Warehousing system and material sorting method

Abstract

The embodiment of the invention provides a warehousing system and a material sorting method.The system integrates a first storage shelf, a sorting shelf and a material robot, the sorting shelf is arranged below the first storage shelf, the first storage shelf serves as a main storage area and is responsible for storing materials, and the sorting shelf is used for sorting the materials; and the extra storage space requirement caused by frequent transfer and scattered storage of the materials in the traditional logistics process is reduced. And the material robot takes the materials from any storage position of the first storage goods shelf and directly places the materials at the goods inlet end of the sorting goods shelf, so that a spacious operation area required by manual sorting is avoided, and the storage space is further saved. The material robot executes the replenishment task of taking the materials from the upper storage goods shelf to the lower sorting goods shelf, the material circulation path is simplified, the occupied space of the materials in multiple storage areas such as an RDC warehouse and an SPS collection and distribution area is reduced, and then the occupied space of the materials in the logistics process is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent warehousing and logistics, and in particular to a warehousing system and a material picking method. Background Art

[0002] In current manufacturing factories, in order to achieve flexible production of multiple categories of production lines, inventory management of SPS parts (i.e. Set Parts Supply, a type of small material parts that are picked and supplied to the line by set and quantity, referred to as materials in this article) has become a key issue. In order to achieve flexible production of multiple categories of production lines, the factory must have a large amount of inventory in the RDC warehouse (Regional Distribution Center, also known as the transit warehouse) to ensure the continuity and stability of production. At the same time, the SPS distribution area also needs to cover all material categories so that they can be quickly picked and distributed according to production needs, production rhythm and production demand quantity.

[0003] However, this logistics process design cannot save storage space. First, the RDC warehouse needs to store a large amount of materials to meet the production needs of different product lines. Due to the wide variety of materials, each material requires a certain amount of storage space, so the RDC warehouse usually occupies a large area. In addition, since the SPS distribution area needs to cover all material categories, enough shelves and storage locations must be set up to store these materials. Therefore, the SPS distribution area also requires a large amount of storage space.

[0004] From the supplier to the line-side station, materials need to go through multiple transfers and storage. After being stored in the RDC warehouse, operators need to pick and replenish materials according to the production line requirements of the SPS distribution area. Then, these materials will be transferred to the SPS distribution area for re-storage and picking. After being picked to the delivery vehicle, the delivery vehicle will deliver the materials to the line-side station on time. In this process, materials need to be stored and managed in multiple links and transfer points, which further increases the storage space occupied. Summary of the invention

[0005] The purpose of the embodiments of the present application is to provide a warehousing system and a material picking method to reduce the storage space occupied by materials during the logistics process. The specific technical solution is as follows:

[0006] In a first aspect, an embodiment of the present application provides a warehousing system, the system comprising a first storage shelf, a sorting shelf, and a material robot;

[0007] The sorting shelf comprises an inlet end, an outlet end and a transmission structure, and the transmission structure is used to transmit materials from the inlet end to the outlet end;

[0008] The inlet port is located below the storage position in the first storage shelf, and the outlet port is located on the first side of the first storage shelf;

[0009] The material robot comprises a pick-and-place assembly, a horizontal guide rail and a vertical guide rail, wherein the horizontal guide rail passes through the second side of the first storage shelf, the vertical guide rail can be horizontally slidably arranged on the horizontal guide rail, and the pick-and-place assembly can be vertically slidably arranged on the vertical guide rail;

[0010] The material robot is used to drive the vertical guide rail and / or the pick-and-place component to slide in response to a replenishment instruction for the sorting shelf, so that the pick-and-place component is aligned with the first target storage location indicated by the replenishment instruction; control the pick-and-place component to pick up materials on the first target storage location from the second side; drive the vertical guide rail and / or the pick-and-place component to slide, so that the pick-and-place component is aligned with the incoming goods end; control the pick-and-place component to place the picked up materials from the second side to the incoming goods end.

[0011] In one possible implementation,

[0012] The system also includes a second storage rack and a first conveyor line;

[0013] A first lower box docking port of the first conveyor line is provided below the storage position in the second storage shelf;

[0014] The first conveyor line is used to transfer the material at the loading port to the first lower box docking port through the bottom of the storage position in the second storage shelf;

[0015] The horizontal guide rail passes through a third side and / or a fourth side of the second storage shelf;

[0016] The material robot is also used to drive the vertical guide rail and / or the pick-and-place component to slide in response to the first storage instruction for the first lower box docking port, so that the pick-and-place component is aligned with the first lower box docking port; if the second target storage location indicated by the first storage instruction is located on the first storage shelf, control the pick-and-place component to pick up the material on the first lower box docking port from the fourth side; drive the vertical guide rail and / or the pick-and-place component to slide, so that the pick-and-place component is aligned with the second target storage location, and control the pick-and-place component to place the picked-up material from the second side to the second target storage location; if the second target storage location indicated by the first storage instruction is located on the second storage shelf, control the pick-and-place component to pick up the material on the first lower box docking port from the third side, or, the fourth side; drive the vertical guide rail and / or the pick-and-place component to slide, so that the pick-and-place component is aligned with the second target storage location, and control the pick-and-place component to place the picked-up material from the third side, or, the fourth side to the second target storage location.

[0017] In one possible implementation,

[0018] The system also includes a first material cart and a first mobile robot;

[0019] The sorting shelf is further used to respond to a picking start instruction and identify the location of the shipping end indicated by the picking start instruction;

[0020] The first mobile robot is used to pull the first material cart to the position of the shipping end indicated by the picking start instruction in response to the picking start instruction; and to pull the first material cart away from the position of the shipping end indicated by the picking start instruction in response to the picking completion instruction.

[0021] In a possible implementation, the sorting shelf is specifically configured to respond to a picking start instruction and light up a signal light corresponding to the shipping end indicated by the picking start instruction.

[0022] In one possible implementation,

[0023] The system further comprises a second material cart, a second mobile robot, a third mobile robot and a second conveyor line, wherein the third mobile robot is provided with a mechanical arm;

[0024] A second upper box docking port of the second conveyor line is provided below the storage position in the second storage shelf;

[0025] The material robot is further used to drive the vertical guide rail and / or the pick-and-place component to slide in response to the picking start instruction, so that the pick-and-place component is aligned with the third target storage location indicated by the picking start instruction; if the third target storage location is located on the first storage shelf, the pick-and-place component is controlled to take the material on the third target storage location from the second side; if the third target storage location is located on the second storage shelf, the pick-and-place component is controlled to take the material on the third target storage location from the third side, or, the fourth side; the pick-and-place component is controlled to place the taken material from the third side, or, the fourth side, to the second upper box docking port;

[0026] The second mobile robot is used to pull the second material vehicle to the site;

[0027] The third mobile robot is used to move to the site;

[0028] The second conveying line is used to transfer the material placed at the second upper box docking port to the station where the second material vehicle is located through the bottom of the storage position in the second storage shelf;

[0029] The robotic arm is used to grab materials at the site where the second material cart is located, and place the grabbed materials in the second material cart.

[0030] In one possible implementation,

[0031] The system also includes a third conveyor line and a third storage rack;

[0032] A third upper box docking port of the third conveyor line is arranged below the third storage shelf;

[0033] The third conveyor line is used to transfer the materials at the third upper box docking port to the shelf loading workstation via the bottom of the third storage shelf;

[0034] The horizontal guide rail passes through the fifth side and / or the sixth side of the third storage rack;

[0035] The material robot is also used to drive the vertical guide rail and / or the pick-and-place component to slide in response to the transport instructions for the site, and control the pick-and-place component to transport the material at the site from the fifth side or the sixth side to the third upper box docking port.

[0036] In a possible implementation, the system further includes a control device, and there are a plurality of the sorting shelves;

[0037] The sorting shelf is further used to send a dispatch instruction for indicating a target incoming goods terminal to the control device when the materials stored at the outgoing goods terminal meet the preset replenishment conditions; wherein the target incoming goods terminal is the incoming goods terminal corresponding to the sorting shelf;

[0038] The control device is used to determine the attribute information corresponding to the target incoming goods terminal as the target attribute information; determine the storage location storing the material corresponding to the target attribute information as the first target storage location; and send a replenishment instruction for indicating the target incoming goods terminal and the first target storage location to the material robot;

[0039] The material robot is specifically used to drive the vertical guide rail and / or the pick-and-place component to slide so that the pick-and-place component is aligned with the target loading end; and control the pick-and-place component to place the picked material from the second side to the target loading end.

[0040] In a possible implementation, the system further includes a control device;

[0041] The control device is also used to obtain the first attribute information of the material, determine the storage location of the material located at the first lower box docking port as the second target storage location; send a storage instruction for indicating the second target storage location to the material robot; and record the correspondence between each of the materials and each of the storage locations as the material storage location correspondence.

[0042] In a possible implementation, there are multiple sorting shelves;

[0043] The sorting shelf is further used to send a dispatch instruction for indicating a target incoming goods terminal to the control device when the quantity of materials stored at the outgoing goods terminal meets a preset replenishment condition; wherein the target incoming goods terminal is the incoming goods terminal corresponding to the sorting shelf;

[0044] The control device is used to determine the attribute information corresponding to the target incoming goods terminal as the target attribute information; determine the storage location storing the material corresponding to the target attribute information according to the material storage location correspondence as the first target storage location; and send a replenishment instruction for indicating the target incoming goods terminal and the first target storage location to the material robot;

[0045] The material robot is specifically used to drive the vertical guide rail and / or the pick-and-place component to slide so that the pick-and-place component is aligned with the target loading end; and control the pick-and-place component to place the picked material from the second side to the target loading end.

[0046] In a possible implementation, the system further includes a collection device and a control device, the collection area of ​​the collection device includes a first upper box docking port of the first conveyor line, there are multiple second storage shelves, there are multiple first lower box docking ports, and different first lower box docking ports are arranged under different second storage shelves;

[0047] The first conveying line is further used to transfer the material to the first upper box docking port via the bottom of the storage position in the second storage shelf;

[0048] The collecting device is used to collect first attribute information of materials located in the collecting area and send the first attribute information to the control device;

[0049] The control device is specifically used to receive the first attribute information, and according to the second attribute information of the storage shelf stored in advance, plan the storage location of each material in the storage shelf as the third target storage location; determine the target lower box docking port according to the corresponding relationship between each third target storage location and each first lower box docking port; send a transmission instruction for indicating the target lower box docking port to the first conveyor line, and send a second storage instruction for indicating the target lower box docking port and the third target storage location to the material robot;

[0050] The first conveying line is specifically used to transmit the material to the target lower box docking port via the third side or the fourth side of the second storage shelf in response to the transmission instruction;

[0051] The material robot is specifically used to drive the vertical guide rail and / or the pick-and-place component to slide in response to the second storage instruction for the target lower box docking port, so that the pick-and-place component is aligned with the target lower box docking port; if the third target storage location indicated by the second storage instruction is located on the first storage shelf, the pick-and-place component is controlled to pick up the material on the target lower box docking port from the fourth side; the vertical guide rail and / or the pick-and-place component is driven to slide, so that the pick-and-place component is aligned with the third target storage location, and the pick-and-place component is controlled to place the picked-up material from the second side to the third target storage location; if the third target storage location indicated by the second storage instruction is located on the second storage shelf, the pick-and-place component is controlled to pick up the material on the target lower box docking port from the third side, or, the fourth side; the vertical guide rail and / or the pick-and-place component is driven to slide, so that the pick-and-place component is aligned with the third target storage location, and the pick-and-place component is controlled to place the picked-up material from the third side, or, the fourth side to the third target storage location.

[0052] In a second aspect, an embodiment of the present application provides a material picking method, which is applied to a material robot in a warehousing system, wherein the system further comprises a first storage shelf and a sorting shelf; the material robot comprises a pick-and-place assembly, a horizontal guide rail and a vertical guide rail, wherein the horizontal guide rail passes through a second side of the first storage shelf, the vertical guide rail can be horizontally slidably arranged on the horizontal guide rail, and the pick-and-place assembly can be vertically slidably arranged on the vertical guide rail; the sorting shelf comprises an inlet end, an outlet end and a transmission structure, wherein the transmission structure is used to transmit materials from the inlet end to the outlet end; the inlet end is located below a storage position in the first storage shelf, and the outlet end is located on a first side of the first storage shelf;

[0053] In response to a replenishment instruction for the sorting shelf, driving the vertical guide rail and / or the pick-and-place assembly to slide so that the pick-and-place assembly is aligned with a first target storage location indicated by the replenishment instruction;

[0054] Controlling the pick-and-place component to take the material on the first target storage location from the second side;

[0055] Driving the vertical guide rail and / or the pick-and-place assembly to slide so that the pick-and-place assembly is aligned with the cargo entry end;

[0056] The pick-and-place assembly is controlled to place the picked-up material from the second side to the incoming goods end.

[0057] In one possible implementation,

[0058] The system further includes a second storage shelf and a first conveyor line; a first lower box docking port of the first conveyor line is provided below the storage position in the second storage shelf; the first conveyor line is used to transfer materials at the loading port to the first lower box docking port via the lower storage position in the second storage shelf; the horizontal guide rail passes through the third side and / or the fourth side of the second storage shelf, and the method further includes:

[0059] In response to a first stored instruction for the first lower box docking port, driving the vertical guide rail and / or the pick-and-place assembly to slide so that the pick-and-place assembly is aligned with the first lower box docking port;

[0060] If the second target storage location indicated by the first storage instruction is located on the first storage shelf, control the pick-and-place component to take the material on the first lower box docking port from the fourth side;

[0061] Driving the vertical guide rail and / or the pick-and-place assembly to slide so that the pick-and-place assembly is aligned with the second target storage location, and controlling the pick-and-place assembly to place the picked material from the second side into the second target storage location;

[0062] If the second target storage location indicated by the first storage instruction is located on the second storage shelf, the pick-and-place component is controlled to take the material on the first lower box docking port from the third side or the fourth side;

[0063] The vertical guide rail and / or the pick-and-place assembly are driven to slide so that the pick-and-place assembly is aligned with the second target storage location, and the pick-and-place assembly is controlled to place the picked-up material from the third side or the fourth side to the second target storage location.

[0064] In a possible implementation, the system further includes a second material cart, a second mobile robot, a third mobile robot and a second conveyor line, the third mobile robot is provided with a mechanical arm; a second upper box docking port of the second conveyor line is provided below the storage position in the second storage shelf, and the method further includes:

[0065] In response to the picking start instruction, the vertical guide rail and / or the pick-and-place component are driven to slide so that the pick-and-place component is aligned with the third target storage location indicated by the picking start instruction; if the third target storage location is located on the first storage shelf, the pick-and-place component is controlled to pick up the material on the third target storage location from the second side; if the third target storage location is located on the second storage shelf, the pick-and-place component is controlled to pick up the material on the third target storage location from the third side, or, the fourth side; the pick-and-place component is controlled to place the picked-up material from the third side, or, the fourth side, at the second upper box docking port, so that the second conveyor line transfers the material placed at the second upper box docking port to the station where the second material cart is located via the bottom of the storage location in the second storage shelf, the second material cart is towed to the station by the second mobile robot, and the third mobile robot moves to the station; so that the robotic arm grabs the material at the station where the second material cart is located, and places the grabbed material in the second material cart.

