

[0140] For example, before the target vehicle completes picking, its center of gravity is at the third center of gravity position. Since picking is currently underway, this third center of gravity position is dynamically changing.

[0141] For example, before the current face of the target vehicle completes picking, the control device can dynamically determine the third center of gravity position of the target vehicle. For instance, the control device can determine the third center of gravity position of the target vehicle once after the container pick-and-place device of the workstation picks and places a preset number of containers from the current face; or, the control device can determine the third center of gravity position of the target vehicle once at preset time intervals. This application embodiment does not limit this.

[0142] In related technologies, if the center of gravity of the target vehicle deviates from the second center of gravity area during the current picking process, the target vehicle needs to be rotated to prevent it from tipping over. In this embodiment, the center of gravity of the target vehicle can be adjusted before picking is completed, thereby maintaining the continuity of the current picking operation and improving picking efficiency.

[0143] In some examples, if the third center of gravity is located within the second center of gravity region, it is determined that the third center of gravity of the target vehicle has not deviated from the second center of gravity region. In this case, there is no risk of the target vehicle tipping over, therefore, the workstation can continue to perform picking operations on the current face.

[0144] In some examples, if the third center of gravity is located outside the second center of gravity area, the third center of gravity of the target vehicle is determined to be off-center from the second center of gravity area. In this case, continuing to perform picking operations on the current vehicle may cause it to tip over. Therefore, the workstation needs to adjust the center of gravity of the target vehicle and then continue to perform picking operations on the current vehicle after the adjustment.

[0145] Step 830: If the center of gravity of the target vehicle deviates from the preset center of gravity area, then determine the first weight information of the target vehicle.

[0146] For example, the center of gravity of the target vehicle deviates from a preset center of gravity region, including a third center of gravity position deviating from the second center of gravity region before picking is completed, and a first center of gravity position deviating from the first center of gravity region after picking is completed. When determining that the center of gravity position has deviated from the preset center of gravity region, the center of gravity position of the target vehicle needs to be adjusted. The center of gravity position of the target vehicle is related to the first weight information of the target vehicle.

[0147] In some examples, the target vehicle has an initial weight when it arrives at the workstation. This weight changes as the workstation places or removes containers from the target vehicle (e.g., on its current face). For example, the weight difference between the two faces of the target vehicle may change. In this case, the control device can determine the initial weight information of the target vehicle based on its initial weight and the containers placed or removed by the workstation on its current face.

[0148] Step 840: Based on the center of gravity position and first weight information of the target vehicle, control the workstation to adjust the position of at least one first slider on the target vehicle so as to adjust the center of gravity position of the target vehicle to the preset center of gravity area.

[0149] For example, a counterweight device is provided at the bottom of the target vehicle. The counterweight device includes multiple sliders, and the multiple sliders include at least one first slider. The number of first sliders can be one or more. For example, when there are multiple first sliders, these multiple first sliders can be sliders mounted on different lead screws.

[0150] In some embodiments, the workstation includes an adjustment device, which may be disposed on the container handling device of the workstation, i.e., the adjustment device may be part of the container handling device; or the adjustment device may be disposed independently in other locations of the workstation, which is not limited in this application embodiment.

[0151] It should be noted that the structure and working principle of the counterweight device and the adjustment device have been described in the above embodiments, and will not be repeated here to avoid repetition.

[0152] After the target vehicle is picked up, if the first center of gravity of the target vehicle deviates from the first center of gravity area, the workstation's adjustment device needs to adjust the target vehicle's center of gravity position to the first center of gravity area. Before the target vehicle is picked up, if the third center of gravity of the target vehicle deviates from the second center of gravity area, the workstation's adjustment device will adjust the target vehicle's center of gravity position to the second center of gravity area.

[0153] In some examples, the center of gravity of the target vehicle may deviate from the second center of gravity region multiple times before the current picking is completed. Each time it deviates from the second center of gravity region, at least one first slider on the target vehicle needs to be adjusted once until the current picking is completed. If the center of gravity of the target vehicle is adjusted multiple times before the current picking is completed, the at least one first slider corresponding to each adjustment may be partially the same or different.

[0154] In some examples, after the current face of the target vehicle has been picked up, i.e. before the target vehicle is moved, the adjustment device adjusts at least one first slider on the target vehicle once.

[0155] For example, the counterweight device is provided with multiple slide rails, and each slide rail is provided with a slider. Each slide rail can have multiple stopping points, and each stopping point can be set at equal intervals (i.e., preset intervals). The slider moves along the slide rail by one preset interval at a time. For instance, for every revolution of the adjusting device's drive disc, the slider can move one preset interval, meaning the slider can move from the current stopping point to the next stopping point.

[0156] In some examples, if the center of gravity of the target vehicle shifts to the side in front of the target vehicle, the control adjustment device moves at least one first slider to the other side of the target vehicle; if the center of gravity of the target vehicle shifts to the other side of the target vehicle, the control adjustment device moves at least one first slider to the side in front of the target vehicle.

[0157] Figure 9 This is a schematic diagram of a counterweight device provided for some embodiments of this application. Figure 9 The diagram shown is a top view of the counterweight device 11.

[0158] like Figure 9 As shown, the counterweight device 11 on the carrier 10 includes multiple sliders, such as sliders A to E. Each slider can move along a slide rail. One slider or multiple sliders can be installed on each slide rail. Each slider can move along the slide rail towards side A of the carrier 10 or towards side B of the carrier 10.

[0159] like Figure 9 As shown, the positions of sliders A to E can be the initial positions. If the center of gravity of the target vehicle deviates from the preset center of gravity area, such as the first center of gravity deviating from the first center of gravity area, the position of at least one first slider can be adjusted. For example, at least one first slider can be slider B and slider C from sliders A to E.

[0160] For example, if the current picking is of side A of carrier 10, when multiple containers are removed from side A, the weight of side A decreases, and the center of gravity of carrier 10 may shift towards the heavier side B. When the shift in the center of gravity is too large and exceeds the preset center of gravity area, the adjustment device can be controlled to move sliders B and C along a path such as... Figure 9 The arrow in the image moves the sliders B and C to the left, increasing the weight of surface A. This causes the center of gravity of vehicle 10 to shift towards surface A until it returns to the preset center of gravity area.