[0066] In a possible implementation, the system further includes a third conveyor line and a third storage shelf; a third upper box docking port of the third conveyor line is provided below the third storage shelf; the third conveyor line is used to transfer materials at the third upper box docking port to the shelf loading workstation via the bottom of the third storage shelf; the horizontal guide rail passes through the fifth side and / or the sixth side of the third storage shelf, and the method further includes:

[0067] In response to the transport instruction for the site, the vertical guide rail and / or the pick-and-place assembly are driven to slide, and the pick-and-place assembly is controlled to transport the material at the site to the third upper box docking port from the fifth side or the sixth side.

[0068] In a possible implementation, the system further includes a control device, and there are multiple sorting shelves; the sorting shelves are also used to send a scheduling instruction for indicating a target incoming goods end to the control device when the material quantity stored at the outgoing goods end meets a preset replenishment condition; wherein the target incoming goods end is the incoming goods end corresponding to the sorting shelves; the control device is used to determine the attribute information corresponding to the target incoming goods end as the target attribute information; determine the storage location where the material corresponding to the target attribute information is stored as the first target storage location; send a replenishment instruction for indicating the target incoming goods end and the first target storage location to the material robot; the driving of the vertical guide rail and / or the pick-and-place assembly to slide so that the pick-and-place assembly is aligned with the incoming goods end includes:

[0069] Driving the vertical guide rail and / or the pick-and-place assembly to slide so that the pick-and-place assembly is aligned with the target cargo entry end;

[0070] The controlling the pick-and-place assembly to place the taken material from the second side to the incoming goods end includes:

[0071] The pick-and-place assembly is controlled to place the picked-up material from the second side to the target incoming cargo end.

[0072] In a possible implementation, the system further includes a control device; the control device is also used to obtain the first attribute information of the material, determine the storage location of the material located at the first lower box docking port as the second target storage location; send a storage instruction for indicating the second target storage location to the material robot; record the correspondence between each of the materials and each of the storage locations as the material storage location correspondence; there are multiple sorting shelves; the sorting shelf is also used to send a scheduling instruction for indicating the target incoming goods end to the control device when the material stored at the shipping end meets the preset replenishment condition; wherein the target incoming goods end is the incoming goods end corresponding to the sorting shelf; the control device is used to determine the attribute information corresponding to the target incoming goods end as the target attribute information; according to the material storage location correspondence, determine the storage location where the material corresponding to the target attribute information is stored as the first target storage location; send a replenishment instruction for indicating the target incoming goods end and the first target storage location to the material robot; the driving of the vertical guide rail and / or the pick-and-place component to slide so that the pick-and-place component is aligned with the incoming goods end includes:

[0073] Driving the vertical guide rail and / or the pick-and-place assembly to slide so that the pick-and-place assembly is aligned with the target cargo entry end;

[0074] The controlling the pick-and-place assembly to place the taken material from the second side to the incoming goods end includes:

[0075] The pick-and-place assembly is controlled to place the picked-up material from the second side to the target incoming cargo end.

[0076] In a possible implementation, the system further includes a collection device and a control device, the collection area of ​​the collection device includes a first upper box docking port of the first conveyor line, there are multiple second storage shelves, there are multiple first lower box docking ports, and different first lower box docking ports are arranged under different second storage shelves; the first conveyor line is also used to transmit the material to the first upper box docking port via the bottom of the storage position in the second storage shelf; the collection device is used to collect first attribute information of the material located in the collection area, and send the first attribute information to the control device; the control device is specifically used to receive the first attribute information, and according to the pre-stored second attribute information of the storage shelf, plan to obtain the first attribute information of each material in the collection area. The storage location in the storage shelf is used as the third target storage location; the target lower box docking port is determined according to the corresponding relationship between each of the third target storage locations and each of the first lower box docking ports; a transmission instruction for indicating the target lower box docking port is sent to the first conveyor line, and a second storage instruction for indicating the target lower box docking port and the third target storage location is sent to the material robot; the first conveyor line is specifically used to respond to the transmission instruction to transmit the material to the target lower box docking port via the third side or the fourth side of the second storage shelf; the response to the first storage instruction for the first lower box docking port is to drive the vertical guide rail and / or the pick-and-place assembly to slide so that the pick-and-place assembly is aligned with the first lower box docking port, including:

[0077] In response to a second stored instruction for the target lower box docking port, driving the vertical guide rail and / or the pick-and-place assembly to slide so that the pick-and-place assembly is aligned with the target lower box docking port;

[0078] If the second target storage location indicated by the first storage instruction is located on the first storage shelf, controlling the pick-and-place component to take the material on the first lower box docking port from the fourth side includes:

[0079] If the third target storage location indicated by the second storage instruction is located on the first storage shelf, control the pick-and-place component to take the material on the target lower box docking port from the fourth side;

[0080] The step of driving the vertical guide rail and / or the pick-and-place assembly to slide so that the pick-and-place assembly is aligned with the second target storage location, and controlling the pick-and-place assembly to place the taken material from the second side into the second target storage location comprises:

[0081] Driving the vertical guide rail and / or the pick-and-place assembly to slide so that the pick-and-place assembly is aligned with the third target storage location, and controlling the pick-and-place assembly to place the taken material from the second side into the third target storage location;

[0082] If the second target storage location indicated by the first storage instruction is located on the second storage shelf, controlling the pick-and-place component to take the material on the first lower box docking port from the third side or the fourth side includes:

[0083] If the third target storage location indicated by the second storage instruction is located on the second storage shelf, the pick-and-place component is controlled to take the material on the target lower box docking port from the third side or the fourth side;

[0084] The step of driving the vertical guide rail and / or the pick-and-place assembly to slide so that the pick-and-place assembly is aligned with the second target storage location, and controlling the pick-and-place assembly to place the taken material from the third side or the fourth side to the second target storage location comprises:

[0085] The vertical guide rail and / or the pick-and-place assembly are driven to slide so that the pick-and-place assembly is aligned with the third target storage location, and the pick-and-place assembly is controlled to place the picked-up material from the third side or the fourth side to the third target storage location.

[0086] In a third aspect, an embodiment of the present application provides a material picking device, which is applied to a material robot in a warehousing system, wherein the system further comprises a first storage shelf and a sorting shelf; the material robot comprises a pick-and-place assembly, a horizontal guide rail and a vertical guide rail, wherein the horizontal guide rail passes through a second side of the first storage shelf, the vertical guide rail can be horizontally slidably arranged on the horizontal guide rail, and the pick-and-place assembly can be vertically slidably arranged on the vertical guide rail; the sorting shelf comprises an inlet end, an outlet end and a transmission structure, wherein the transmission structure is used to transmit materials from the inlet end to the outlet end; the inlet end is located below a storage position in the first storage shelf, and the outlet end is located on a first side of the first storage shelf; the device comprises:

[0087] A first response module, configured to drive the vertical guide rail and / or the pick-and-place assembly to slide in response to a replenishment instruction for the sorting shelf, so that the pick-and-place assembly is aligned with a first target storage location indicated by the replenishment instruction;

[0088] A first taking module, used for controlling the taking and placing assembly to take the material on the first target storage location from the second side;

[0089] A first driving module, used for driving the vertical guide rail and / or the pick-and-place assembly to slide, so that the pick-and-place assembly is aligned with the cargo entry end;

[0090] The first placement module is used to control the pick-and-place assembly to place the taken material from the second side to the incoming goods end.

[0091] In a possible embodiment, the system further includes a second storage shelf and a first conveyor line; a first lower box docking port of the first conveyor line is provided below the storage position in the second storage shelf; the first conveyor line is used to transfer the material at the loading port to the first lower box docking port via the lower storage position in the second storage shelf; the horizontal guide rail passes through the third side and / or the fourth side of the second storage shelf, and the device further includes:

[0092] A second response module, configured to drive the vertical guide rail and / or the pick-and-place assembly to slide in response to a first stored instruction for the first lower box docking port, so that the pick-and-place assembly is aligned with the first lower box docking port;

[0093] a second taking module, configured to control the taking and placing assembly to take the material on the first lower box docking port from the fourth side if the second target storage location indicated by the first storage instruction is located on the first storage shelf;

[0094] a second driving module, used for driving the vertical guide rail and / or the pick-and-place assembly to slide, so that the pick-and-place assembly is aligned with the second target storage location, and controlling the pick-and-place assembly to place the picked material from the second side into the second target storage location;

[0095] A third taking module, configured to control the taking and placing component to take the material on the first lower box docking port from the third side or the fourth side if the second target storage location indicated by the first storage instruction is located on the second storage shelf;

[0096] The third driving module is used to drive the vertical guide rail and / or the pick-and-place assembly to slide so that the pick-and-place assembly is aligned with the second target storage location, and controls the pick-and-place assembly to place the picked material from the third side or the fourth side to the second target storage location.

[0097] In a possible implementation, the system further includes a second material cart, a second mobile robot, a third mobile robot and a second conveyor line, the third mobile robot is provided with a mechanical arm; a second upper box docking port of the second conveyor line is provided below the storage position in the second storage shelf, and the device further includes:

[0098] A third response module is used to drive the vertical guide rail and / or the pick-and-place component to slide in response to the picking start instruction, so that the pick-and-place component is aligned with the third target storage location indicated by the picking start instruction; if the third target storage location is located on the first storage shelf, the pick-and-place component is controlled to pick up the material on the third target storage location from the second side; if the third target storage location is located on the second storage shelf, the pick-and-place component is controlled to pick up the material on the third target storage location from the third side, or, the fourth side; the pick-and-place component is controlled to place the picked-up material from the third side, or, the fourth side, at the second upper box docking port, so that the second conveyor line transfers the material placed at the second upper box docking port to the station where the second material cart is located via the bottom of the storage location in the second storage shelf, and the second material cart is towed to the station by the second mobile robot; so that the robotic arm grabs the material at the station where the second material cart is located, and places the grabbed material in the second material cart.

[0099] In a possible implementation, the system further includes a third conveyor line and a third storage shelf; a third upper box docking port of the third conveyor line is provided below the third storage shelf; the third conveyor line is used to transfer the material at the third upper box docking port to the shelf loading workstation via the bottom of the third storage shelf; the horizontal guide rail passes through the fifth side and / or the sixth side of the third storage shelf, and the device further includes:

[0100] The fourth response module is used to respond to the transport instruction for the site, drive the vertical guide rail and / or the pick-and-place assembly to slide, and control the pick-and-place assembly to transport the material at the site from the fifth side or the sixth side to the third upper box docking port.

[0101] In a possible implementation, the system further includes a control device, and there are multiple sorting shelves; the sorting shelves are also used to send a scheduling instruction for indicating a target incoming goods end to the control device when the material quantity stored at the outgoing goods end meets a preset replenishment condition; wherein the target incoming goods end is the incoming goods end corresponding to the sorting shelves; the control device is used to determine the attribute information corresponding to the target incoming goods end as the target attribute information; determine the storage location where the material corresponding to the target attribute information is stored as the first target storage location; send a replenishment instruction for indicating the target incoming goods end and the first target storage location to the material robot; the first driving module includes:

[0102] A first driving submodule, used for driving the vertical guide rail and / or the pick-and-place assembly to slide, so that the pick-and-place assembly is aligned with the target cargo entry end;

[0103] The first placement module comprises:

[0104] The first placement submodule is used to control the pick-and-place component to place the taken material from the second side to the target incoming goods end.

[0105] In a possible implementation, the system further includes a control device; the control device is further used to obtain the first attribute information of the material, determine the storage location of the material located at the first lower box docking port as the second target storage location; send a storage instruction for indicating the second target storage location to the material robot; record the correspondence between each of the materials and each of the storage locations as the material storage location correspondence relationship; there are multiple sorting shelves; the sorting shelf is also used to send a scheduling instruction for indicating the target incoming goods end to the control device when the material stored at the shipping end meets the preset replenishment condition; wherein the target incoming goods end is the incoming goods end corresponding to the sorting shelf; the control device is used to determine the attribute information corresponding to the target incoming goods end as the target attribute information; according to the material storage location correspondence relationship, determine the storage location where the material corresponding to the target attribute information is stored as the first target storage location; send a replenishment instruction for indicating the target incoming goods end and the first target storage location to the material robot; the second driving module includes:

[0106] A second driving submodule, used for driving the vertical guide rail and / or the pick-and-place assembly to slide, so that the pick-and-place assembly is aligned with the target cargo entry end;

[0107] The second placement module comprises:

[0108] The second placement submodule is used to control the pick-and-place component to place the taken material from the second side to the target incoming goods end.

[0109] In a possible implementation, the system further includes a collection device and a control device, the collection area of ​​the collection device includes a first upper box docking port of the first conveyor line, there are multiple second storage shelves, there are multiple first lower box docking ports, and different first lower box docking ports are arranged under different second storage shelves; the first conveyor line is also used to transmit the material to the first upper box docking port via the bottom of the storage position in the second storage shelf; the collection device is used to collect first attribute information of the material located in the collection area, and send the first attribute information to the control device; the control device is specifically used to receive the first attribute information, and according to the predicted The second attribute information of the storage shelf is first stored, and the storage location of each material in the storage shelf is planned as the third target storage location; the target lower box docking port is determined according to the correspondence between each third target storage location and each first lower box docking port; a transmission instruction for indicating the target lower box docking port is sent to the first conveyor line, and a second storage instruction for indicating the target lower box docking port and the third target storage location is sent to the material robot; the first conveyor line is specifically used to respond to the transmission instruction and transmit the material to the target lower box docking port via the third side or the fourth side of the second storage shelf; the second response module includes:

[0110] A first response submodule, configured to drive the vertical guide rail and / or the pick-and-place assembly to slide in response to a second stored instruction for the target lower box docking port, so that the pick-and-place assembly is aligned with the target lower box docking port;

[0111] The second taking module comprises:

[0112] a first fetching submodule, configured to control the fetching and placing assembly to fetch the material on the target lower box docking port from the fourth side if the third target storage location indicated by the second storage instruction is located on the first storage shelf;

[0113] The second driving module comprises:

[0114] a third driving submodule, configured to drive the vertical guide rail and / or the pick-and-place assembly to slide, so that the pick-and-place assembly is aligned with the third target storage location, and to control the pick-and-place assembly to place the taken material from the second side into the third target storage location;

[0115] The third taking module comprises:

[0116] A second fetching submodule is used for controlling the fetching and placing component to fetch the material on the target lower box docking port from the third side or the fourth side if the third target storage location indicated by the second storage instruction is located on the second storage shelf;

[0117] The third driving module comprises:

[0118] The fourth driving submodule is used to drive the vertical guide rail and / or the pick-and-place assembly to slide so that the pick-and-place assembly is aligned with the third target storage location, and controls the pick-and-place assembly to place the picked material from the third side or the fourth side to the third target storage location.

[0119] In a fourth aspect, an embodiment of the present application provides an electronic device, including:

[0120] Memory, used to store computer programs;

[0121] The processor is used to implement any of the above-mentioned material picking methods when executing the program stored in the memory.

[0122] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, any of the above-mentioned material picking methods is implemented.

[0123] In a sixth aspect, an embodiment of the present application provides an embodiment of the present application further provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute any of the material picking methods described above.

[0124] Beneficial effects of the embodiments of the present application:

[0125] The embodiment of the present application provides a storage system and a material picking method. Compared with the traditional logistics process, the system integrates the first storage shelf, the sorting shelf and the material robot, and maximizes the storage space utilization through a unique layout. Among them, the sorting shelf is arranged below the first storage shelf, and the first storage shelf acts as the main storage area, which is responsible for storing a large amount of materials, and the sorting shelf is used for sorting materials. This layout reduces the additional storage space requirements caused by the frequent transportation and decentralized storage of materials in the traditional logistics process. Furthermore, the material robot can take materials from any storage position of the first storage shelf through its horizontal and vertical guide rails, and place them directly at the inlet end of the sorting shelf, avoiding the spacious working area required for manual picking, and further saving storage space. In addition, the material robot simplifies the flow path of materials in the traditional logistics process by performing the replenishment task of taking materials from the first storage shelf above to the sorting shelf below, reducing the space occupied by materials in multiple storage areas such as the RDC warehouse and the SPS distribution area, thereby reducing the storage space occupied by materials in the logistics process.

[0126] Of course, implementing any product or method of the present application does not necessarily require achieving all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0127] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0128] Figure 1a A schematic diagram of the first structure of the storage system provided in the embodiment of the present application;

[0129] Figure 1b A second structural schematic diagram of a storage system provided in an embodiment of the present application;

[0130] Figure 2 A schematic diagram of the structure of a first storage shelf provided in an embodiment of the present application;

[0131] Figure 3 A schematic diagram of the structure of a sorting shelf provided in an embodiment of the present application;

[0132] Figure 4 A schematic diagram of the structure of a material robot provided in an embodiment of the present application;

[0133] Figure 5 A schematic diagram of the structure of the second storage rack and the first conveyor line provided in an embodiment of the present application;

[0134] Figure 6 A third structural schematic diagram of the warehousing system provided in the embodiment of the present application;

[0135] Figure 7 A fourth structural schematic diagram of a warehousing system provided in an embodiment of the present application;

[0136] Figure 8 A fifth structural schematic diagram of a warehousing system provided in an embodiment of the present application;

[0137] Fig. 9 A sixth structural schematic diagram of a warehousing system provided in an embodiment of the present application;

[0138] Fig.10 A schematic diagram of a material picking method provided in an embodiment of the present application;

[0139] Fig.11 A schematic diagram of the structure of a material picking device provided in an embodiment of the present application;

[0140] Fig.12 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0141] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field based on the present application belong to the scope of protection of the present application.

[0142] In order to more clearly explain a warehousing system and a picking method provided by the present application, the relevant terms involved in this article are explained below:

[0143] JIT: (Just In Time) Supply the required materials in the required quantity at the required time.

[0144] SPS: (Set Parts Supply) is an application form of JIT, which prepares the materials required for each finished product in advance according to the production sequence and assembly sequence, and supplies them to the workstations at the production rhythm of the synchronous production line. SPS reduces the inventory of line warehouses, flexible production of multiple categories of production lines, and the time spent by workers on the production line through precise delivery time, material type and quantity control, thereby improving assembly efficiency and accuracy.

[0145] Centralized material cart: A cart used to place materials in a centralized manner. Each material has a fixed position and a fixed quantity on the cart.

[0146] STU: (Sky Transfer-Unit, material box robot) is an automated device used for storing and retrieving materials from high-level shelves (referred to as storage shelves in this article).

[0147] Workstation: used for material storage and warehousing operations, including human-computer interaction terminals, scanning terminals, printing terminals and other equipment.

[0148] High-rise shelves: referred to as storage shelves in this article, are multi-layer shelves used to store materials through storage locations. The layer height can be designed according to the lowest height from the roof to the ground in the storage area, and materials and positioning positions are placed in the form of layers + columns.

[0149] AMR: (Autonomous Mobil Robot) An autonomous mobile robot with a lifting platform used for horizontal material transfer. It mainly connects materials with conveyor lines and docking ports, and then transfers materials from point A to point B.

[0150] RDC: (Regional Distribution Center, also known as transit warehouse), a material storage area used to distribute inventory.

[0151] In current manufacturing plants, the logistics process of SPS parts (i.e. Set Parts Supply, a type of small material parts that are picked and supplied in sets and quantities, referred to as materials in this article) is described as follows. The process involves multiple links and transfer points.

[0152] First, the supplier delivers the materials to the RDC warehouse (Regional Distribution Center, also known as the transit warehouse) for storage. In the RDC warehouse, the operator will pick out a fixed number of materials according to the preset maximum and minimum material storage values ​​of the SPS distribution area (i.e. the line-side warehouse), remove them from the RDC warehouse, and then replenish them and put them on the shelves in the SPS distribution area.

[0153] Then, when the production line schedule determines the type, quantity and time of the required materials, this demand information will be pushed to the SPS distribution area. In the SPS distribution area, manual operators will pick the corresponding amount of materials from the shelves of the transit warehouse according to the demand information and place them on the SPS distribution vehicle.

[0154] Finally, the handling equipment will deliver the SPS delivery truck filled with materials to the line-side workstation on time according to the established demand time.

[0155] The above entire logistics process has the following problems:

[0156] Problem 1: Materials need to be stored and managed at multiple links and transfer points, further increasing the storage space occupied.

[0157] Question 2: The above logistics process is completely dependent on manual execution. From the supplier to the line-side workstation, the materials need to undergo three transfers: from the supplier to the RDC warehouse, from the RDC warehouse to the SPS distribution area, and then from the SPS distribution area to the line-side workstation. In some companies, a secondary LOC warehouse (Logistics Center) is even added after the RDC warehouse for the secondary transfer of materials. This multi-link handling process not only increases the number of logistics jobs, but also increases the risk of scratches and damage to materials during transportation, increasing the complexity of the overall logistics.

[0158] In order to solve the problems existing in the above-mentioned logistics process, the present application embodiment provides a warehousing system, see Figure 1a , Figure 1a A first structural diagram of a storage system provided in an embodiment of the present application, Figure 1a is a front view of the storage system 100, see Figure 1b , Figure 1b A second structural diagram of a storage system provided in an embodiment of the present application, Figure 1bIt is a side view of a warehousing system 100, which includes a first storage shelf 101, a sorting shelf 102, and a material robot 103;

[0159] The sorting shelf 102 includes an inbound end 1021, an outbound end 1022, and a transmission structure 1023, wherein the transmission structure 1023 is used to transmit materials from the inbound end 1021 to the outbound end 1022;

[0160] The inbound end 1021 is located below the storage position in the first storage shelf 101, and the outbound end 1022 is located on the first side of the first storage shelf 101;

[0161] The material robot 103 includes a pick-and-place assembly 1031, a horizontal guide rail 1032, and a vertical guide rail 1033. The horizontal guide rail 1032 passes through the second side of the first storage shelf 101, and the vertical guide rail 1033 can be horizontally slidably arranged on the horizontal guide rail 1032. The pick-and-place assembly 1031 can be vertically slidably arranged on the vertical guide rail 1033.

[0162] The material robot 103 is used to respond to the replenishment instruction for the sorting shelf 102, drive the vertical guide rail 1033 and / or the pick-and-place component 1031 to slide, so that the pick-and-place component 1031 is aligned with the first target storage location indicated by the replenishment instruction; control the pick-and-place component 1031 to pick up the material on the first target storage location from the second side; drive the vertical guide rail 1033 and / or the pick-and-place component 1031 to slide, so that the pick-and-place component 1031 is aligned with the cargo entry end 1021; control the pick-and-place component 1031 to place the picked material at the cargo entry end 1021 from the second side.

[0163] By applying the above embodiment, the first storage shelf, the sorting shelf and the material robot are integrated, the sorting shelf is placed below the first storage shelf, and the storage space utilization is maximized through a unique layout. Among them, the sorting shelf is arranged below the first storage shelf, and the first storage shelf acts as the main storage area, responsible for storing a large amount of materials, and the sorting shelf is used for sorting materials. This layout reduces the additional storage space requirements caused by the frequent transfer and decentralized storage of materials in the traditional logistics process. Furthermore, the material robot can take materials from any storage position of the first storage shelf through its horizontal and vertical guide rails, and place them directly at the inlet end of the sorting shelf, avoiding the spacious working area required for manual picking, and further saving storage space. In addition, the material robot simplifies the flow path of materials in the traditional logistics process by performing the replenishment task of taking materials from the first storage shelf above to the sorting shelf below, reducing the space occupied by materials in multiple storage areas such as the RDC warehouse and the SPS distribution area, thereby reducing the storage space occupied by materials in the logistics process, solving the aforementioned problem one.

[0164] By setting the incoming goods end below the storage position in the first storage shelf and the outgoing goods end on one side of the first storage shelf, the SPS distribution area realizes upper storage and lower picking. Based on this, all the material inventory of the RDC warehouse can be transferred to the SPS distribution area for storage, which reduces the inventory area of ​​the RDC warehouse and further reduces the storage space occupied by materials. In addition, the storage space above the SPS distribution area is used to store materials, and the material robots complete the picking and placement of materials without multiple manual handling and transfer points, which reduces the links in the handling process. This not only reduces the number of work posts and equipment for unloading from the RDC warehouse and replenishing and shelving in the SPS distribution area, but also reduces the risk of scratches and damage to materials during transportation, but also reduces the overall complexity of logistics, solving the aforementioned problem two.

[0165] The structures of the storage system, storage shelves, sorting shelves, material carts, and conveyor lines shown in the drawings of the present application are only possible examples. In other embodiments, the storage system, storage shelves, sorting shelves, material carts, and conveyor lines may also have other structures, which are not specifically limited here.

[0166] The above storage system will be described in detail below:

[0167] In order to improve the storage capacity and operation efficiency of the warehousing system 100 , a plurality of first storage shelves 101 , a plurality of sorting shelves 102 and a plurality of material robots 103 may be flexibly arranged in the warehousing system 100 .

[0168] See also Figure 2 , Figure 2 This is a schematic diagram of the structure of the first storage shelf provided in the embodiment of the present application. The first storage shelf 101 is provided with a plurality of storage locations for storing materials. Figure 2 1011 is the material stored in the first storage rack 101. In the case where the material robot 103 is arranged between two first storage racks 101, the space between the two first storage racks 101 should be sufficient to accommodate the material robot 103. At the same time, considering that the distance that the material robot 103 can take materials is limited, the space between the two first storage racks 101 should also enable the material robot 103 to take materials from both first storage racks 101.

[0169] See also Figure 3 , Figure 3 A schematic diagram of the structure of the sorting shelf provided in the embodiment of the present application, Figure 3 It is a side view of the sorting rack 102 . The sorting rack 102 is a device in the warehousing system 100 for storing and sorting materials, and includes an inbound end 1021 , an outbound end 1022 and a transmission structure 1023 .

[0170] The inlet port 1021 is located below the storage position in the first storage shelf 101 and is the entrance for materials to enter the sorting shelf 102. When the material robot 103 takes the material out from the first storage shelf, it will place it at the inlet port 1021.

[0171] The transport structure 1023 transports the materials from the inlet 1021 to the outlet 1022. The transport structure 1023 may be the aforementioned Figure 1b The material is transported from the inlet 1021 to the outlet 1022 by its own gravity. The transport structure 1023 can also be Figure 3 The automated conveyor belt or similar transmission equipment shown in the figure is not specifically limited here.

[0172] The shipping end 1022 is located on one side of the first storage shelf 101 (i.e., the aforementioned first side), and the material robot 103 is arranged on the other side of the first storage shelf 101. The shipping end 1022 should provide sufficient space so that the picking personnel can pick the materials located at the shipping end 1022, thereby picking these materials out from the shipping end 1022.

[0173] See also Figure 4 , Figure 4 This is a structural diagram of the material robot provided in an embodiment of the present application. The material robot 103 is responsible for automatic picking up and placing and transporting materials, and is composed of a picking up and placing component 1031, a horizontal guide rail 1032, and a vertical guide rail 1033.

[0174] The pick-and-place component 1031 is used to pick up and place materials.

[0175] The pick-and-place assembly 1031 can be a clamping structure or a hooking structure. When the pick-and-place assembly 1031 is a clamping structure, it usually includes one or more pairs of relatively movable mechanical arms that can clamp materials. Under the action of the driving structure, these mechanical arms can move toward or away from each other to achieve the clamping or placement of materials. The clamping structure is suitable for materials with relatively regular shapes, flat surfaces or clampable parts.

[0176] When the pick-and-place component 1031 is a hook-and-pull structure, it is usually equipped with one or more hook-shaped or pull-ring-shaped components. These hook-and-pull components can extend into the bottom or side of the material, and by hooking or pulling a part of the material, the material can be picked up and placed. The hook-and-pull structure is suitable for materials with a flat bottom, a certain weight, and the ability to withstand hook-and-pull forces.

[0177] The horizontal guide rail 1032 passes through the other side (the second side) of the first storage shelf 101. The "via" here means that the horizontal guide rail 1032 includes at least a first horizontal sub-guide rail, and the first horizontal sub-guide rail is located on the second side of the first storage shelf 101. In a possible embodiment, the horizontal guide rail 1032 may include only the first horizontal sub-guide rail. In another possible embodiment, the horizontal guide rail 1032 may also include other sub-guide rails in addition to the first horizontal sub-guide rail. In a possible embodiment, a second storage shelf 104 is provided on the second side of the first storage shelf 101 (the second storage shelf 104 will be described below). When the horizontal guide rail 1032 passes through the second side of the first storage shelf 101, that is, the material robot 103 is located in the area between the first storage shelf 101 and the second storage shelf 104, the material robot 103 may be suspended on the second side of the first storage shelf 101, or may be suspended on the fourth side of the second storage shelf 104.

[0178] Specifically, the horizontal guide rail 1032 can be flexibly configured, and its specific position and direction can be optimized and adjusted according to factors such as site layout, space utilization, and operational efficiency, while ensuring that the pick-and-place component 1031 can move to the effective range on the second side of the first storage shelf 101. That is, the horizontal guide rail 1032 can be directly set on the second side of the first storage shelf 101, or, it can be set in other directions of the first storage shelf 101 except the second side, as long as it can eventually enable the pick-and-place component 1031 to pick up materials on the second side of the first storage shelf 101 and meet the material handling requirements. Therefore, the specific installation position and direction of the horizontal guide rail 1032 are not specifically limited in this article. The horizontal guide rail 1032 provides a horizontal moving path for the material robot 103. By sliding on the horizontal guide rail 1032, the material robot 103 can reach any designated storage location.

[0179] The vertical guide rail 1033 can be horizontally slidably arranged on the horizontal guide rail 1032, providing the pick-and-place component 1031 with the ability to move in the vertical direction, so that the material robot 103 can switch freely between storage locations at different heights.

[0180] When the storage system 100 receives a replenishment instruction for the sorting shelf 102, the material robot 103 works according to the following steps:

[0181] According to the first target storage location indicated by the replenishment instruction, the material robot 103 drives the vertical guide rail 1033 to slide on the horizontal guide rail 1032, and / or the pick-and-place component 1031 slides on the vertical guide rail 1033 until the pick-and-place component 1031 is aligned with the first target storage location. Then, the pick-and-place component 1031 is controlled to accurately pick up the material on the first target storage location from the second side.

[0182] After finishing taking the material, the material robot 103 will drive the vertical rail 1033 and / or the pick-and-place assembly 1031 again to move the pick-and-place assembly 1031 to align with the inbound end 1021 of the sorting shelf 102. Then, the pick-and-place assembly 1031 is controlled to place the taken material on the inbound end 1021 from the second side (i.e., the side where the inbound end of the sorting shelf is located).

[0183] After the materials enter the sorting shelf 102, they will be transferred to the shipping end 1022 by the transmission structure 1023, waiting for subsequent outbound processing.