[0161] For example, the control device can determine at least one first slider based on the center of gravity position of the target vehicle and the first weight information, and then adjust at least one first slider before further adjusting the at least one first slider. The following is in conjunction with... Figure 10 Explain the method of adjustment.

[0162] Figure 10 This is a schematic diagram illustrating another center-of-gravity adjustment method provided in an embodiment of this application. Figure 10 As shown, step 840 above includes steps 1010 to 1020 as shown below.

[0163] Step 1010: Based on the center of gravity position of the target vehicle and the first weight information, determine at least one first slider among the multiple sliders, and the target position corresponding to each first slider.

[0164] For example, the direction of movement of each first slider can be determined based on the position of the center of gravity of the target vehicle. For instance, when the center of gravity of the target vehicle shifts to one side of the first face of the target vehicle, the direction of movement of each first slider is one side of the second face of the target vehicle; when the center of gravity of the target vehicle shifts to one side of the second face of the target vehicle, the direction of movement of each first slider is one side of the first face of the target vehicle.

[0165] In some examples, the distance each first slider moves is determined based on the target vehicle's initial weight information. The distance the first slider moves includes a preset interval between its movements. For example, different first sliders moving by a preset interval may result in different adjustments to the target vehicle's center of gravity.

[0166] In some examples, after determining the center of gravity position and first weight information of the target vehicle, the control device can determine at least one first slider according to different adjustment strategies, and after determining at least one first slider, control the adjustment device to move at least one first slider to adjust the center of gravity position of the target vehicle to a preset center of gravity area.

[0167] For example, the adjustment strategy includes a first adjustment strategy and a second adjustment strategy. The first adjustment strategy involves moving each slider by the smallest possible distance, and the second adjustment strategy involves using the fewest possible number of sliders. For instance, the first slider and its target position determined by the first and second adjustment strategies may differ. This application embodiment can employ either the first or the second adjustment strategy to determine at least one first slider and its target position; this application embodiment does not limit this approach.

[0168] In some examples, the first adjustment strategy involves moving each first slider a small distance, such as from the current docking point to the next docking point. This allows for the adjustment of the target vehicle's center of gravity by moving multiple first sliders, and because each first slider moves a small distance each time, more precise adjustments can be achieved. The second adjustment strategy involves moving each first slider a larger distance, thus requiring fewer first sliders and simplifying the adjustment process.

[0169] The following sections explain how to determine at least one first slider and the target position corresponding to each first slider according to different adjustment strategies.

[0170] In some embodiments, step 910 may include: determining a first number of first sliders among a plurality of sliders based on the center of gravity position of the target vehicle and the first weight information, and determining the next docking point of the docking point where the current position of each first slider is located as the target position of the first slider.

[0171] For example, when using the first adjustment strategy, which minimizes the distance each slider moves, the target position for each first slider is the next stop point after its current stop point. In other words, each first slider moves by a preset interval each time, allowing the calculation of the required number of first sliders.

[0172] In some examples, the first quantity can be less than or equal to the total number of sliders in the target vehicle. When the first quantity is the total number of sliders, the position of each slider in the target vehicle needs to be adjusted. For example, if all sliders in the target vehicle move by a preset interval, and the center of gravity of the target vehicle still cannot be adjusted to the preset center of gravity area, then the first slider can be moved by two preset intervals. That is, the target position of the first slider is determined to be the next stop point after the previous stop point, and so on, which can ensure that each first slider moves the minimum distance. When the first quantity is less than the total number of sliders, each slider can move by one preset interval or multiple preset intervals until the center of gravity of the target vehicle is adjusted to the preset center of gravity area. The preset intervals for each first slider can be the same or different.

[0173] It should be noted that in this embodiment, each first slider has a next stopping point, meaning that none of the first sliders has reached the edge of the slide rail. When a slider has reached an edge of the slide rail, it can no longer move towards that edge. Furthermore, the next stopping point for each first slider is referenced to its direction of movement; that is, the next stopping point in the direction of movement.

[0174] In some embodiments, step 910 may further include: determining a second number of first sliders among a plurality of sliders, and a target position corresponding to each first slider, based on the center of gravity position of the target vehicle and the first weight information; wherein the second number is greater than 1 and less than the first number; the second number of first sliders includes a third slider, and the target position of the third slider is located at the docking point where the maximum movement position of the third slider is located.

[0175] In some examples, when the second quantity is equal to 1, the target position of the first slider can be less than or equal to the maximum movement position corresponding to the first slider.

[0176] For example, when the second adjustment strategy is adopted, that is, using as few sliders as possible, at least one of the determined first sliders (i.e., the third slider) has a target position of maximum movement. For example, the number of first sliders determined by the second adjustment strategy is the second number, which is greater than 1 and less than or equal to the first number.

[0177] In some examples, continue to refer to Figure 9 When the first number of the first sliders is 5, the 5 first sliders are sliders A to E respectively. If the first adjustment strategy is adopted, when slider A needs to move to the next stop point to the left, and sliders B to E need to move to the next stop point to the left, the center of gravity of the target vehicle can be adjusted to the preset center of gravity area. Then the target position of slider A can be determined as the next stop point to the next stop point of the current position, and the target positions of sliders B to C can be determined as the next stop point to the next stop point of the current position.

[0178] In other examples, continue to refer to Figure 9 When the second quantity of the first slider is 3, and the three first sliders are slider A, slider B, and slider C; if the second adjustment strategy is adopted, when slider A and slider B need to move to the left to the maximum movement position, i.e., the edge of the slide rail, and slider C needs to move to the left to the next stopping point, the center of gravity of the target vehicle can be adjusted to the preset center of gravity area. Therefore, the target positions of slider A and slider B are determined to be the stopping points where the maximum movement positions are located, and the target position of slider C is the next stopping point after the current stopping point. Slider A and slider B are the third sliders.

[0179] Step 1020: The adjustment device of the control workstation moves each of the first sliders from its current position to the target position, so as to adjust the center of gravity of the target vehicle to the preset center of gravity area.