[0184] In a possible embodiment, the materials on the storage locations in the first storage shelf 101 can be placed by manual transportation, but in order to achieve flexible production of multiple categories on the production line, the storage system 100 must store a large amount of materials, so the labor cost is high and the material transportation efficiency is low.

[0185] Based on this, in order to reduce the labor cost of material circulation and improve the material handling efficiency, in another possible embodiment, the storage system 100 further includes a second storage shelf 104 and a first conveyor line 105. Figure 5 , Figure 5 It is a structural schematic diagram of the second storage shelf and the first conveyor line provided in an embodiment of the present application. A first lower box docking port 1051 of the first conveyor line 105 is provided below the storage position in the second storage shelf 104;

[0186] The first conveyor line 105 is used to transfer the materials at the loading port to the first lower box docking port 1051 through the bottom of the storage position in the second storage shelf 104;

[0187] The horizontal guide rail 1032 may pass through the third side and the fourth side of the second storage shelf 104, or may only pass through the third side or the fourth side;

[0188] The material robot 103 is also used to respond to the first storage instruction for the first lower box docking port 1051. When the initial horizontal position of the pick-and-place assembly is aligned with the first lower box docking port, but the vertical position is not aligned, the vertical guide rail 1033 is driven to slide on the horizontal guide rail 1032, so that the vertical position of the pick-and-place assembly 1031 is also aligned with the first lower box docking port. When the initial horizontal position of the pick-and-place assembly is aligned with the first lower box docking port, but the horizontal position is not aligned, the pick-and-place assembly 1031 is driven to slide on the vertical guide rail 1033, so that the horizontal position of the pick-and-place assembly 1031 is also aligned with the first lower box docking port. If both the initial horizontal position and the initial horizontal position of the pick-and-place assembly are not aligned with the first lower box docking port, the vertical guide rail 1033 is driven to slide on the horizontal guide rail 1032, and the pick-and-place assembly 1031 is driven to slide on the vertical guide rail 1033, so that the pick-and-place assembly 1031 is aligned with the first lower box docking port.

[0189] When the second target storage location indicated by the first storage instruction is located on the first storage shelf 101, the pick-and-place component 1031 is controlled to pick up the material on the first lower box docking port from the fourth side. According to the above-mentioned driving method, the vertical guide rail 1033 and / or the pick-and-place component 1031 are driven to slide so that the pick-and-place component 1031 is aligned with the second target storage location, and the pick-and-place component 1031 is controlled to place the picked material from the second side to the second target storage location.

[0190] When the second target storage location indicated by the first storage instruction is located on the second storage shelf 104, the pick-and-place component 1031 is controlled to pick up the material on the first lower box docking port from the third side, or the fourth side. According to the above-mentioned driving method, the vertical guide rail 1033 and / or the pick-and-place component 1031 are driven to slide, so that the pick-and-place component 1031 is aligned with the second target storage location, and the pick-and-place component 1031 is controlled to place the picked material from the third side, or the fourth side, to the second target storage location.

[0191] By applying the above embodiment, efficient material circulation and precise storage are achieved by integrating the second storage shelf and the first conveyor line. The first conveyor line can directly transfer materials from the loading port to the first lower box docking port, with a high degree of automation, reducing the tediousness and time-consuming manual handling. At the same time, the material robot can quickly respond to the first storage instruction of the first lower box docking port through the flexible sliding of the vertical guide rail and the pick-and-place component, and store the materials at any designated position of the first storage shelf or the second storage shelf, thereby improving the material handling efficiency and enhancing the overall level of automation of logistics.

[0192] When the production line issues a material picking order according to the production schedule, it is necessary to pick the materials corresponding to the material picking order from the warehouse system and transport the picked materials to the production line. There are two ways to pick materials:

[0193] Method 1: Manual picking mode;

[0194] Method 2: Robotic arm picking mode.

[0195] The specific picking process of method one and method two will be described below.

[0196] Method 1: Manual picking mode.

[0197] In the manual picking mode, in one possible embodiment, pickers can pick materials corresponding to the material picking order and transport the picked materials to the production line. However, manual material picking is highly dependent on the proficiency of the pickers. Some materials have similar appearances but different material numbers. Therefore, the accuracy of material picking is low, and the materials need to be manually transported to the production line, resulting in high labor costs and low efficiency for material picking.

[0198] Based on this, in another possible embodiment, see Figure 6 , Figure 6 A third structural diagram of the storage system provided in the embodiment of the present application, Figure 6 It is a top view of the warehousing system 100 , which also includes a first material cart 1061 and a first mobile robot 1062 .

[0199] The sorting shelf 102 is also used to respond to a picking start instruction and identify the location of the shipping end 1022 indicated by the picking start instruction.

[0200] The first mobile robot 1062 is used to pull the first material cart 1061 to the position of the shipping end 1022 indicated by the picking start instruction in response to the picking start instruction, and to pull the first material cart 1061 away from the position of the shipping end 1022 indicated by the picking start instruction in response to the picking completion instruction.

[0201] The picking start instruction is generated by the control device according to the material picking order issued by the production line. It is used to instruct the start of picking the materials corresponding to the material picking order. The control device will be explained below and will not be repeated here.

[0202] After receiving the picking instruction, the sorting shelf 102 will mark the location of the delivery end 1022 indicated by the picking start instruction, that is, mark the location of the material indicated by the picking start instruction on the sorting shelf 102. Specifically, the location can be marked by electronic tags, prompt sounds, signal lights, etc.

[0203] Exemplarily, when a signal light is used to identify the position, a signal light is provided at each delivery end 1022 on the sorting shelf. When materials need to be picked, the sorting shelf 102 will light up the signal light at the delivery end 1022 where the materials are located, that is, the PTL technology (Pick-to-Light) is used to indicate where the pickers should go to pick up the materials through the light. Specifically, electronic tags will be installed on the sorting shelf 102 in advance. These electronic tags are used to receive and store order information from the WMS warehousing software (Warehouse Management System, i.e., the control device hereinafter). After receiving the order information, the electronic tags will control the corresponding signal lights to light up, and use the lights to indicate the specific location of the materials on the sorting shelf. At the same time, the signal lights or electronic tags may also display the picking quantity, that is, the number of materials that need to be picked, so that the pickers can complete the picking task accurately and quickly.

[0204] When the location is identified by a prompt sound, audio identification of the material location is achieved by installing an audio device at each shipping end 1022 and assigning a unique prompt sound signal to each material. When the picking task begins, the control device triggers the audio device at the corresponding shipping end to emit a preset prompt sound according to the order information. The picker only needs to follow the prompt sound to quickly locate the location of the required material and perform the picking operation.

[0205] By applying the above embodiment, the sorting shelf lights up the signal lights corresponding to the material positions, so that the pickers can quickly select the goods according to the light prompts, which greatly saves the time of searching for goods and improves the efficiency of material picking. In addition, the information and visualization tools reduce the possibility of human errors and improve the accuracy of material picking.

[0206] The mobile robot may be an AMR (Autonomous Mobile Robot) or an AGV (Automated Guided Vehicle), which is not specifically limited here. The mobile robot is provided with a sensor that can sense the navigation routes pre-arranged in the warehouse or production line. These routes may be magnetic strips, QR codes, laser reflectors or other forms of navigation markers that can be identified and followed by the mobile robot. The robot pulls the first material cart 1061 along the route to move in the warehouse or production line at a slow and constant speed. After the sorting shelf 102 identifies the position of the material on the sorting shelf 102, the picker moves to the identified position. At the same time, the first mobile robot 1062 responds to the picking start instruction and pulls the first material cart 1061 to the position of the shipping end indicated by the picking start instruction. The picker performs material picking according to the material position identified by the sorting shelf and places it at a fixed position of the first material cart 1061.

[0207] When the material picking at the position is completed, the first mobile robot 1062 pulls the first material cart 1061 away from the position in response to the picking completion instruction. The picking completion instruction can be input by the picker or automatically sent by the control device. When the picking completion instruction is input by the picker, the first mobile robot 1062 may be provided with an input device, such as a tablet device, etc. After the picker completes the material picking, the picker inputs the picking completion instruction through the input device. When the control device receives the picking completion instruction, it forwards it to the first mobile robot 1062, and the first mobile robot 1062 pulls the first material cart 1061 away from the position in response to the picking completion instruction.

[0208] When the picking completion instruction is automatically sent by the control device, the control device can set the maximum storage and the minimum storage for each sorting shelf in advance. The control device senses the current storage of the sorting shelf through the photoelectric sensor. When it is sensed that the current storage of the sorting shelf is lower than the minimum storage, the control device sends the picking completion instruction to the first mobile robot 1062. The first mobile robot 1062 pulls the first material cart 1061 away from the position in response to the picking completion instruction.

[0209] In order to complete the material picking task quickly and accurately, the sorting shelf 102 marks the various materials listed in the material picking order in sequence along the same direction when marking the location of the material. When the first mobile robot 1062 pulls the first material cart 1061 to start the picking task, it will move to the starting position of the sorting shelf 102 according to the pre-planned path. Then, in the order of the material picking order, the first mobile robot 1062 will reach each marked material location one by one so that the picker can pick it. When the first mobile robot 1062 pulls the first material cart 1061 to move to the end or top of a row of sorting shelves 102, this means that all the materials required in the material picking order have been picked, and the first mobile robot 1062 pulls the first material cart 1061 to transport the picked materials to the production line.

[0210] In the manual picking mode, when the stored materials on the sorting shelf 102 are emptied, the empty material box is taken from the sorting shelf 102 by the picking personnel and put into the third conveyor line. The third conveyor line transfers the empty materials to the shelving workstation, and the shelving personnel recycle the empty materials. The third conveyor line will be explained below and will not be repeated here.

[0211] Applying the above embodiment, the sorting shelf responds to the picking start instruction and marks the specific position of the shipping end indicated by the picking start instruction, so that the pickers can pick materials quickly and accurately. At the same time, the mobile robot tows the material cart to the shipping end position indicated by the picking start instruction to place the materials picked by the pickers. When the picking operation is completed, the mobile robot tows the material cart away from the shipping end position and transports the picked materials to the production line, which not only reduces the need for manual handling and reduces labor costs, but also improves the efficiency and accuracy of material picking.

[0212] Method 2: Robotic arm picking mode.

[0213] In robot picking mode, see Figure 7 , Figure 7This is a fourth structural diagram of a warehousing system provided in an embodiment of the present application. The warehousing system 100 also includes a second material cart 1071, a second mobile robot 1072, a third mobile robot 1073 and a second conveyor line 108. The third mobile robot 1073 is provided with a robotic arm 109.

[0214] A second upper box docking port 1081 of the second conveyor line 108 is provided below the storage position in the second storage shelf 104;

[0215] The material robot 103 is also used to respond to the picking start instruction so that the pick-and-place component 1031 is aligned with the third target storage location indicated by the picking start instruction. Specifically, when the initial horizontal position of the pick-and-place component is aligned with the third target storage location, but the vertical position is not aligned, the vertical guide rail 1033 is driven to slide on the horizontal guide rail 1032 so that the vertical position of the pick-and-place component 1031 is also aligned with the third target storage location. When the initial vertical position of the pick-and-place component is aligned with the third target storage location, but the horizontal position is not aligned, the pick-and-place component 1031 is driven to slide on the vertical guide rail 1033 so that the horizontal position of the pick-and-place component 1031 is also aligned with the third target storage location. If the initial vertical position and the initial horizontal position of the pick-and-place assembly are not aligned with the third target storage position, the vertical guide rail 1033 is driven to slide on the horizontal guide rail 1032, and the pick-and-place assembly 1031 is driven to slide on the vertical guide rail 1033, so that the pick-and-place assembly 1031 is aligned with the third target storage position.

[0216] When the third target storage location is located on the first storage shelf 101, the pick-and-place component 1031 is controlled to pick up the material on the third target storage location from the second side. When the third target storage location is located on the second storage shelf 104, the pick-and-place component 1031 is controlled to pick up the material on the third target storage location from the third side or the fourth side, and the pick-and-place component 1031 is controlled to place the picked up material on the second upper box docking port 1081 from the third side or the fourth side.

[0217] The second mobile robot 1072 is used to tow the second material cart 1071 to the site.

[0218] The third mobile robot 1073 is used to move to the site.

[0219] The second conveyor line 108 is used to transfer the materials placed at the second upper box docking port 1081 to the station where the second material vehicle 1071 is located via the third side of the second storage shelf 104;

[0220] The robot arm 109 is used to grab the material at the station where the second material cart 107 is located, and place the grabbed material in the second material cart 1071.

[0221] The control device sends a picking start instruction to the material robot 103. The material robot 103 responds to the picking start instruction, picks up the material indicated by the picking start instruction on the storage shelf, and places the picked up material at the second upper box docking port 1081 of the second conveyor line 108. At the same time, the control device also sends an instruction for indicating a station to the second mobile robot 1072 and the third mobile robot 1073. The second mobile robot 1072 responds to the instruction and pulls the second material car 1071 to the station indicated by the instruction. The third mobile robot 1073 responds to the instruction and moves to the station indicated by the instruction.

[0222] The second conveyor line 108 transfers the material to the station where the second material cart 1071 is located. The robot arm 109 grabs the material at the station where the second material cart 1071 is located, and places the grabbed material in the second material cart 1071.

[0223] The control device determines the site where the second material vehicle should be located in advance according to the material picking order, dispatches the second mobile robot 1072 to pull the second material vehicle 1071 to the site, and dispatches the third mobile robot 1073 to move to the site. The site determined by the control device can be one or more.

[0224] When there are multiple stations, the order of the stations should be consistent with the order of materials that the robot arm 109 needs to grab. When the second material cart 1071 completes the picking of the required materials at a station, it will go to the next station to continue picking until all materials in the material picking order are picked. Then, the second mobile robot 1072 pulls the second material cart 1071 to the production line.

[0225] By applying the above embodiment, by introducing a second material cart and a second conveyor line, and equipping a robotic arm, when the picking start command is issued, the material robot can take the material from the designated storage location according to the location of the target storage location (whether on the first storage shelf or the second storage shelf), and place it on the second upper box docking port of the second conveyor line. Subsequently, the second conveyor line transfers the material to the station where the second material cart is located, and the robotic arm grabs the material on the station and places it in the second material cart, realizing the automated picking of materials, reducing the labor cost of material picking, avoiding the picking errors that may occur during manual picking, and improving the efficiency and accuracy of material picking.

[0226] In the robot picking mode, when the stored materials on the sorting shelf 102 are emptied, the empty material box also needs to be transferred to the shelf loading workstation.

[0227] Based on this, see Figure 8 , Figure 8This is a fifth structural schematic diagram of a warehousing system provided in an embodiment of the present application. The warehousing system 100 also includes a third conveyor line 110 and a third storage shelf 111 .

[0228] A third upper box docking port 1101 of the third conveyor line 110 is disposed below the third storage shelf 111;

[0229] The third conveyor line 110 is used to transfer the materials at the third upper box docking port 1101 to the upper shelf workstation 112 through the bottom of the third storage shelf 111;

[0230] The horizontal guide rail 1032 may pass through the fifth side and the sixth side of the third storage shelf 111, or may pass through any side thereof;

[0231] The material robot 103 is also used to respond to the transport instructions for the site, drive the vertical guide rail 1033 and / or the pick-and-place component 1031 to slide, and control the pick-and-place component 1031 to transport the material at the site to the third upper box docking port 1101 from the fifth side or the sixth side.

[0232] By applying the above embodiment, by adding a third conveyor line and a third storage shelf, the material robot can respond to the handling instructions, and automatically transport the materials to the upper box connection port of the third conveyor line, and the third conveyor line transfers the materials to the shelving workstation, thereby reducing the manual intervention in the process of transferring the materials to the shelving workstation, reducing the material handling cost, improving the handling efficiency in the process of transferring the materials to the shelving workstation, and reducing labor costs.

[0233] The above embodiment has described how to pick materials in the first storage shelf 101, the second storage shelf 104 and the sorting shelf 102. The following will describe the specific methods of how to transport materials in the first storage shelf 101 and the second storage shelf 104 to the sorting shelf 102 and how to store materials in the first storage shelf 101 and the second storage shelf 104.

[0234] In order to improve the efficiency of material picking, a plurality of sorting shelves 102 are provided in the warehousing system 100. When the materials stored at the delivery end 1022 of the sorting shelf 102 meet the preset replenishment conditions, the materials corresponding to the sorting shelf 102 are taken from the first storage shelf 101 or the second storage shelf 104 and placed on the delivery end 1021 of the sorting shelf 102. Specifically, a control device 113 is also provided in the warehousing system 100.

[0235] The sorting shelf 102 is also used to send a dispatch instruction for indicating a target incoming goods terminal to the control device 113 when the materials stored in the outgoing goods terminal 1022 meet the preset replenishment conditions. The target incoming goods terminal is the incoming goods terminal 1021 corresponding to the sorting shelf 102;

[0236] The control device 113 is used to determine the attribute information corresponding to the target incoming goods terminal as the target attribute information, determine the storage location storing the material corresponding to the target attribute information as the first target storage location, and send a replenishment instruction for indicating the target incoming goods terminal and the first target storage location to the material robot 103.

[0237] The material robot 103 is specifically used to drive the vertical guide rail and / or the pick-and-place component to slide so that the pick-and-place component 1031 is aligned with the target cargo entry end; and control the pick-and-place component 1031 to place the picked material from the second side to the target cargo entry end.

[0238] The control device 113 may be any device or software with scheduling capabilities, and may be, for example, a processor, WMS warehousing software, etc.

[0239] The preset replenishment conditions may be a series of specific settings or standards that are preset to trigger the replenishment process, and may be determined based on factors such as the inventory status of the material, material demand, etc. For example, they may be set based on the quantity of the material.

[0240] In a possible embodiment, the control device 113 is pre-set with the maximum and minimum reserves of each material in the sorting shelf. For example, the maximum reserve of material A in the sorting shelf is 2 boxes, and the minimum reserve is 1 box. When the control device 113 detects that the stock of material A on the sorting shelf is 1 box, it automatically triggers the task of replenishing the sorting shelf from the storage shelf, that is, sending a scheduling instruction to the control device to indicate the incoming goods end 1021 corresponding to the sorting shelf 102.

[0241] In another embodiment, the control device 113 pre-sets the maximum storage quantity of material A in the sorting shelf to 2 boxes and the minimum storage quantity to 1 box. When the control device 113 detects through photoelectric sensing that the stock of material A on the sorting shelf is 1 box, a scheduling instruction is sent to the control device to indicate the incoming goods end 1021 corresponding to the sorting shelf 102.

[0242] The attribute information is used to identify the materials required for the sorting shelf 102 to ensure that the replenished materials are consistent with the materials required by the shipping end, and can be the type, specification, batch number, etc. of the material.

[0243] The control device 113 can determine the storage location of the material corresponding to each attribute information in the storage shelf in real time according to the rules pre-set by the user, or the picking personnel can input the storage location of the material corresponding to each attribute information in the storage shelf in real time on the control device. After receiving the target attribute information, the storage location of the material corresponding to the target attribute information is determined, and a replenishment instruction for indicating the target entry terminal and the first target storage location is sent to the material robot 103. The replenishment instruction not only contains the information of the target entry terminal, but also indicates the location of the first target storage location. Therefore, the material robot 103 can parse the replenishment instruction to obtain the location of picking up the goods from the storage shelf and the location of the entry terminal 1021 for replenishment in the sorting shelf 102, and then move to the pickup location to pick up the materials, and then put the picked materials into the entry terminal 1021.

[0244] Applying the above embodiment, the warehousing system is integrated with a control device and a plurality of sorting shelves. When the inventory of materials at the delivery end of any sorting shelf reaches the preset replenishment condition, a dispatch instruction is sent to the control device to indicate the target delivery end that needs to be replenished. After receiving the instruction, the control device identifies the material attribute information corresponding to the target delivery end and locates the storage location where these materials are stored. Subsequently, the control device sends a replenishment instruction to the material robot to indicate the target delivery end and the first target storage location. The material robot uses the pick-and-place component to obtain the material from the first target storage location and places the material at the target delivery end to complete the entire replenishment process, which not only improves the automation level of warehousing management, reduces the dependence and errors of manual operations, but also improves the efficiency and accuracy of replenishment. At the same time, due to timely replenishment, the time when the shelves are empty can be reduced, the utilization rate of the shelves can be improved, and the waste of storage space caused by empty shelves can be reduced.

[0245] In the aforementioned embodiment, the control device 113 can determine the storage location of the material corresponding to each attribute information in the storage shelf in real time according to industry specifications or manual input. In another possible embodiment, in order to ensure the efficiency and accuracy of replenishment, the control device 113 can also pre-store the storage location of the material corresponding to each attribute information in the storage shelf, specifically:

[0246] The control device 113 is further used to obtain the first attribute information of the material, determine the storage location of the material located at the first lower box docking port 1051 as the second target storage location, send a storage instruction for indicating the second target storage location to the material robot 103, and record the corresponding relationship between each material and each storage location as the material storage location corresponding relationship.

[0247] Based on this, when determining the storage location of the material corresponding to the target attribute information, the control device 113 can determine the first target storage location according to the pre-recorded material storage location correspondence.

[0248] By applying the above-mentioned embodiments, compared with manual input or inefficient search algorithms, the first target storage location can be quickly and accurately located directly based on the material storage location correspondence pre-recorded in the system, which not only improves the efficiency of material management and reduces storage problems caused by human errors or delays, but also ensures that materials can be placed in the predetermined storage location in a timely and reasonable manner.

[0249] In the above embodiment, the storage location of the material in the storage shelf can be determined according to the attribute information of the material. The specific method of determining the storage location of the material on the storage shelf according to the attribute information of the material will be described below:

[0250] See also Fig. 9 , Fig. 9 A sixth structural diagram of a warehousing system provided in an embodiment of the present application, the warehousing system 100 includes a control device 113 and a collection device 114, the collection area 1141 of the collection device 114 includes a first upper box docking port 1052 of the first conveyor line 105, there are multiple second storage shelves 104, there are multiple first lower box docking ports 1051, and different first lower box docking ports 1051 are arranged under different second storage shelves 104;

[0251] The first conveyor line 105 is also used to transfer materials to the first upper box docking port 1052 via the third side below the storage location in the second storage shelf 104 .

[0252] The collecting device 114 is used to collect the first attribute information of the material located in the collecting area and send the first attribute information to the control device 113 .

[0253] The control device 113 is specifically used to receive the first attribute information, and plan the storage location of each material in the storage shelf according to the second attribute information of the pre-stored storage shelf as the third target storage location. According to the corresponding relationship between each third target storage location and each first lower box docking port 1051, the target lower box docking port is determined. A transmission instruction for indicating the target lower box docking port is sent to the first conveyor line 105, and a second storage instruction for indicating the target lower box docking port and the third target storage location is sent to the material robot 103.

[0254] The first conveying line 105 is specifically used to transmit the material to the target lower box docking port via the third side or the fourth side of the second storage shelf in response to the transmission instruction;

[0255] The material robot 103 is specifically used to drive the vertical rail 1033 to slide on the horizontal rail 1032 and / or the pick-and-place component 1031 to slide on the vertical rail 1033 in response to the second storage instruction for the target lower box docking port, so that the pick-and-place component 1031 is aligned with the target lower box docking port. If the third target storage location indicated by the second storage instruction is located on the first storage shelf 101, the pick-and-place component 1031 is controlled to take the material on the target lower box docking port from the fourth side; the vertical rail 1033 is driven to slide on the horizontal rail 1032, and / or the pick-and-place component 1031 is slid on the vertical rail 1033, so that the pick-and-place component 1031 is aligned with the third target storage location, and the pick-and-place component 1031 is controlled to place the taken material from the second side to the third target storage location. If the third target storage location indicated by the second storage instruction is located on the second storage shelf 104, the pick-and-place component 1031 is controlled to pick up the material on the target lower box docking port from the third side, or, the fourth side; the vertical guide rail 1033 is driven to slide on the horizontal guide rail 1032, and / or the pick-and-place component 1031 slides on the vertical guide rail 1033, so that the pick-and-place component 1031 is aligned with the third target storage location, and the pick-and-place component 1031 is controlled to place the picked-up material from the third side, or, the fourth side, to the third target storage location.

[0256] The collection device 114 may be any device with a collection function, and according to the different material attribute information to be collected, collection devices 114 with different collection functions may be provided. Exemplarily, when the material attribute information to be collected is the material weight, the collection device 114 may be a device with a weight collection function, such as a weight sensor, etc.; when the material attribute information to be collected is the material volume and batch number, the collection device 114 may be a device with an image collection function, including but not limited to an infrared camera, a visible light camera, etc.; the collection device 114 may also be a DWS device (Dimensioning Weighing and Scanning, a logistics automation device that integrates volume measurement, weighing and scanning functions), which can simultaneously collect material attribute information such as material weight, volume and batch number, which is not specifically limited here.

[0257] The control device 113 receives the material information sent by the collection device 114, and performs calculations and planning based on this information and the second attribute information of the storage shelf stored in advance, such as the capacity, structure, current storage status, etc. of the storage shelf, to obtain the storage location of each material, that is, the third target storage location.

[0258] After determining the third target storage location, the control device 113 needs to determine the target lower box docking port to which the material should be transported based on the correspondence between these storage locations and the first lower box docking port 1051. Send a transmission instruction to the first conveyor line 105, instructing the first conveyor line 105 to transport the material from the current position to the target lower box docking port, and send a second storage instruction to the material robot 103, instructing the material robot 103 to move to the target lower box docking port, pick up the material at the target lower box docking port, and store the picked up material in the planned third target storage location.

[0259] By applying the above embodiment, the intelligent material storage and handling process is realized by integrating multiple components such as the collection device, the control device, the first conveyor line, the second storage shelf and the material robot. Specifically, the collection device captures the first attribute information of the material and immediately feeds it back to the control device. The control device plans the storage location (third target storage location) of the material in the storage shelf based on this information and the preset second attribute information of the storage shelf. The system can accurately and correctly convey the material to the designated lower box docking port according to different storage location requirements through the flexible configuration of the first conveyor line and multiple first lower box docking ports, combined with the precise operation of the material robot, and store it in the storage location in the storage shelf, effectively improving the space utilization and material management efficiency of the warehousing system, and improving the automation level of material storage and handling.

[0260] Based on the aforementioned warehousing system, an embodiment of the present application further provides a material picking method, which is applied to a material robot 103 in a warehousing system 100, wherein the warehousing system 100 also includes a first storage shelf 101 and a sorting shelf 102; the material robot 103 includes a pick-and-place component 1031, a horizontal guide rail 1032 and a vertical guide rail 1033, wherein the horizontal guide rail 1032 passes through the second side of the first storage shelf 101, and the vertical guide rail 1033 can be horizontally slidably arranged on the horizontal guide rail 1032, and the pick-and-place component 1031 can be vertically slidably arranged on the vertical guide rail 1033; the sorting shelf 102 includes an inlet end 1021, an outlet end 1022 and a transmission structure 1023, wherein the transmission structure 1023 is used to transmit materials from the inlet end 1021 to the outlet end 1022; the inlet end 1021 is located below the storage position in the first storage shelf 101, and the outlet end 1022 is located on the first side of the first storage shelf 101.

[0261] See also Fig.10 , Fig.10 A schematic diagram of a material picking method provided in an embodiment of the present application, the method comprising:

[0262] S1001, in response to a replenishment instruction for the sorting shelf 102, drive the vertical guide rail 1033 and / or the pick-and-place component 1031 to slide so that the pick-and-place component 1031 is aligned with the first target storage location indicated by the replenishment instruction.

[0263] S1002, control the pick-and-place component 1031 to take the material on the first target storage location from the second side.

[0264] S1003 , driving the vertical guide rail 1033 and / or the pick-and-place assembly 1031 to slide so that the pick-and-place assembly 1031 is aligned with the loading end 1021 .

[0265] S1004, controlling the pick-and-place component 1031 to place the picked-up materials at the incoming goods end 1021 from the second side.

[0266] By applying the above embodiment, the first storage shelf, the sorting shelf and the material robot are integrated, the sorting shelf is placed below the first storage shelf, and the storage space utilization is maximized through a unique layout. Among them, the sorting shelf is arranged below the first storage shelf, and the first storage shelf acts as the main storage area, responsible for storing a large amount of materials, and the sorting shelf is used for sorting materials. This layout reduces the additional storage space requirements caused by the frequent transfer and decentralized storage of materials in the traditional logistics process. Furthermore, the material robot can take materials from any storage position of the first storage shelf through its horizontal and vertical guide rails, and place them directly at the inlet end of the sorting shelf, avoiding the spacious working area required for manual picking, and further saving storage space. In addition, the material robot simplifies the flow path of materials in the traditional logistics process by performing the replenishment task of taking materials from the first storage shelf above to the sorting shelf below, reducing the space occupied by materials in multiple storage areas such as the RDC warehouse and the SPS distribution area, thereby reducing the storage space occupied by materials in the logistics process, solving the aforementioned problem one.

[0267] By setting the incoming goods end below the storage position in the first storage shelf and the outgoing goods end on one side of the first storage shelf, the SPS distribution area realizes upper storage and lower picking. Based on this, all the material inventory of the RDC warehouse can be transferred to the SPS distribution area for storage, which reduces the inventory area of ​​the RDC warehouse and further reduces the storage space occupied by materials. In addition, the storage space above the SPS distribution area is used to store materials, and the material robots complete the picking and placement of materials without multiple manual handling and transfer points, which reduces the links in the handling process. This not only reduces the number of work posts and equipment for unloading from the RDC warehouse and replenishing and shelving in the SPS distribution area, but also reduces the risk of scratches and damage to materials during transportation, but also reduces the overall complexity of logistics, solving the aforementioned problem two.

[0268] For a detailed description of the material picking method, please refer to the aforementioned description of the warehousing system 100, which will not be repeated here.

[0269] In a possible implementation, the system further includes a second storage shelf and a first conveyor line; a first lower box docking port of the first conveyor line is provided below the storage position in the second storage shelf; the first conveyor line is used to transfer the material at the loading port to the first lower box docking port via the lower storage position in the second storage shelf; the horizontal guide rail passes through the third side and / or the fourth side of the second storage shelf, and the method further includes:

[0270] In response to a first stored instruction for the first lower box docking port, driving the vertical guide rail and / or the pick-and-place assembly to slide so that the pick-and-place assembly is aligned with the first lower box docking port;

[0271] If the second target storage location indicated by the first storage instruction is located on the first storage shelf, the pick-and-place component is controlled to pick up the material on the first lower box docking port from the fourth side; the vertical guide rail and / or the pick-and-place component are driven to slide so that the pick-and-place component is aligned with the second target storage location, and the pick-and-place component is controlled to place the picked material from the second side to the second target storage location;

[0272] If the second target storage location indicated by the first storage instruction is located on the second storage shelf, the pick-and-place component is controlled to pick up the material on the first lower box docking port from the third side or the fourth side; the vertical guide rail and / or the pick-and-place component is driven to slide so that the pick-and-place component is aligned with the second target storage location, and the pick-and-place component is controlled to place the picked-up material from the third side or the fourth side to the second target storage location.