[0180] For example, after at least one first slider is determined, the control adjustment device moves each first slider from its current position to its corresponding target position in sequence. When at least one first slider moves to its corresponding target position, the center of gravity of the target vehicle returns to the preset center of gravity area.

[0181] For example, the control device can also select any one of the multiple sliders to move, and determine the next slider to be moved based on the change in the center of gravity of the target vehicle during the movement, thereby determining at least one first slider and the target position of the first slider. The following is in conjunction with... Figure 11 Explain the method of adjustment.

[0182] Figure 11 This is a schematic diagram illustrating yet another center-of-gravity adjustment method provided in an embodiment of this application. For example... Figure 11As shown, step 840 above includes steps 1110 to 1140 as shown below.

[0183] Step 1110: Based on the center of gravity position of the target vehicle and the first weight information, determine the fourth slider among multiple sliders.

[0184] In some examples, the fourth slider can be any of a plurality of sliders; for example, the fourth slider can be the slider located on the farthest side of the counterweight device (e.g., ...). Figure 9 Slider A or slider E in the middle, or the middle slider (e.g., ...). Figure 9 The sliders B, C, or D in this embodiment are not limited to these sliders.

[0185] Step 1120: During the movement of the fourth slider, the control adjustment device determines the current center of gravity position of the target vehicle.

[0186] In some examples, the adjustment device at the workstation dynamically determines the current center of gravity position of the target vehicle during the adjustment of the fourth slider's position. For example, the adjustment device may determine the current center of gravity position of the target vehicle once every preset interval when the fourth slider moves, or it may determine the current center of gravity position of the target vehicle once every at least two preset intervals when the fourth slider moves. This application embodiment does not limit this.

[0187] Step 1130: If the current position of the fourth slider is located at the docking point where the maximum movement position of the fourth slider is located, and the current center of gravity position of the target vehicle deviates from the preset center of gravity area, then the fifth slider is determined among the multiple sliders.

[0188] Among them, at least one first slider includes a fourth slider and a fifth slider.

[0189] In some examples, when the fourth slider is moved to its maximum position (where movement in the direction of motion is no longer possible), if the current center of gravity of the target vehicle still deviates from the preset center of gravity area, then a second slider that needs to be moved, namely the fifth slider, is determined. The fifth slider is a slider that is different from the fourth slider among multiple sliders. For example, the fifth slider could be a slider adjacent to the fourth slider; this embodiment of the application does not limit this.

[0190] Step 1140: Control the adjustment device to move the fifth slider to adjust the current center of gravity position of the target vehicle to the preset center of gravity area.

[0191] Specifically, after moving the fourth slider, the fifth slider is moved. During the movement of the fifth slider, the current center of gravity position of the target vehicle is dynamically determined until the current center of gravity position of the target vehicle is adjusted to within the preset center of gravity range, at which point the movement of the fifth slider is stopped.

[0192] In some examples, there can be one or more fifth sliders. That is, if the center of gravity of the target vehicle still cannot return to the preset center of gravity area after the first fifth slider is moved to its maximum position, the second fifth slider can be determined until the center of gravity of the target vehicle returns to the preset center of gravity area.

[0193] It should be noted that in the above embodiment, the fourth and fifth sliders have a next stopping point in the direction of movement, that is, the fourth and fifth sliders have not yet reached the maximum movement position in the direction of movement.

[0194] The center of gravity adjustment method provided in this application determines the center of gravity position of a target vehicle and its positional relationship with a preset center of gravity area during the picking process at the workstation. If the center of gravity position of the target vehicle deviates from the preset center of gravity area, first weight information of the target vehicle is determined. Based on the center of gravity position and first weight information of the target vehicle, the workstation adjusts the position of at least one first slider on the target vehicle to bring its center of gravity position within the preset center of gravity area. When the center of gravity position of the target vehicle is adjusted to within the preset center of gravity area, the target vehicle has higher stability, thereby effectively reducing the risk of the target vehicle overturning.

[0195] Figure 12 This is a schematic diagram illustrating yet another method for adjusting the center of gravity provided in some embodiments of this application. For example... Figure 12 As shown, after step 840 above, the method further includes steps 1210 to 1250 as shown below.

[0196] Step 1210: If the other side of the target carrier includes the container to be picked, control the handling equipment to move the target carrier to the rotatable side position for rotatable side rotation, and after the rotatable side rotation is completed, move the target carrier from the rotatable side position to the workstation so that the other side of the target carrier faces the workstation.

[0197] For example, after picking is completed on the current side (e.g., the first side) of the target carrier, the handling equipment needs to move the target carrier away from the workstation. Specifically, if there is a container to be picked on the other side (e.g., the second side) opposite the current side of the target carrier (i.e., the control device generates and sends a second sub-picking instruction to the workstation), then the picking operation needs to be performed on the second side of the target carrier. If there is no container to be picked on the other side of the target carrier (i.e., the control device does not generate a second sub-picking instruction), the control device can control the handling equipment to move the target carrier to the shelving area or to another workstation.

[0198] In some examples, the target vehicle needs to be rotated before picking the second side of the target vehicle. Specifically, when picking the current side of the target vehicle, it faces the workstation, while the other side is away from the workstation. Therefore, the other side of the target vehicle needs to be turned to face the workstation so that the workstation can pick the other side.

[0199] In some embodiments, the turnable location is located at the intersection of the running aisles in the warehousing system, the high-speed running aisle between the picking area and the shelving area in the warehousing system, or the picking area.

[0200] In some examples, due to the large size of the target carrier, a significant space is required to turn it. When it is determined that a container to be picked exists on the second side of the target carrier, the handling equipment needs to move the target carrier to a turnable position for turning. For example, the handling equipment can rotate the target carrier 180 degrees clockwise or counterclockwise to turn the second side of the target carrier to the workstation.

[0201] For example, the intersection of the running aisle can be the intersection between various carriers in the shelving area, where the space at the intersection is relatively large; there are high-speed running aisles between the shelving area and the picking area, and these high-speed running aisles also have sufficient space for the target carrier to turn over. Alternatively, the picking area may also have a dedicated area for turning over, with sufficient space for the target carrier to turn over. The handling equipment can move the target carrier to the nearest turnable position for turning over.