[0273] In a possible implementation, the system further includes a second material cart, a second mobile robot, a third mobile robot and a second conveyor line, the third mobile robot is provided with a mechanical arm; a second upper box docking port of the second conveyor line is provided below the storage position in the second storage shelf, and the method further includes:

[0274] In response to the picking start instruction, the vertical guide rail and / or the pick-and-place component are driven to slide so that the pick-and-place component is aligned with the third target storage location indicated by the picking start instruction; if the third target storage location is located on the first storage shelf, the pick-and-place component is controlled to pick up the material on the third target storage location from the second side; if the third target storage location is located on the second storage shelf, the pick-and-place component is controlled to pick up the material on the third target storage location from the third side, or, the fourth side; the pick-and-place component is controlled to place the picked-up material from the third side, or, the fourth side, at the second upper box docking port, so that the second conveyor line transfers the material placed at the second upper box docking port to the station where the second material cart is located via the bottom of the storage location in the second storage shelf, and the second material cart is towed to the station by the second mobile robot; so that the robotic arm grabs the material at the station where the second material cart is located, and places the grabbed material in the second material cart.

[0275] In a possible implementation, the system further includes a third conveyor line and a third storage shelf; a third upper box docking port of the third conveyor line is provided below the third storage shelf; the third conveyor line is used to transfer materials at the third upper box docking port to the shelf loading workstation via the bottom of the third storage shelf; the horizontal guide rail passes through the fifth side and / or the sixth side of the third storage shelf, and the method further includes:

[0276] In response to the transport instruction for the site, the vertical guide rail and / or the pick-and-place assembly are driven to slide, and the pick-and-place assembly is controlled to transport the material at the site from the fifth side and / or the sixth side to the third upper box docking port.

[0277] In a possible implementation, the system further includes a control device, and there are multiple sorting shelves; the sorting shelves are also used to send a scheduling instruction for indicating a target incoming goods end to the control device when the material quantity stored at the outgoing goods end meets a preset replenishment condition; wherein the target incoming goods end is the incoming goods end corresponding to the sorting shelves; the control device is used to determine the attribute information corresponding to the target incoming goods end as the target attribute information; determine the storage location where the material corresponding to the target attribute information is stored as the first target storage location; send a replenishment instruction for indicating the target incoming goods end and the first target storage location to the material robot; the driving of the vertical guide rail and / or the pick-and-place assembly to slide so that the pick-and-place assembly is aligned with the incoming goods end includes:

[0278] Driving the vertical guide rail and / or the pick-and-place assembly to slide so that the pick-and-place assembly is aligned with the target cargo entry end;

[0279] The controlling the pick-and-place assembly to place the taken material from the second side to the incoming goods end includes:

[0280] The pick-and-place assembly is controlled to place the picked-up material from the second side to the target incoming cargo end.

[0281] In a possible implementation, the system further includes a control device; the control device is also used to obtain the first attribute information of the material, determine the storage location of the material located at the first lower box docking port as the second target storage location; send a storage instruction for indicating the second target storage location to the material robot; record the correspondence between each of the materials and each of the storage locations as the material storage location correspondence; there are multiple sorting shelves; the sorting shelf is also used to send a scheduling instruction for indicating the target incoming goods end to the control device when the material stored at the shipping end meets the preset replenishment condition; wherein the target incoming goods end is the incoming goods end corresponding to the sorting shelf; the control device is used to determine the attribute information corresponding to the target incoming goods end as the target attribute information; according to the material storage location correspondence, determine the storage location where the material corresponding to the target attribute information is stored as the first target storage location; send a replenishment instruction for indicating the target incoming goods end and the first target storage location to the material robot; the driving of the vertical guide rail and / or the pick-and-place component to slide so that the pick-and-place component is aligned with the incoming goods end includes:

[0282] Driving the vertical guide rail and / or the pick-and-place assembly to slide so that the pick-and-place assembly is aligned with the target cargo entry end;

[0283] The controlling the pick-and-place assembly to place the taken material from the second side to the incoming goods end includes:

[0284] The pick-and-place assembly is controlled to place the picked-up material from the second side to the target incoming cargo end.

[0285] In a possible implementation, the system further includes a collection device and a control device, the collection area of ​​the collection device includes a first upper box docking port of the first conveyor line, there are multiple second storage shelves, there are multiple first lower box docking ports, and different first lower box docking ports are arranged under different second storage shelves; the first conveyor line is also used to transmit the material to the first upper box docking port via the bottom of the storage position in the second storage shelf; the collection device is used to collect first attribute information of the material located in the collection area, and send the first attribute information to the control device; the control device is specifically used to receive the first attribute information, and according to the pre-stored second attribute information of the storage shelf, plan to obtain the first attribute information of each material in the collection area. The storage location in the storage shelf is used as the third target storage location; the target lower box docking port is determined according to the corresponding relationship between each of the third target storage locations and each of the first lower box docking ports; a transmission instruction for indicating the target lower box docking port is sent to the first conveyor line, and a second storage instruction for indicating the target lower box docking port and the third target storage location is sent to the material robot; the first conveyor line is specifically used to respond to the transmission instruction to transmit the material to the target lower box docking port via the third side or the fourth side of the second storage shelf; the response to the first storage instruction for the first lower box docking port is to drive the vertical guide rail and / or the pick-and-place assembly to slide so that the pick-and-place assembly is aligned with the first lower box docking port, including:

[0286] In response to a second stored instruction for the target lower box docking port, driving the vertical guide rail and / or the pick-and-place assembly to slide so that the pick-and-place assembly is aligned with the target lower box docking port;

[0287] If the second target storage location indicated by the first storage instruction is located on the first storage shelf, controlling the pick-and-place component to take the material on the first lower box docking port from the fourth side includes:

[0288] If the third target storage location indicated by the second storage instruction is located on the first storage shelf, control the pick-and-place component to take the material on the target lower box docking port from the fourth side;

[0289] The step of driving the vertical guide rail and / or the pick-and-place assembly to slide so that the pick-and-place assembly is aligned with the second target storage location, and controlling the pick-and-place assembly to place the taken material from the second side into the second target storage location comprises:

[0290] Driving the vertical guide rail and / or the pick-and-place assembly to slide so that the pick-and-place assembly is aligned with the third target storage location, and controlling the pick-and-place assembly to place the taken material from the second side into the third target storage location;

[0291] If the second target storage location indicated by the first storage instruction is located on the second storage shelf, controlling the pick-and-place component to take the material on the first lower box docking port from the third side or the fourth side includes:

[0292] If the third target storage location indicated by the second storage instruction is located on the second storage shelf, the pick-and-place component is controlled to take the material on the target lower box docking port from the third side or the fourth side;

[0293] The step of driving the vertical guide rail and / or the pick-and-place assembly to slide so that the pick-and-place assembly is aligned with the second target storage location, and controlling the pick-and-place assembly to place the taken material from the third side or the fourth side to the second target storage location comprises:

[0294] The vertical guide rail and / or the pick-and-place assembly are driven to slide so that the pick-and-place assembly is aligned with the third target storage location, and the pick-and-place assembly is controlled to place the picked-up material from the third side or the fourth side to the third target storage location.

[0295] Based on the aforementioned material picking method, an embodiment of the present application further provides a material picking device, which is applied to a material robot 103 in a warehousing system 100, and the warehousing system 100 also includes a first storage shelf 101 and a sorting shelf 102; the material robot 103 includes a pick-and-place component 1031, a horizontal guide rail 1032 and a vertical guide rail 1033, the horizontal guide rail 1032 passes through the second side of the first storage shelf 101, the vertical guide rail 1033 can be horizontally slidably arranged on the horizontal guide rail 1032, and the pick-and-place component 1031 can be vertically slidably arranged on the vertical guide rail 1033; the sorting shelf 102 includes an inlet end 1021, an outlet end 1022 and a transmission structure 1023, and the transmission structure 1023 is used to transmit materials from the inlet end 1021 to the outlet end 1022; the inlet end 1021 is located below the storage position in the first storage shelf 101, and the outlet end 1022 is located on the first side of the first storage shelf 101.

[0296] See also Fig.11 , Fig.11 This is a schematic diagram of the structure of a material picking device provided in an embodiment of the present application, the device comprising:

[0297] The first response module 1101 is used to drive the vertical guide rail 1033 and / or the pick-and-place component 1031 to slide in response to a replenishment instruction for the sorting shelf 102, so that the pick-and-place component 1031 is aligned with the first target storage location indicated by the replenishment instruction.

[0298] The first taking module 1102 is used to control the taking and placing component 1031 to take the material on the first target storage location from the second side.

[0299] The first driving module 1103 is used to drive the vertical guide rail 1033 and / or the pick-and-place assembly 1031 to slide, so that the pick-and-place assembly 1031 is aligned with the loading end 1021 .

[0300] The first placement module 1104 is used to control the pick-and-place component 1031 to place the taken materials at the incoming goods end 1021 from the second side.

[0301] By applying the above embodiment, the first storage shelf, the sorting shelf and the material robot are integrated, the sorting shelf is placed below the first storage shelf, and the storage space utilization is maximized through a unique layout. Among them, the sorting shelf is arranged below the first storage shelf, and the first storage shelf acts as the main storage area, responsible for storing a large amount of materials, and the sorting shelf is used for sorting materials. This layout reduces the additional storage space requirements caused by the frequent transfer and decentralized storage of materials in the traditional logistics process. Furthermore, the material robot can take materials from any storage position of the first storage shelf through its horizontal and vertical guide rails, and place them directly at the inlet end of the sorting shelf, avoiding the spacious working area required for manual picking, and further saving storage space. In addition, the material robot simplifies the flow path of materials in the traditional logistics process by performing the replenishment task of taking materials from the first storage shelf above to the sorting shelf below, reducing the space occupied by materials in multiple storage areas such as the RDC warehouse and the SPS distribution area, thereby reducing the storage space occupied by materials in the logistics process, solving the aforementioned problem one.

[0302] By setting the incoming goods end below the storage position in the first storage shelf and the outgoing goods end on one side of the first storage shelf, the SPS distribution area realizes upper storage and lower picking. Based on this, all the material inventory of the RDC warehouse can be transferred to the SPS distribution area for storage, which reduces the inventory area of ​​the RDC warehouse and further reduces the storage space occupied by materials. In addition, the storage space above the SPS distribution area is used to store materials, and the material robots complete the picking and placement of materials without multiple manual handling and transfer points, which reduces the links in the handling process. This not only reduces the number of work posts and equipment for unloading from the RDC warehouse and replenishing and shelving in the SPS distribution area, but also reduces the risk of scratches and damage to materials during transportation, but also reduces the overall complexity of logistics, solving the aforementioned problem two.

[0303] In a possible embodiment, the system further includes a second storage shelf and a first conveyor line; a first lower box docking port of the first conveyor line is provided below the storage position in the second storage shelf; the first conveyor line is used to transfer the material at the loading port to the first lower box docking port via the lower storage position in the second storage shelf; the horizontal guide rail passes through the third side and / or the fourth side of the second storage shelf, and the device further includes:

[0304] A second response module, configured to drive the vertical guide rail and / or the pick-and-place assembly to slide in response to a first stored instruction for the first lower box docking port, so that the pick-and-place assembly is aligned with the first lower box docking port;

[0305] a second taking module, configured to control the taking and placing assembly to take the material on the first lower box docking port from the fourth side if the second target storage location indicated by the first storage instruction is located on the first storage shelf;

[0306] a second driving module, used for driving the vertical guide rail and / or the pick-and-place assembly to slide, so that the pick-and-place assembly is aligned with the second target storage location, and controlling the pick-and-place assembly to place the picked material from the second side into the second target storage location;

[0307] A third taking module, configured to control the taking and placing component to take the material on the first lower box docking port from the third side or the fourth side if the second target storage location indicated by the first storage instruction is located on the second storage shelf;

[0308] The third driving module is used to drive the vertical guide rail and / or the pick-and-place assembly to slide so that the pick-and-place assembly is aligned with the second target storage location, and controls the pick-and-place assembly to place the picked material from the third side or the fourth side to the second target storage location.

[0309] In a possible implementation, the system further includes a second material cart, a second mobile robot, a third mobile robot and a second conveyor line, the third mobile robot is provided with a mechanical arm; a second upper box docking port of the second conveyor line is provided below the storage position in the second storage shelf, and the device further includes:

[0310] A third response module is used to drive the vertical guide rail and / or the pick-and-place component to slide in response to the picking start instruction, so that the pick-and-place component is aligned with the third target storage location indicated by the picking start instruction; if the third target storage location is located on the first storage shelf, the pick-and-place component is controlled to pick up the material on the third target storage location from the second side; if the third target storage location is located on the second storage shelf, the pick-and-place component is controlled to pick up the material on the third target storage location from the third side, or, the fourth side; the pick-and-place component is controlled to place the picked-up material from the third side, or, the fourth side, at the second upper box docking port, so that the second conveyor line transfers the material placed at the second upper box docking port to the station where the second material cart is located via the bottom of the storage location in the second storage shelf, and the second material cart is towed to the station by the second mobile robot; so that the robotic arm grabs the material at the station where the second material cart is located, and places the grabbed material in the second material cart.

[0311] In a possible implementation, the system further includes a third conveyor line and a third storage shelf; a third upper box docking port of the third conveyor line is provided below the third storage shelf; the third conveyor line is used to transfer the material at the third upper box docking port to the shelf loading workstation via the bottom of the third storage shelf; the horizontal guide rail passes through the fifth side and / or the sixth side of the third storage shelf, and the device further includes:

[0312] The fourth response module is used to respond to the transport instruction for the site, drive the vertical guide rail and / or the pick-and-place assembly to slide, and control the pick-and-place assembly to transport the material at the site from the fifth side or the sixth side to the third upper box docking port.

[0313] In a possible implementation, the system further includes a control device, and there are multiple sorting shelves; the sorting shelves are also used to send a scheduling instruction for indicating a target incoming goods end to the control device when the material quantity stored at the outgoing goods end meets a preset replenishment condition; wherein the target incoming goods end is the incoming goods end corresponding to the sorting shelves; the control device is used to determine the attribute information corresponding to the target incoming goods end as the target attribute information; determine the storage location where the material corresponding to the target attribute information is stored as the first target storage location; send a replenishment instruction for indicating the target incoming goods end and the first target storage location to the material robot; the first driving module includes:

[0314] A first driving submodule, used for driving the vertical guide rail and / or the pick-and-place assembly to slide, so that the pick-and-place assembly is aligned with the target cargo entry end;

[0315] The first placement module comprises:

[0316] The first placement submodule is used to control the pick-and-place component to place the taken material from the second side to the target incoming goods end.

[0317] In a possible implementation, the system further includes a control device; the control device is further used to obtain the first attribute information of the material, determine the storage location of the material located at the first lower box docking port as the second target storage location; send a storage instruction for indicating the second target storage location to the material robot; record the correspondence between each of the materials and each of the storage locations as the material storage location correspondence relationship; there are multiple sorting shelves; the sorting shelf is also used to send a scheduling instruction for indicating the target incoming goods end to the control device when the material stored at the shipping end meets the preset replenishment condition; wherein the target incoming goods end is the incoming goods end corresponding to the sorting shelf; the control device is used to determine the attribute information corresponding to the target incoming goods end as the target attribute information; according to the material storage location correspondence relationship, determine the storage location where the material corresponding to the target attribute information is stored as the first target storage location; send a replenishment instruction for indicating the target incoming goods end and the first target storage location to the material robot; the second driving module includes:

[0318] A second driving submodule, used for driving the vertical guide rail and / or the pick-and-place assembly to slide, so that the pick-and-place assembly is aligned with the target cargo entry end;

[0319] The second placement module comprises:

[0320] The second placement submodule is used to control the pick-and-place component to place the taken material from the second side to the target incoming goods end.

[0321] In a possible implementation, the system further includes a collection device and a control device, the collection area of ​​the collection device includes a first upper box docking port of the first conveyor line, there are multiple second storage shelves, there are multiple first lower box docking ports, and different first lower box docking ports are arranged under different second storage shelves; the first conveyor line is also used to transmit the material to the first upper box docking port via the bottom of the storage position in the second storage shelf; the collection device is used to collect first attribute information of the material located in the collection area, and send the first attribute information to the control device; the control device is specifically used to receive the first attribute information, and according to the predicted The second attribute information of the storage shelf is first stored, and the storage location of each material in the storage shelf is planned as the third target storage location; the target lower box docking port is determined according to the correspondence between each third target storage location and each first lower box docking port; a transmission instruction for indicating the target lower box docking port is sent to the first conveyor line, and a second storage instruction for indicating the target lower box docking port and the third target storage location is sent to the material robot; the first conveyor line is specifically used to respond to the transmission instruction and transmit the material to the target lower box docking port via the third side or the fourth side of the second storage shelf; the second response module includes:

[0322] A first response submodule, configured to drive the vertical guide rail and / or the pick-and-place assembly to slide in response to a second stored instruction for the target lower box docking port, so that the pick-and-place assembly is aligned with the target lower box docking port;

[0323] The second taking module comprises:

[0324] a first fetching submodule, configured to control the fetching and placing assembly to fetch the material on the target lower box docking port from the fourth side if the third target storage location indicated by the second storage instruction is located on the first storage shelf;

[0325] The second driving module comprises:

[0326] a third driving submodule, configured to drive the vertical guide rail and / or the pick-and-place assembly to slide, so that the pick-and-place assembly is aligned with the third target storage location, and to control the pick-and-place assembly to place the taken material from the second side into the third target storage location;

[0327] The third taking module comprises:

[0328] A second fetching submodule is used for controlling the fetching and placing component to fetch the material on the target lower box docking port from the third side or the fourth side if the third target storage location indicated by the second storage instruction is located on the second storage shelf;

[0329] The third driving module comprises:

[0330] The fourth driving submodule is used to drive the vertical guide rail and / or the pick-and-place assembly to slide so that the pick-and-place assembly is aligned with the third target storage location, and controls the pick-and-place assembly to place the picked material from the third side or the fourth side to the third target storage location.

[0331] The present application also provides an electronic device, such as Fig.12 As shown, including:

[0332] Memory 1201, used for storing computer programs;

[0333] The processor 1202 is used to implement the following steps when executing the program stored in the memory 1201:

[0334] In response to a replenishment instruction for the sorting shelf, driving the vertical guide rail and / or the pick-and-place assembly to slide so that the pick-and-place assembly is aligned with a first target storage location indicated by the replenishment instruction;

[0335] Controlling the pick-and-place component to take the material on the first target storage location from the second side;

[0336] Driving the vertical guide rail and / or the pick-and-place assembly to slide so that the pick-and-place assembly is aligned with the cargo entry end;

[0337] The pick-and-place assembly is controlled to place the picked-up material from the second side to the incoming goods end.

[0338] Furthermore, the electronic device may further include a communication bus and / or a communication interface, and the processor 1202, the communication interface, and the memory 1201 communicate with each other via the communication bus.

[0339] The communication bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0340] The communication interface is used for communication between the above electronic device and other devices.

[0341] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0342] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0343] In another embodiment provided in the present application, a computer-readable storage medium is provided, in which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above-mentioned material picking methods are implemented.

[0344] In another embodiment provided in the present application, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute any of the material picking methods in the above embodiments.

[0345] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a solid-state hard disk (SSD), etc.

[0346] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0347] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0348] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A storage system, characterized in that: The system includes a first storage shelf, a sorting shelf and a material robot; The sorting shelf comprises an inlet end, an outlet end and a transmission structure, and the transmission structure is used to transmit materials from the inlet end to the outlet end; The inlet port is located below the storage position in the first storage shelf, and the outlet port is located on the first side of the first storage shelf; The material robot comprises a pick-and-place assembly, a horizontal guide rail and a vertical guide rail, wherein the horizontal guide rail passes through the second side of the first storage shelf, the vertical guide rail can be horizontally slidably arranged on the horizontal guide rail, and the pick-and-place assembly can be vertically slidably arranged on the vertical guide rail; The material robot is used to drive the vertical guide rail and / or the pick-and-place component to slide in response to a replenishment instruction for the sorting shelf, so that the pick-and-place component is aligned with the first target storage location indicated by the replenishment instruction; control the pick-and-place component to pick up materials on the first target storage location from the second side; drive the vertical guide rail and / or the pick-and-place component to slide, so that the pick-and-place component is aligned with the incoming goods end; control the pick-and-place component to place the picked up materials from the second side to the incoming goods end.

2. The system according to claim 1, characterized in that The system also includes a second storage rack and a first conveyor line; A first lower box docking port of the first conveyor line is provided below the storage position in the second storage shelf; The first conveyor line is used to transfer the material at the loading port to the first lower box docking port through the bottom of the storage position in the second storage shelf; The horizontal guide rail passes through a third side and / or a fourth side of the second storage shelf; The material robot is also used to drive the vertical guide rail and / or the pick-and-place component to slide in response to the first storage instruction for the first lower box docking port, so that the pick-and-place component is aligned with the first lower box docking port; if the second target storage location indicated by the first storage instruction is located on the first storage shelf, control the pick-and-place component to pick up the material on the first lower box docking port from the fourth side; drive the vertical guide rail and / or the pick-and-place component to slide, so that the pick-and-place component is aligned with the second target storage location, and control the pick-and-place component to place the picked-up material from the second side to the second target storage location; if the second target storage location indicated by the first storage instruction is located on the second storage shelf, control the pick-and-place component to pick up the material on the first lower box docking port from the third side, or, the fourth side; drive the vertical guide rail and / or the pick-and-place component to slide, so that the pick-and-place component is aligned with the second target storage location, and control the pick-and-place component to place the picked-up material from the third side, or, the fourth side to the second target storage location.

3. The system according to claim 2, characterized in that The system also includes a first material cart and a first mobile robot; The sorting shelf is further used to respond to a picking start instruction and identify the location of the shipping end indicated by the picking start instruction; The first mobile robot is used to pull the first material cart to the position of the shipping end indicated by the picking start instruction in response to the picking start instruction; and to pull the first material cart away from the position of the shipping end indicated by the picking start instruction in response to the picking completion instruction.

4. The system according to claim 3, characterized in that The sorting shelf is specifically used to respond to the picking start instruction and light up the signal light corresponding to the shipping end indicated by the picking start instruction.

5. The system according to claim 2, characterized in that The system further comprises a second material cart, a second mobile robot, a third mobile robot and a second conveyor line, wherein the third mobile robot is provided with a mechanical arm; A second upper box docking port of the second conveyor line is provided below the storage position in the second storage shelf; The material robot is further configured to drive the vertical guide rail and / or the pick-and-place assembly to slide in response to a picking start instruction, so that the pick-and-place assembly is aligned with a third target storage location indicated by the picking start instruction; if the third target storage location is located on the first storage shelf, the pick-and-place assembly is controlled to pick up materials on the third target storage location from the second side; if the third target storage location is located on the second storage shelf, the pick-and-place assembly is controlled to pick up materials on the third target storage location from the third side, or, the fourth side; the pick-and-place assembly is controlled to place the picked up materials on the second upper box docking port from the third side, or, the fourth side; The second mobile robot is used to pull the second material vehicle to the site; The third mobile robot is used to move to the site; The second conveying line is used to transfer the material placed at the second upper box docking port to the station where the second material vehicle is located through the bottom of the storage position in the second storage shelf; The robotic arm is used to grab materials at the site where the second material cart is located, and place the grabbed materials in the second material cart.

6. The system according to claim 5, characterized in that The system also includes a third conveyor line and a third storage rack; A third upper box docking port of the third conveyor line is arranged below the third storage shelf; The third conveyor line is used to transfer the materials at the third upper box docking port to the shelf loading workstation via the bottom of the third storage shelf; The horizontal guide rail passes through the fifth side and / or the sixth side of the third storage rack; The material robot is also used to drive the vertical guide rail and / or the pick-and-place component to slide in response to the transport instructions for the site, and control the pick-and-place component to transport the material at the site from the fifth side or the sixth side to the third upper box docking port.

7. The system according to claim 1, characterized in that The system further comprises a control device, and there are a plurality of sorting shelves; The sorting shelf is further used to send a dispatch instruction for indicating a target incoming goods terminal to the control device when the materials stored at the outgoing goods terminal meet the preset replenishment conditions; wherein the target incoming goods terminal is the incoming goods terminal corresponding to the sorting shelf; The control device is used to determine the attribute information corresponding to the target incoming goods terminal as the target attribute information; determine the storage location storing the material corresponding to the target attribute information as the first target storage location; and send a replenishment instruction for indicating the target incoming goods terminal and the first target storage location to the material robot; The material robot is specifically used to drive the vertical guide rail and / or the pick-and-place component to slide so that the pick-and-place component is aligned with the target loading end; and control the pick-and-place component to place the picked material from the second side to the target loading end.

8. The system according to claim 2, characterized in that The system also includes a control device; The control device is also used to obtain the first attribute information of the material, determine the storage location of the material located at the first lower box docking port as the second target storage location; send a storage instruction for indicating the second target storage location to the material robot; and record the correspondence between each of the materials and each of the storage locations as the material storage location correspondence.

9. The system according to claim 8, characterized in that There are multiple sorting shelves; The sorting shelf is further used to send a dispatch instruction for indicating a target incoming goods terminal to the control device when the quantity of materials stored at the outgoing goods terminal meets a preset replenishment condition; wherein the target incoming goods terminal is the incoming goods terminal corresponding to the sorting shelf; The control device is used to determine the attribute information corresponding to the target incoming goods terminal as the target attribute information; determine the storage location storing the material corresponding to the target attribute information according to the material storage location correspondence as the first target storage location; and send a replenishment instruction for indicating the target incoming goods terminal and the first target storage location to the material robot; The material robot is specifically used to drive the vertical guide rail and / or the pick-and-place component to slide so that the pick-and-place component is aligned with the target loading end; and control the pick-and-place component to place the picked material from the second side to the target loading end.

10. The system according to claim 2, characterized in that The system further includes a collection device and a control device, wherein the collection area of ​​the collection device includes a first upper box docking port of the first conveyor line, the second storage rack has a plurality of first lower box docking ports, and different first lower box docking ports are arranged under different second storage racks; The first conveying line is further used to transfer the material to the first upper box docking port via the bottom of the storage position in the second storage shelf; The collecting device is used to collect first attribute information of materials located in the collecting area and send the first attribute information to the control device; The control device is specifically used to receive the first attribute information, and according to the second attribute information of the storage shelf stored in advance, plan the storage location of each material in the storage shelf as the third target storage location; determine the target lower box docking port according to the corresponding relationship between each third target storage location and each first lower box docking port; send a transmission instruction for indicating the target lower box docking port to the first conveyor line, and send a second storage instruction for indicating the target lower box docking port and the third target storage location to the material robot; The first conveying line is specifically used to transmit the material to the target lower box docking port via the third side or the fourth side of the second storage shelf in response to the transmission instruction; The material robot is specifically used to drive the vertical guide rail and / or the pick-and-place component to slide in response to the second storage instruction for the target lower box docking port, so that the pick-and-place component is aligned with the target lower box docking port; if the third target storage location indicated by the second storage instruction is located on the first storage shelf, the pick-and-place component is controlled to pick up the material on the target lower box docking port from the fourth side; the vertical guide rail and / or the pick-and-place component is driven to slide, so that the pick-and-place component is aligned with the third target storage location, and the pick-and-place component is controlled to place the picked-up material from the second side to the third target storage location; if the third target storage location indicated by the second storage instruction is located on the second storage shelf, the pick-and-place component is controlled to pick up the material on the target lower box docking port from the third side, or, the fourth side; the vertical guide rail and / or the pick-and-place component is driven to slide, so that the pick-and-place component is aligned with the third target storage location, and the pick-and-place component is controlled to place the picked-up material from the third side, or, the fourth side to the third target storage location.

11. A material picking method, characterized in that: A material robot applied to a storage system, the system further comprising a first storage shelf and a sorting shelf; the material robot comprises a pick-and-place assembly, a horizontal guide rail and a vertical guide rail, the horizontal guide rail passes through a second side of the first storage shelf, the vertical guide rail can be horizontally slidably arranged on the horizontal guide rail, and the pick-and-place assembly can be vertically slidably arranged on the vertical guide rail; the sorting shelf comprises an inbound end, an outbound end and a transmission structure, the transmission structure is used to transmit materials from the inbound end to the outbound end; The inlet port is located below a storage location in the first storage shelf, and the outlet port is located on a first side of the first storage shelf; the method comprises: In response to a replenishment instruction for the sorting shelf, driving the vertical guide rail and / or the pick-and-place assembly to slide so that the pick-and-place assembly is aligned with a first target storage location indicated by the replenishment instruction; Controlling the pick-and-place component to take the material on the first target storage location from the second side; Driving the vertical guide rail and / or the pick-and-place assembly to slide so that the pick-and-place assembly is aligned with the cargo entry end; The pick-and-place assembly is controlled to place the picked-up material from the second side to the incoming goods end.

12. The method according to claim 11, characterized in that The system further includes a second storage shelf and a first conveyor line; a first lower box docking port of the first conveyor line is provided below the storage position in the second storage shelf; the first conveyor line is used to transfer materials at the loading port to the first lower box docking port via the lower storage position in the second storage shelf; the horizontal guide rail passes through the third side and / or the fourth side of the second storage shelf, and the method further includes: In response to a first stored instruction for the first lower box docking port, driving the vertical guide rail and / or the pick-and-place assembly to slide so that the pick-and-place assembly is aligned with the first lower box docking port; If the second target storage location indicated by the first storage instruction is located on the first storage shelf, control the pick-and-place component to take the material on the first lower box docking port from the fourth side; Driving the vertical guide rail and / or the pick-and-place assembly to slide so that the pick-and-place assembly is aligned with the second target storage location, and controlling the pick-and-place assembly to place the taken material from the second side into the second target storage location; If the second target storage location indicated by the first storage instruction is located on the second storage shelf, the pick-and-place component is controlled to take the material on the first lower box docking port from the third side or the fourth side; The vertical guide rail and / or the pick-and-place assembly are driven to slide so that the pick-and-place assembly is aligned with the second target storage location, and the pick-and-place assembly is controlled to place the picked-up material from the third side or the fourth side to the second target storage location.