[0202] Step 1220: Control the workstation to pick the containers to be picked on the other side of the target vehicle, and determine the second center of gravity position of the target vehicle when the workstation completes the picking on the other side of the target vehicle.

[0203] Step 1230: If the second center of gravity is located outside the first center of gravity region, then determine the second weight information of the target vehicle.

[0204] Step 1240: Based on the second center of gravity position and the second weight information, control the workstation to adjust the position of at least one second slider on the target vehicle so as to adjust the center of gravity position of the target vehicle to the first center of gravity area.

[0205] The multiple sliders include at least one second slider. After picking on the other side, the second center of gravity position of the target vehicle is determined. The second center of gravity position may be the same as or different from the first center of gravity position.

[0206] In some examples, the second center of gravity is located outside the first center of gravity region. The second center of gravity is deviated from the second center of gravity region. The second weight information of the target vehicle can be determined, and the adjustment device of the workstation can be controlled to adjust the position of at least one second slider on the target vehicle based on the second weight information and the second center of gravity position of the target vehicle.

[0207] For example, at least one second slider may partially overlap with at least one first slider. The process of determining and adjusting at least one second slider is similar to that of at least one first slider, and will not be described again here to avoid repetition.

[0208] It should be noted that the center of gravity of the target vehicle can also be determined during the process before picking is completed on the other side of the target vehicle. When the center of gravity of the target vehicle deviates from the second center of gravity area, the slider on the target vehicle also needs to be adjusted. This process is similar to the process of determining the third center of gravity of the target vehicle in the above embodiment, and will not be described again here to avoid repetition.

[0209] Step 1250: Control the handling equipment to move the target vehicle away from the workstation.

[0210] In some examples, once the other side of the target vehicle has been picked and its center of gravity adjusted at the workstation, the transport equipment can be controlled to move the target vehicle away from the workstation. Since both sides of the target vehicle have been picked, the transport equipment can move the target vehicle back to the shelving area or to another workstation; this application embodiment does not limit this.

[0211] The center of gravity adjustment method provided in this application embodiment can adjust the position of the slider on the target carrier once after the target carrier arrives at the workstation if only one side needs to be picked, so that the target carrier remains stable during the handling process; when both sides of the target carrier need to be picked, the position of the slider on the target carrier can be adjusted once after each side is picked, that is, the center of gravity position of the target carrier is adjusted twice, thereby ensuring the stability of the target carrier during the handling equipment's operation and reducing the risk of the target carrier tipping over during operation.

[0212] In some embodiments, the center of gravity adjustment method further includes: according to the task to be received, the control workstation places the container to be received corresponding to the task to be received on an empty storage location on the lower level of the vehicle; and if there is no empty storage location on the lower level of the vehicle, the container to be received is placed on an empty storage location on the upper level of the vehicle; and / or, the container to be received containing goods with a weight greater than a weight threshold is placed on an empty storage location on the lower level of the vehicle, and the container to be received containing goods with a weight less than a weight threshold is placed on an empty storage location on the upper level of the vehicle.

[0213] In some examples, when loading cargo onto a vehicle, the lower storage compartments can be prioritized before the higher compartments, thereby lowering the vehicle's center of gravity and further improving its stability. Alternatively, during the loading process, containers containing heavier goods (e.g., those exceeding weight thresholds) can be loaded onto the lower storage compartments, while containers containing lighter goods (e.g., those not exceeding weight thresholds) can be loaded onto the higher storage compartments. This also lowers the vehicle's center of gravity, further improving stability and reducing the risk of rollover.

[0214] The center of gravity adjustment method provided in this application lowers the center of gravity of the vehicle by prioritizing the placement of cargo on the lower level of the vehicle and placing containers containing heavier goods on the lower level of the vehicle, thereby further improving the stability of the vehicle and reducing the risk of the vehicle overturning.

[0215] Figure 13 This is a schematic diagram illustrating yet another method for adjusting the center of gravity provided in some embodiments of this application. For example... Figure 13 As shown, the center of gravity adjustment method includes steps 1301 to 1314 as shown below.

[0216] Step 1301: The shelf arrives at the workstation.

[0217] Step 1302: Determine whether the shelf needs to be rotated.

[0218] If face transformation is required, proceed to step 1303; otherwise, proceed to step 1304.

[0219] In some examples, when a shelf is moved to a workstation, if the side of the shelf to be picked is not facing the workstation, the shelf needs to be turned; if the side of the shelf to be picked is facing the workstation, the shelf does not need to be turned.

[0220] It should be noted that if there are boxes to be picked on both sides of the shelf (i.e., containers in the above embodiments), there is no need to turn the shelf; picking can be performed directly on the side facing the workstation.

[0221] Step 1303: The robot moves the shelf to the turning point and turns it.

[0222] After step 1303, proceed to step 1304.

[0223] Step 1304: The shelf has arrived at the docking point.

[0224] Step 1305: Generate the task for the current cargo box on the shelf.

[0225] In some examples, when the shelf stops at the workstation, a current picking task can be generated based on the picking boxes on the current face of the shelf and sent to the workstation. This allows the workstation to perform the picking operation on the current picking box based on the current picking task. Here, the current face is the side of the shelf facing the workstation.

[0226] Step 1306: Determine if there are any boxes to be picked in front of you.

[0227] If it does not exist, proceed to step 1307; if it exists, proceed to step 1312.

[0228] Step 1307: Determine whether the center of gravity of the shelf has shifted from the preset center of gravity area.

[0229] If there is a deviation, proceed to step 1308; if there is no deviation, proceed to step 1309.

[0230] Step 1308: Adjust the position of the slider on the shelf using the adjusting device.

[0231] It should be noted that the adjustment of the slider position by the adjusting device has been described in the above embodiments, and will not be repeated here to avoid repetition. By adjusting the position of the slider on the shelf until the center of gravity of the shelf does not deviate from the preset center of gravity area, step 1309 is continued.

[0232] Step 1309: Determine if the shelf needs to be rotated.

[0233] If face conversion is required, proceed to step 1310; otherwise, proceed to step 1311.

[0234] For example, if there are boxes to be picked on the other side of the shelf, the shelf needs to be rotated; if there are no boxes to be picked on the other side of the shelf, the shelf does not need to be rotated.

[0235] Step 1310: The robot moves the shelf to the turning point and turns it.

[0236] For example, after the shelf is turned over, the shelf is moved to the workstation's docking point to continue picking the boxes to be picked on the other side of the shelf.

[0237] Step 1311: The robot moves the shelf away from the current workstation.

[0238] For example, a robot can move a shelf to a shelving area, or it can move it to another workstation.

[0239] Step 1312: Determine if there is an executable cargo box in front.

[0240] If it exists, proceed to step 1313; if it does not exist, proceed to step 1314.

[0241] For example, if there is a box being picked at a picking station, then other boxes in front of it cannot be picked, meaning there are no boxes available for picking in front of it; if there is no box being picked at a picking station, then there are boxes available for picking in front of it.

[0242] Step 1313: The robotic arm selects and completes the picking of the next box to be picked.

[0243] For example, when there is an executable box on the current surface, the workstation's robotic arm takes out the next box to be picked and picks it. After the box to be picked is completed, step 1306 continues.

[0244] Step 1314: After the picking station has finished picking the boxes, put the boxes back on the shelf.

[0245] For example, if there are no available boxes to pick, the boxes at the picking station need to be picked and returned to the shelf before proceeding to step 1313, which is to pick the next box to be picked.

[0246] The specific process of the center of gravity adjustment method provided in this application embodiment is described in the above embodiment (such as steps 810 to 840), and the beneficial effects produced are similar to those produced by the center of gravity adjustment method in the above embodiment. To avoid repetition, it will not be described again here.

[0247] Figure 14 This is a schematic diagram of a center of gravity adjustment device provided in an embodiment of this application. Figure 14 As shown, the center of gravity adjustment device 1400 includes an acquisition module 1401, a picking module 1402, a determining module 1403, and an adjustment module 1404. Wherein:

[0248] The acquisition module 1401 is configured to acquire tasks to be picked.

[0249] Picking module 1402 is configured to control the handling equipment in the warehousing system to move the target vehicle to the workstation for picking according to the task to be picked.

[0250] The determination module 1403 is configured to determine the center of gravity position of the target vehicle during the picking process of the target vehicle at the workstation, and to determine the positional relationship between the center of gravity position of the target vehicle and the preset center of gravity area; if the center of gravity position of the target vehicle deviates from the preset center of gravity area, the first weight information of the target vehicle is determined.

[0251] The adjustment module 1404 is configured to control the workstation to adjust the position of at least one first slider on the target vehicle according to the center of gravity position and first weight information of the target vehicle, so as to adjust the center of gravity position of the target vehicle to a preset center of gravity area; wherein the target vehicle is provided with a counterweight device, the counterweight device includes multiple sliders, and the multiple sliders include at least one first slider.

[0252] In some embodiments, the center of gravity position of the target vehicle includes a first center of gravity position, which is the center of gravity position of the target vehicle when the current face of the target vehicle completes picking at the workstation; the preset center of gravity region includes the first center of gravity region. The determination module 1403 is configured to: if the first center of gravity position is located outside the first center of gravity region, determine that the center of gravity position of the target vehicle deviates from the first center of gravity region.

[0253] In some embodiments, the center-of-gravity adjustment device 1400 further includes a turning module configured to: when the other side of the target carrier includes a container to be picked, control the conveying equipment to move the target carrier to a turnable position for turning, and after the turning is completed, move the target carrier from the turnable position to the workstation so that the other side of the target carrier faces the workstation. The picking module 1402 is also configured to: control the workstation to pick the container to be picked from the other side of the target carrier.

[0254] In some embodiments, the turnable location is located at the intersection of the running aisles in the warehousing system, the high-speed running aisle between the picking area and the shelving area in the warehousing system, or the picking area.

[0255] In some embodiments, the determining module 1403 is further configured to: determine a second center of gravity position of the target carrier when the other side of the target carrier is picked at the workstation; if the second center of gravity position is outside the first center of gravity region, determine second weight information of the target carrier. The adjusting module 1404 is further configured to: control the workstation to adjust the position of at least one second slider on the target carrier according to the second center of gravity position and the second weight information, so as to adjust the center of gravity position of the target carrier to the first center of gravity region; wherein the plurality of sliders includes at least one second slider; and control the handling equipment to move the target carrier away from the workstation.

[0256] In some embodiments, the center of gravity position of the target vehicle includes a third center of gravity position, which is any center of gravity position of the target vehicle before the workstation completes picking; the preset center of gravity region includes a second center of gravity region, which is greater than or equal to the first center of gravity region. The determining module 1403 is configured to determine that the center of gravity position of the target vehicle deviates from the second center of gravity region if the third center of gravity position is outside the second center of gravity region.

[0257] In some embodiments, the adjustment module 1404 is configured to: determine at least one first slider among a plurality of sliders, and a target position corresponding to each first slider, based on the center of gravity position of the target vehicle and the first weight information; and control the adjustment device of the workstation to move each first slider from its current position to the target position, so as to adjust the center of gravity position of the target vehicle to a preset center of gravity area.

[0258] In some embodiments, the adjustment module 1404 is configured to: determine a first number of first sliders among a plurality of sliders based on the center of gravity position of the target vehicle and the first weight information, and determine the next docking point of the docking point where the current position of each first slider is located as the target position of the first slider; or, determine a second number of first sliders among a plurality of sliders based on the center of gravity position of the target vehicle and the first weight information, and the target position corresponding to each first slider; wherein the second number is greater than 1 and less than the first number; the second number of first sliders includes a third slider, and the target position of the third slider is located at the docking point where the maximum movement position of the third slider is located.