13. The method according to claim 12, characterized in that The system further includes a second material cart, a second mobile robot, a third mobile robot and a second conveyor line, wherein the third mobile robot is provided with a mechanical arm; a second upper box docking port of the second conveyor line is provided below the storage position in the second storage shelf, and the method further includes: In response to the picking start instruction, the vertical guide rail and / or the pick-and-place component are driven to slide so that the pick-and-place component is aligned with the third target storage location indicated by the picking start instruction; if the third target storage location is located on the first storage shelf, the pick-and-place component is controlled to pick up the material on the third target storage location from the second side; if the third target storage location is located on the second storage shelf, the pick-and-place component is controlled to pick up the material on the third target storage location from the third side, or, the fourth side; the pick-and-place component is controlled to place the picked-up material from the third side, or, the fourth side, at the second upper box docking port, so that the second conveyor line transfers the material placed at the second upper box docking port to the station where the second material cart is located via the bottom of the storage location in the second storage shelf, the second material cart is towed to the station by the second mobile robot, and the third mobile robot moves to the station; so that the robotic arm grabs the material at the station where the second material cart is located, and places the grabbed material in the second material cart.

14. The method according to claim 13, characterized in that The system further comprises a third conveyor line and a third storage shelf; a third upper box docking port of the third conveyor line is arranged below the third storage shelf; the third conveyor line is used to transfer the materials at the third upper box docking port to the shelf loading workstation via the bottom of the third storage shelf; The horizontal rail passes through the fifth side and / or the sixth side of the third storage rack, and the method further comprises: In response to the transport instruction for the site, the vertical guide rail and / or the pick-and-place assembly are driven to slide, and the pick-and-place assembly is controlled to transport the material at the site to the third upper box docking port from the fifth side or the sixth side.

15. The method according to claim 11, characterized in that The system further includes a control device, wherein the sorting shelves are provided with a plurality of the sorting shelves; the sorting shelves are further used to send a dispatch instruction for indicating a target incoming goods end to the control device when the quantity of materials stored at the outgoing goods end meets a preset replenishment condition; wherein the target incoming goods end is the incoming goods end corresponding to the sorting shelves; the control device is used to determine the attribute information corresponding to the target incoming goods end as the target attribute information; determine the storage location storing the materials corresponding to the target attribute information as the first target storage location; send a replenishment instruction for indicating the target incoming goods end and the first target storage location to the material robot; the driving of the vertical guide rail and / or the pick-and-place assembly to slide so that the pick-and-place assembly is aligned with the incoming goods end, including: Driving the vertical guide rail and / or the pick-and-place assembly to slide so that the pick-and-place assembly is aligned with the target cargo entry end; The controlling the pick-and-place assembly to place the taken material from the second side to the incoming goods end includes: The pick-and-place assembly is controlled to place the picked-up material from the second side to the target incoming cargo end.

16. The method according to claim 12, characterized in that The system also includes a control device; the control device is also used to obtain the first attribute information of the material, determine the storage location of the material located at the first lower box docking port as the second target storage location; send a storage instruction for indicating the second target storage location to the material robot; record the correspondence between each of the materials and each of the storage locations as the material storage location correspondence relationship; there are multiple sorting shelves; the sorting shelf is also used to send a scheduling instruction for indicating the target incoming goods end to the control device when the material stored at the shipping end meets the preset replenishment condition; wherein the target incoming goods end is the incoming goods end corresponding to the sorting shelf; the control device is used to determine the attribute information corresponding to the target incoming goods end as the target attribute information; according to the material storage location correspondence relationship, determine the storage location where the material corresponding to the target attribute information is stored as the first target storage location; send a replenishment instruction for indicating the target incoming goods end and the first target storage location to the material robot; the driving of the vertical guide rail and / or the pick-and-place component to slide so that the pick-and-place component is aligned with the incoming goods end, including: Driving the vertical guide rail and / or the pick-and-place assembly to slide so that the pick-and-place assembly is aligned with the target cargo entry end; The controlling the pick-and-place assembly to place the taken material from the second side to the incoming goods end includes: The pick-and-place assembly is controlled to place the picked-up material from the second side to the target incoming cargo end.

17. The method according to claim 12, characterized in that The system further includes a collection device and a control device, wherein the collection area of ​​the collection device includes a first upper box docking port of the first conveyor line, the second storage shelves have a plurality of first lower box docking ports, and different first lower box docking ports are arranged under different second storage shelves; the first conveyor line is also used to transfer the material to the first upper box docking port via the bottom of the storage position in the second storage shelf; the collection device is used to collect first attribute information of the material located in the collection area, and send the first attribute information to the control device; The control device is specifically used to receive the first attribute information, and according to the second attribute information of the storage shelf stored in advance, plan the storage position of each material in the storage shelf as the third target storage position; determine the target lower box docking port according to the corresponding relationship between each third target storage position and each first lower box docking port; send a transmission instruction for indicating the target lower box docking port to the first conveyor line, and send a second storage instruction for indicating the target lower box docking port and the third target storage position to the material robot; the first conveyor line is specifically used to respond to the transmission instruction and transmit the material to the target lower box docking port via the third side or the fourth side of the second storage shelf; the response to the first storage instruction for the first lower box docking port drives the vertical guide rail and / or the pick-and-place assembly to slide so that the pick-and-place assembly is aligned with the first lower box docking port, including: In response to a second stored instruction for the target lower box docking port, driving the vertical guide rail and / or the pick-and-place assembly to slide so that the pick-and-place assembly is aligned with the target lower box docking port; If the second target storage location indicated by the first storage instruction is located on the first storage shelf, controlling the pick-and-place component to take the material on the first lower box docking port from the fourth side includes: If the third target storage location indicated by the second storage instruction is located on the first storage shelf, control the pick-and-place component to take the material on the target lower box docking port from the fourth side; The step of driving the vertical guide rail and / or the pick-and-place assembly to slide so that the pick-and-place assembly is aligned with the second target storage location, and controlling the pick-and-place assembly to place the taken material from the second side into the second target storage location comprises: Driving the vertical guide rail and / or the pick-and-place assembly to slide so that the pick-and-place assembly is aligned with the third target storage location, and controlling the pick-and-place assembly to place the taken material from the second side into the third target storage location; If the second target storage location indicated by the first storage instruction is located on the second storage shelf, controlling the pick-and-place component to take the material on the first lower box docking port from the third side or the fourth side includes: If the third target storage location indicated by the second storage instruction is located on the second storage shelf, the pick-and-place component is controlled to take the material on the target lower box docking port from the third side or the fourth side; The step of driving the vertical guide rail and / or the pick-and-place assembly to slide so that the pick-and-place assembly is aligned with the second target storage location, and controlling the pick-and-place assembly to place the taken material from the third side or the fourth side to the second target storage location comprises: The vertical guide rail and / or the pick-and-place assembly are driven to slide so that the pick-and-place assembly is aligned with the third target storage location, and the pick-and-place assembly is controlled to place the picked-up material from the third side or the fourth side to the third target storage location.

18. A material picking device, characterized in that: A material robot applied to a storage system, the system further comprising a first storage shelf and a sorting shelf; the material robot comprises a pick-and-place assembly, a horizontal guide rail and a vertical guide rail, the horizontal guide rail passes through a second side of the first storage shelf, the vertical guide rail can be horizontally slidably arranged on the horizontal guide rail, and the pick-and-place assembly can be vertically slidably arranged on the vertical guide rail; the sorting shelf comprises an inbound end, an outbound end and a transmission structure, the transmission structure is used to transmit materials from the inbound end to the outbound end; The inlet port is located below the storage position in the first storage shelf, and the outlet port is located on the first side of the first storage shelf; the device comprises: A first response module, configured to drive the vertical guide rail and / or the pick-and-place assembly to slide in response to a replenishment instruction for the sorting shelf, so that the pick-and-place assembly is aligned with a first target storage location indicated by the replenishment instruction; A first taking module, used for controlling the taking and placing assembly to take the material on the first target storage location from the second side; A first driving module, used for driving the vertical guide rail and / or the pick-and-place assembly to slide, so that the pick-and-place assembly is aligned with the cargo entry end; The first placement module is used to control the pick-and-place assembly to place the taken material from the second side to the incoming goods end.

19. The device according to claim 18, characterized in that The system further includes a second storage shelf and a first conveyor line; a first lower box docking port of the first conveyor line is provided below the storage position in the second storage shelf; the first conveyor line is used to transfer the material at the loading port to the first lower box docking port via the lower storage position in the second storage shelf; the horizontal guide rail passes through the third side and / or the fourth side of the second storage shelf, and the device further includes: A second response module, configured to drive the vertical guide rail and / or the pick-and-place assembly to slide in response to a first stored instruction for the first lower box docking port, so that the pick-and-place assembly is aligned with the first lower box docking port; a second taking module, configured to control the taking and placing assembly to take the material on the first lower box docking port from the fourth side if the second target storage location indicated by the first storage instruction is located on the first storage shelf; a second driving module, used for driving the vertical guide rail and / or the pick-and-place assembly to slide, so that the pick-and-place assembly is aligned with the second target storage location, and controlling the pick-and-place assembly to place the picked material from the second side into the second target storage location; A third taking module, configured to control the taking and placing component to take the material on the first lower box docking port from the third side or the fourth side if the second target storage location indicated by the first storage instruction is located on the second storage shelf; a third driving module, configured to drive the vertical guide rail and / or the pick-and-place assembly to slide, so that the pick-and-place assembly is aligned with the second target storage location, and control the pick-and-place assembly to place the taken material from the third side or the fourth side to the second target storage location; and / or, The system further includes a second material cart, a second mobile robot, a third mobile robot and a second conveyor line, wherein the third mobile robot is provided with a mechanical arm; a second upper box docking port of the second conveyor line is provided below the storage position in the second storage shelf, and the device further includes: A third response module is used to drive the vertical guide rail and / or the pick-and-place component to slide in response to the picking start instruction, so that the pick-and-place component is aligned with the third target storage location indicated by the picking start instruction; if the third target storage location is located on the first storage shelf, the pick-and-place component is controlled to pick up the material on the third target storage location from the second side; if the third target storage location is located on the second storage shelf, the pick-and-place component is controlled to pick up the material on the third target storage location from the third side, or, the fourth side; the pick-and-place component is controlled to place the picked material from the third side, or, the fourth side, to the second upper box docking port, so that the second conveyor line transfers the material placed at the second upper box docking port to the station where the second material cart is located via the bottom of the storage location in the second storage shelf, the second material cart is towed to the station by the second mobile robot, and the third mobile robot moves to the station; so that the mechanical arm grabs the material located at the station where the second material cart is located, and places the grabbed material in the second material cart; and / or, The system further includes a third conveyor line and a third storage shelf; a third upper box docking port of the third conveyor line is provided below the third storage shelf; the third conveyor line is used to transfer the materials at the third upper box docking port to the shelf loading workstation via the bottom of the third storage shelf; the horizontal guide rail passes through the fifth side and / or the sixth side of the third storage shelf, and the device further includes: a fourth response module, configured to drive the vertical guide rail and / or the pick-and-place assembly to slide in response to a transport instruction for the station, and control the pick-and-place assembly to transport the material at the station to the third upper box docking port from the fifth side or the sixth side; and / or, The system further includes a control device, and there are multiple sorting shelves; the sorting shelves are also used to send a scheduling instruction for indicating a target incoming goods end to the control device when the material quantity stored at the outgoing goods end meets a preset replenishment condition; wherein the target incoming goods end is the incoming goods end corresponding to the sorting shelves; the control device is used to determine the attribute information corresponding to the target incoming goods end as the target attribute information; determine the storage location where the material corresponding to the target attribute information is stored as the first target storage location; send a replenishment instruction for indicating the target incoming goods end and the first target storage location to the material robot; the first driving module includes: A first driving submodule, used for driving the vertical guide rail and / or the pick-and-place assembly to slide, so that the pick-and-place assembly is aligned with the target cargo entry end; The first placement module comprises: A first placement submodule, used for controlling the pick-and-place assembly to place the taken material from the second side to the target inlet; and / or, The system also includes a control device; the control device is also used to obtain the first attribute information of the material, determine the storage location of the material located at the first lower box docking port as the second target storage location; send a storage instruction for indicating the second target storage location to the material robot; record the correspondence between each of the materials and each of the storage locations as the material storage location correspondence relationship; there are multiple sorting shelves; the sorting shelf is also used to send a scheduling instruction for indicating the target incoming goods end to the control device when the material stored at the shipping end meets the preset replenishment condition; wherein the target incoming goods end is the incoming goods end corresponding to the sorting shelf; the control device is used to determine the attribute information corresponding to the target incoming goods end as the target attribute information; according to the material storage location correspondence relationship, determine the storage location where the material corresponding to the target attribute information is stored as the first target storage location; send a replenishment instruction for indicating the target incoming goods end and the first target storage location to the material robot; the second driving module includes: A second driving submodule, used for driving the vertical guide rail and / or the pick-and-place assembly to slide, so that the pick-and-place assembly is aligned with the target cargo entry end; The first placement module comprises: A second placement submodule, used for controlling the pick-and-place assembly to place the taken material from the second side to the target incoming goods end; and / or, The system also includes a collection device and a control device. The collection area of ​​the collection device includes a first upper box docking port of the first conveyor line, there are multiple second storage shelves, there are multiple first lower box docking ports, and different first lower box docking ports are arranged under different second storage shelves; the first conveyor line is also used to transmit the material to the first upper box docking port through the bottom of the storage position in the second storage shelf; the collection device is used to collect first attribute information of the material located in the collection area, and send the first attribute information to the control device; the control device is specifically used to receive the first attribute information, and according to the pre-stored The method comprises: storing the second attribute information of the storage shelf, planning the storage location of each material in the storage shelf as the third target storage location; determining the target lower box docking port according to the corresponding relationship between each third target storage location and each first lower box docking port; sending a transmission instruction for indicating the target lower box docking port to the first conveyor line, and sending a second storage instruction for indicating the target lower box docking port and the third target storage location to the material robot; the first conveyor line is specifically used to respond to the transmission instruction and transmit the material to the target lower box docking port via the third side or the fourth side of the second storage shelf; the second response module includes: A first response submodule, configured to drive the vertical guide rail and / or the pick-and-place assembly to slide in response to a second stored instruction for the target lower box docking port, so that the pick-and-place assembly is aligned with the target lower box docking port; The second taking module comprises: a first fetching submodule, configured to control the fetching and placing assembly to fetch the material on the target lower box docking port from the fourth side if the third target storage location indicated by the second storage instruction is located on the first storage shelf; The second driving module comprises: a third driving submodule, configured to drive the vertical guide rail and / or the pick-and-place assembly to slide, so that the pick-and-place assembly is aligned with the third target storage location, and to control the pick-and-place assembly to place the taken material from the second side into the third target storage location; The third taking module comprises: A second fetching submodule is used for controlling the fetching and placing component to fetch the material on the target lower box docking port from the third side or the fourth side if the third target storage location indicated by the second storage instruction is located on the second storage shelf; The third driving module comprises: The fourth driving submodule is used to drive the vertical guide rail and / or the pick-and-place assembly to slide so that the pick-and-place assembly is aligned with the third target storage location, and controls the pick-and-place assembly to place the picked material from the third side or the fourth side to the third target storage location.

20. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor, for implementing any of the methods described in claims 11-17 when executing a program stored in a memory.

21. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 11 to 17 is implemented.

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