[0259] In some embodiments, the adjustment module 1404 is configured to: determine a fourth slider among a plurality of sliders based on the center of gravity position of the target vehicle and first weight information; control the adjustment device to determine the current center of gravity position of the target vehicle during the movement of the fourth slider; if the current position of the fourth slider is located at the docking point where the maximum movement position of the fourth slider is located, and the current center of gravity position of the target vehicle deviates from the preset center of gravity area, then determine a fifth slider among the plurality of sliders; wherein at least one first slider includes the fourth slider and the fifth slider; control the adjustment device to move the fifth slider to adjust the current center of gravity position of the target vehicle to the preset center of gravity area.

[0260] In some embodiments, the counterweight device of the target vehicle includes a support base, at least one guide groove is provided on the support base, a lead screw is provided in the guide groove, at least one slider is provided on the lead screw, and a driven plate is provided at the end of the lead screw; wherein, when the driven plate drives the lead screw to rotate, at least one slider moves in the guide groove along the axial direction of the lead screw.

[0261] In some embodiments, the workstation includes an adjustment device, which includes a driving member. The driving end of the driving member is provided with a driving disk, and the driving disk is provided with a locking pin. The driven disk is provided with a locking groove, and the locking groove is configured to cooperate with the locking pin. When the locking pin engages with the locking groove, the driving member drives the driving disk to rotate. When the driving disk rotates, the driven disk drives the lead screw to rotate, so that at least one slider moves in the guide groove along the axial direction of the lead screw.

[0262] In some embodiments, the active disk is provided with a first positioning guide cone surface, and the driven disk is provided with a second positioning guide cone surface, and the second positioning guide cone surface is configured to cooperate with the first positioning guide cone surface; when the first positioning guide cone surface and the second positioning guide cone surface are in contact, the locking pin engages with the locking groove.

[0263] In some embodiments, the adjustment device is retractably mounted on the container handling device of the workstation.

[0264] In some embodiments, the adjustment module 1404 is configured to: if the center of gravity of the target vehicle shifts to one side of the target vehicle, control the first positioning guide cone surface to fit with the second positioning guide cone surface, and control the drive member to drive the active disk to rotate, so that the first slider moves along the lead screw to the other side of the target vehicle in the guide groove corresponding to the first slider.

[0265] In some embodiments, the weight of the counterweight is less than a weight threshold, which is less than the maximum load-bearing weight of the vehicle.

[0266] In some embodiments, a counterweight is disposed at the bottom of the target vehicle.

[0267] In some embodiments, the center of gravity adjustment device 1400 further includes an inbound module, which is further configured to: according to the inbound task, the control workstation places the container to be inbound corresponding to the inbound task in an empty storage location on the lower level of the vehicle; and if there is no empty storage location on the lower level of the vehicle, place the container to be inbound in an empty storage location on the upper level of the vehicle; and / or, place the container to be inbound containing goods with a weight greater than a weight threshold in an empty storage location on the lower level of the vehicle, and place the container to be inbound containing goods with a weight less than a weight threshold in an empty storage location on the upper level of the vehicle.

[0268] Figure 15 This is a schematic diagram of an electronic device provided in an embodiment of this 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. When the one or more programs are executed by the one or more processors, the one or more processors implement the center-of-gravity adjustment method described in the above embodiments.

[0269] like Figure 15 As shown, the electronic device 1000 includes a processor 1001 and a memory 1002. Exemplarily, the electronic device 1000 may also include a communications interface 1003 and a communications bus 1004.

[0270] The processor 1001, memory 1002, and communication interface 1003 communicate with each other via communication bus 1004. Communication interface 1003 is used to communicate with other network elements such as clients or other servers.

[0271] In some embodiments, the processor 1001 is used to execute program 1005, specifically performing the relevant steps in the above-described embodiments of the center of gravity adjustment method. Specifically, program 1005 may include program code, which includes computer-executable instructions.

[0272] For example, processor 1001 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application. Electronic device 1000 may include one or more processors, which may be processors of the same type, such as one or more CPUs; or they may be processors of different types, such as one or more CPUs and one or more ASICs.

[0273] In some embodiments, memory 1002 is used to store program 1005. Memory 1002 may include high-speed RAM memory, and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0274] Specifically, program 1005 can be called by processor 1001 to cause electronic device 1000 to perform the center of gravity adjustment method.

[0275] This application provides a computer-readable storage medium storing at least one executable instruction that, when executed on an electronic device 1000, causes the electronic device 1000 to perform the center of gravity adjustment method described in the above embodiments.

[0276] The executable instructions can be used to cause the electronic device 1000 to perform a center of gravity adjustment method.

[0277] For example, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), magnetic tape, floppy disk, and optical data storage device, etc.

[0278] The beneficial effects of the center of gravity adjustment device, electronic device and computer-readable storage medium provided in the embodiments of this application can be referred to the beneficial effects of the corresponding center of gravity adjustment method provided above, and will not be repeated here.

[0279] It should be noted that in this application, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0280] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the apparatus embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0281] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus or device (such as a computer-based system, a processor-included system or other system that can fetch and execute instructions from, an instruction execution system, apparatus or device).

[0282] For the purposes of this specification, "computer-readable medium" can mean any means that can contain, store, communicate, propagate, or transmit programs for use by or in conjunction with an instruction execution system, apparatus, or device.

[0283] More specific examples (a non-exhaustive list) of computer-readable media include the following: electrical connections having one or more wires (electronic devices), portable computer disks (magnetic devices), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM).

[0284] Furthermore, the computer-readable medium can even be paper or other suitable media on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory. It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof.

[0285] In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0286] The embodiments described above do not constitute a limitation on the scope of protection of this application.

Claims

1. A method for adjusting the center of gravity, characterized in that, Applied to a control device, the method includes: Obtain the picking task, and control the handling equipment in the warehousing system to move the target vehicle to the workstation for picking according to the picking task; During the process of picking the target vehicle at the workstation, the center of gravity position of the target vehicle is determined, and the positional relationship between the center of gravity position of the target vehicle and the preset center of gravity area is determined. If the center of gravity of the target vehicle deviates from the preset center of gravity area, then the first weight information of the target vehicle is determined; Based on the center of gravity position of the target vehicle and the first weight information, the workstation is controlled to adjust the position of at least one first slider on the target vehicle to adjust the center of gravity position of the target vehicle to the preset center of gravity area; wherein, the target vehicle is provided with a counterweight device, the counterweight device includes multiple sliders, and the multiple sliders include the at least one first slider; If the other side of the target carrier includes a container to be picked, the handling equipment is controlled to move the target carrier to a rotatable position for rotatable rotation, and after the rotatable rotation is completed, the target carrier is moved from the rotatable position to the workstation so that the other side of the target carrier faces the workstation; The workstation is controlled to pick the container to be picked on the other side of the target vehicle.

2. The method according to claim 1, characterized in that, The center of gravity position of the target vehicle includes a first center of gravity position, which is the center of gravity position of the target vehicle when the current face of the target vehicle completes picking at the workstation; the preset center of gravity region includes the first center of gravity region; Determining the positional relationship between the center of gravity of the target vehicle and the preset center of gravity region includes: If the first center of gravity is located outside the first center of gravity region, then the center of gravity of the target vehicle is determined to be deviated from the first center of gravity region.

3. The method according to claim 1, characterized in that, The rotatable surface is located at the intersection of the operating channels in the warehousing system, the high-speed operating channel between the picking area and the shelving area in the warehousing system, or the picking area.

4. The method according to claim 2, characterized in that, The method further includes: When the other side of the target vehicle is picked at the workstation, the second center of gravity position of the target vehicle is determined; If the second center of gravity is located outside the first center of gravity region, then the second weight information of the target vehicle is determined; Based on the second center of gravity position and the second weight information, the workstation is controlled to adjust the position of at least one second slider on the target vehicle to adjust the center of gravity position of the target vehicle to the first center of gravity area; wherein, the plurality of sliders includes the at least one second slider; Control the transport equipment to move the target vehicle away from the workstation.

5. The method according to claim 2, characterized in that, The center of gravity position of the target vehicle includes a third center of gravity position, which is any center of gravity position of the target vehicle before the current face of the target vehicle completes picking at the workstation; the preset center of gravity region includes a second center of gravity region, which is greater than or equal to the first center of gravity region. Determining the positional relationship between the center of gravity of the target vehicle and the preset center of gravity region includes: If the third center of gravity is located outside the second center of gravity region, then the center of gravity of the target vehicle is determined to be deviated from the second center of gravity region.

6. The method according to any one of claims 1-5, characterized in that, The step of controlling the workstation to adjust the position of at least one first slider on the target vehicle according to the center of gravity position of the target vehicle and the first weight information, so as to adjust the center of gravity position of the target vehicle to the preset center of gravity area, includes: Based on the center of gravity position of the target vehicle and the first weight information, at least one first slider is determined among the plurality of sliders, and the target position corresponding to each first slider is determined; The adjustment device controlling the workstation moves each of the first sliders from its current position to the target position, so as to adjust the center of gravity of the target vehicle to the preset center of gravity area.

7. The method according to claim 6, characterized in that, The step of determining at least one first slider and the target position corresponding to each first slider among the plurality of sliders based on the center of gravity position of the target vehicle and the first weight information includes: Based on the center of gravity position of the target vehicle and the first weight information, a first number of the first sliders are determined from the plurality of sliders, and the next docking point of each first slider's current docking point is determined as the target position of the first slider; or... Based on the center of gravity position of the target vehicle and the first weight information, a second number of first sliders and a target position corresponding to each first slider are determined from the plurality of sliders; wherein, the second number is greater than 1 and less than the first number; the second number of first sliders includes a third slider, and the target position of the third slider is located at the docking point where the maximum movement position of the third slider is located.

8. The method according to any one of claims 1-5, characterized in that, The step of controlling the workstation to adjust the position of at least one first slider on the target vehicle according to the center of gravity position of the target vehicle and the first weight information, so as to adjust the center of gravity position of the target vehicle to the preset center of gravity area, includes: Based on the center of gravity position of the target vehicle and the first weight information, a fourth slider is determined among the plurality of sliders; The adjustment device controlling the workstation determines the current center of gravity position of the target vehicle during the movement of the fourth slider; If the current position of the fourth slider is located at the docking point where the maximum movement position of the fourth slider is located, and the current center of gravity position of the target vehicle deviates from the preset center of gravity area, then a fifth slider is determined among the plurality of sliders; wherein, the at least one first slider includes the fourth slider and the fifth slider; The adjustment device is controlled to move the fifth slider to adjust the current center of gravity position of the target vehicle to the preset center of gravity area.

9. The method according to any one of claims 1-5, characterized in that, The counterweight device of the target vehicle includes a support base, at least one guide groove is provided on the support base, a lead screw is provided in the guide groove, at least one slider is provided on the lead screw, and a driven plate is provided at the end of the lead screw. When the driven disc drives the lead screw to rotate, the at least one slider moves within the guide groove along the axial direction of the lead screw.

10. The method according to claim 9, characterized in that, The workstation includes an adjustment device, which includes a driving component. The driving end of the driving component is provided with a driving disk, and the driving disk is provided with a locking pin. The driven disk is provided with a locking slot, and the locking slot is configured to cooperate with the locking pin. When the locking pin engages with the slot, the driving member drives the active disk to rotate; when the active disk rotates, the driven disk drives the lead screw to rotate, so that at least one slider moves within the guide groove along the axial direction of the lead screw.

11. The method according to claim 10, characterized in that, The active disk is provided with a first positioning guide cone surface, and the driven disk is provided with a second positioning guide cone surface, and the second positioning guide cone surface is configured in conjunction with the first positioning guide cone surface; When the first positioning guide cone surface and the second positioning guide cone surface are in contact, the locking pin engages with the locking groove.

12. The method according to claim 11, characterized in that, The adjustment device is retractably mounted on the container handling device of the workstation.

13. The method according to claim 12, characterized in that, The step of controlling the workstation to adjust the position of at least one first slider on the target vehicle according to the center of gravity position of the target vehicle and the first weight information, so as to adjust the center of gravity position of the target vehicle to the preset center of gravity area, includes: If the center of gravity of the target vehicle shifts to one side of the target vehicle, the first positioning guide cone surface is controlled to fit into the second positioning guide cone surface, and the driving component is controlled to drive the active disk to rotate, so that the first slider moves along the lead screw to the other side of the target vehicle in the guide groove corresponding to the first slider.

14. The method according to any one of claims 1-5, characterized in that, The weight of the counterweight device is less than a weight threshold, and the weight threshold is less than the maximum load-bearing weight of the vehicle.

15. The method according to any one of claims 1-5, characterized in that, The counterweight device is located at the bottom of the target vehicle.

16. The method according to any one of claims 1-5, characterized in that, The method further includes: Based on the pending inbound task, the workstation is controlled to place the container corresponding to the pending inbound task in an available storage location on the lower level of the vehicle; and if no available storage location exists on the lower level of the vehicle, the container is then placed in an available storage location on the upper level of the vehicle; and / or, Containers containing goods weighing more than the weight threshold are placed in vacant storage locations on the lower level of the vehicle, while containers containing goods weighing less than the weight threshold are placed in vacant storage locations on the upper level of the vehicle.

17. A warehousing system, characterized in that, For performing the center-of-gravity adjustment method of claim 1, the warehousing system includes: Multiple vehicles, each equipped with a counterweight device, the counterweight device comprising multiple sliders; The control device is configured to acquire a picking task and generate a handling instruction based on the picking task. The handling equipment is configured to move a target vehicle from the plurality of vehicles to a workstation for picking according to the handling instructions; The control device is configured to, during the process of the workstation picking the target vehicle, determine the center of gravity position of the target vehicle and determine the positional relationship between the center of gravity position of the target vehicle and a preset center of gravity area; if the center of gravity position of the target vehicle deviates from the preset center of gravity area, determine the first weight information of the target vehicle; and generate a center of gravity adjustment command based on the center of gravity position of the target vehicle and the first weight information. The workstation is configured to adjust the position of at least one first slider on the target vehicle according to the center of gravity adjustment command, so as to adjust the center of gravity position of the target vehicle to the preset center of gravity area; wherein, the plurality of sliders on the target vehicle include the at least one first slider; The control device is further configured to, when picking is completed on the current side of the target carrier and the other side of the target carrier includes a container to be picked, control the conveying equipment to move the target carrier to a rotatable position for rotatable rotation, and after rotatable rotation, move the target carrier from the rotatable position to the workstation so that the other side of the target carrier faces the workstation; and control the workstation to pick the container to be picked on the other side of the target carrier.

18. The warehousing system according to claim 17, characterized in that, The counterweight device of the vehicle includes a support base, at least one guide groove is provided on the support base, a lead screw is provided in the guide groove, at least one slider is provided on the lead screw, and a driven plate is provided at the end of the lead screw. When the driven disc drives the lead screw to rotate, the at least one slider moves within the guide groove along the axial direction of the lead screw.

19. The warehousing system according to claim 18, characterized in that, The workstation includes an adjustment device, which includes a driving component. The driving end of the driving component is provided with a driving disk, and the driving disk is provided with a locking pin. The driven disk is provided with a locking slot, and the locking slot is configured to cooperate with the locking pin. When the locking pin engages with the slot, the driving member drives the active disk to rotate; when the active disk rotates, the driven disk drives the lead screw to rotate, so that at least one slider moves within the guide groove along the axial direction of the lead screw.

20. The warehousing system according to claim 19, characterized in that, The active disk is provided with a first positioning guide cone surface, and the driven disk is provided with a second positioning guide cone surface, and the second positioning guide cone surface is configured in conjunction with the first positioning guide cone surface; When the first positioning guide cone surface and the second positioning guide cone surface are in contact, the locking pin engages with the locking groove.

21. The warehousing system according to claim 20, characterized in that, The adjustment device is retractably mounted on the container handling device of the workstation; When the container picking and placing device moves the adjusting device to the position of the counterweight device, the adjusting device extends to fit the first positioning guide cone surface of the active disk and the second positioning guide cone surface of the driven disk on the counterweight device, and the locking pin engages with the locking groove.

22. The warehousing system according to claim 21, characterized in that, The workstation also includes at least one guiding mechanism; the container picking and placing device is disposed on the guiding mechanism, and the container picking and placing device can move laterally and / or vertically through the guiding mechanism to drive the adjusting device to move laterally and / or vertically.

23. The warehousing system according to claim 22, characterized in that, The guiding mechanism includes: A lateral movement device, coupled to a moving rod, and configured to drive the moving rod to move laterally; The movable rod extends vertically, and the container picking and placing device is disposed on the movable rod so that the movable rod drives the container picking and placing device to move laterally; and A vertical moving device, coupled to the container picking and placing device, is configured to drive the container picking and placing device to move vertically relative to the moving rod.

24. A center of gravity adjustment device, characterized in that, The apparatus for performing the center-of-gravity adjustment method according to claim 1, comprising: The acquisition module is configured to acquire tasks to be picked. The picking module is configured to control the handling equipment in the warehousing system to move the target vehicle to the workstation for picking according to the task to be picked. The determination module is configured to determine the center of gravity position of the target vehicle and the positional relationship between the center of gravity position of the target vehicle and a preset center of gravity area during the picking process of the target vehicle at the workstation; if the center of gravity position of the target vehicle deviates from the preset center of gravity area, then determine the first weight information of the target vehicle. The adjustment module is configured to control the workstation to adjust the position of at least one first slider on the target vehicle according to the center of gravity position of the target vehicle and the first weight information, so as to adjust the center of gravity position of the target vehicle to the preset center of gravity area; wherein, the target vehicle is provided with a counterweight device, the counterweight device includes multiple sliders, and the multiple sliders include the at least one first slider; The turn-around module is configured to control the conveying device to move the target vehicle to a turnable position for turn-around when picking is completed on the current side of the target vehicle and the other side of the target vehicle includes a container to be picked. The picking module is further configured to, after completing the turn-around, move the target carrier from the turnable position to the workstation so that the other side of the target carrier faces the workstation; and control the workstation to pick the container to be picked on the other side of the target carrier.

25. An electronic device, characterized in that, include: One or more processors; and The memory is 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 center of gravity adjustment method according to any one of claims 1-16.

26. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by a processor, implements the center of gravity adjustment method according to any one of claims 1-16.

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